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Shape estimation for a TPU-based multi-material 3D printed soft pneumatic actuator using deep learning models

Science China(Technological Sciences) 2024年第5期67卷 1470-1481页

作者： HU Yu TANG Wei QU Yang XU HuXiu KRAMARENKO Yu.Elena ZOU Jun state Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310058China School of mechanical engineering Zhejiang UniversityHangzhou310027China Institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow119991Russia Enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow117393Russia

Real-time proprioception presents a significant challenge for soft robots due to their infinite degrees of freedom and intrinsic *** studies mostly focused on specific sensors and *** is still a lack of generalizable technologies for integrating soft sensing elements into soft actuators and mapping sensor signals to proprioception *** tackle this problem,we employed multi-material 3D printing technology to fabricate sensorized soft-bending actuators(SBAs)using plain and conductive thermoplastic polyurethane(TPU)*** designed various geometric shapes for the sensors and investigated their strain-resistive performance during *** address the nonlinear time-variant behavior of the sensors during dynamic modeling,we adopted a data-driven approach using different deep neural networks to learn the relationship between sensor signals and system states.A series of experiments in various actuation scenarios were conducted,and the results demonstrated the effectiveness of this *** sensing and shape prediction steps can run in real-time at a frequency of50 Hz on a consumer-level ***,a method is proposed to enhance the robustness of the learning models using data augmentation to handle unexpected sensor *** the methods are efficient,not only for in-plane 2D shape estimation but also for out-of-plane 3D shape *** aim of this study is to introduce a methodology for the proprioception of soft pneumatic actuators,including manufacturing and sensing modeling,that can be generalized to other soft robots.

关键词： shape estimation soft sensors and actuators 3D printing deep learning in robotics

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A Review on the Influence of In-cylinder Turbulence Type on Combustion Characteristics of High Power-Density Diesel Engine

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Journal of Traffic and Transportation engineering(English Edition) 2024年

作者： Zhongxi Tong Han Wu Zhicheng Shi Leonid Myagkov School of mechanical engineering， Beijing Institute of Technology Department of Piston Engines， Bauman moscow state Technical university

With the continuous improvement of performance requirements， direct injection diesel engines have gradually developed towards more small， lightweight， and high power， named as high power-density. It needs more injected fuel can be mixed and burn at the same duration time to guarantee the thermal-power conversion effects. It is required that the combustion system has a fast mixing speed of fuel and gas， and a fast combustion speed. Organizing appropriate cylinder turbulence is an effective means of optimizing combustion to reach requirements. The current work is aim to investigates and summarizes the influence of different types of in cylinder turbulence coursed by intake， spray， and combustion chamber configuration on the performance of a highly intensified diesel engine from the three causes of turbulence. The comparative study found that the adoption of a separate combustion chamber， the increase of intake swirl and number of nozzles can have positive effect on the optimization of the combustion process of a highly intensified diesel engine， but for different combustion chamber types， the influence of intake swirl and spray parameters was different. The separated combustion chamber is more sensitive to spray parameters than the combustion chamber without wall guide design. Compared with the transverse separated combustion chamber， the longitudinal separated combustion chamber is more suitable for large intake swirl ratio. For a specific combustion chamber structure， both intake swirl and spray parameters have optimal values.

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Exploring van der Waals materials with high anisotropy:geometrical and optical approaches

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Light(Science & Applications) 2024年第4期13卷 645-653页

作者： Aleksandr S.Slavich Georgy A.Ermolaev Mikhail K.Tatmyshevskiy Adilet N.Toksumakov Olga G.Matveeva Dmitriy V.Grudinin Kirill V.Voronin Arslan Mazitov Konstantin V.Kravtsov Alexander V.Syuy Dmitry M.Tsymbarenko Mikhail S.Mironov Sergey M.Novikov Ivan Kruglov Davit A.Ghazaryan Andrey A.Vyshnevyy Aleksey V.Arsenin Valentyn S.Volkov Kostya S.Novoselov moscow Center for Advanced Studies Kulakova str.20Moscow 123592Russia. Emerging Technologies Research Center XPANCEOInternet CityEmmay TowerDubaiUnited Arab Emirates. Donostia International Physics Center(DIPC) Donostia/San-Sebastián 20018Spain. Institute of Materials Ecole Polytechnique Federale de Lausanne1015 LausanneSwitzerland. Department of Chemistry Lomonosov Moscow State UniversityMoscow 119991Russia. Laboratory of Advanced Functional Materials Yerevan State UniversityYerevan 0025Armenia. National Graphene Institute(NGI) University of ManchesterManchester M139PLUK. Department of Materials Science and engineering National University of SingaporeSingapore 03-09 EASingapore. Institute for Functional Intelligent Materials National University of Singapore117544 SingaporeSingapore

The emergence of van der Waals(vdW)materials resulted in the discovery of their high optical,mechanical,and electronic anisotropic properties,immediately enabling countless novel phenomena and *** success inspired an intensive search for the highest possible anisotropic properties among vdW ***,the identification of the most promising among the huge family of vdW materials is a challenging quest requiring innovative ***,we suggest an easy-to-use method for such a survey based on the crystallographic geometrical perspective of vdW materials followed by their optical *** our approach,we found As2S3 as a highly anisotropic vdW *** demonstrates high in-plane optical anisotropy that is~20%larger than for rutile and over two times as large as calcite,high refractive index,and transparency in the visible range,overcoming the century-long record set by *** these benefits,As2S3 opens a pathway towards nextgeneration nanophotonics as demonstrated by an ultrathin true zero-order quarter-wave plate that combines classical and the Fabry–Pérot optical phase ***,our approach provides an effective and easy-to-use method to find vdW materials with the utmost anisotropic properties.

关键词： anisotropy anisotropic high

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Wide aperture piezoceramic deformable mirrors for aberration correction in high-power lasers

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High Power Laser Science and engineering 2016年第1期4卷 22-28页

作者： Vadim Samarkin Alexander Alexandrov Gilles Borsoni Takahisa Jitsuno Pavel Romanov Aleksei Rukosuev Alexis Kudryashov moscow state university of mechanical engineering (mami) AKA Optics SAS Institute of Laser engineering Osaka University

The deformable mirror with the size of 410 mmstacks was developed. The results ×468 mm controlled by the bimorph piezoceramic plates and multilayer piezoceramic of the measurements of the response functions of all the actuators and of the surface shape of the deformable mirror are presented in this paper. The study of the mirror with a Fizeau interferometer and a Shack–Hartmann wavefront sensor has shown that it was possible to improve the flatness of the surface down to a residual roughness of 0.033 μm(RMS). The possibility of correction of the aberrations in high-power lasers was numerically demonstrated.

关键词： deformable mirror high-power laser piezoelectric actuator wavefront sensor

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Numerical study of high-lift hydrofoil near free surface at moderate Froude number

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Journal of Hydrodynamics 2020年第1期32卷 44-53页

作者： Tao Xing Konstantin I.Matveev Miles P.Wheeler Department of mechanical engineering The University of IdahoMoscowIdahoUSA School of mechanical and Materials engineering Washingion State UniversityPullmanWashingtonUSA

Shallow hydrofoils are known to produce lower lift in normal operating conditions in comparison with deep ***,the maximum lift capability of shallow hydrofoils at moderate speeds,which is important for transitional regimes of hydrofoil boats,is studied *** this work,two-dimensional flow around a high-lift hydrofoil at a moderate Froude number is numerically simulated in a broad range attack angles up to the stall occurrence in both single-phase fluid and in the vicinity of free *** is found that nearly the same maximum lift coefficient can be produced by the shallow foil in the modeled condition as by the deep foil,but much higher attack angle is required near the free surface,which also results in larger ***,it is shown that higher Reynolds numbers lead to higher lift coefficients,especially at large attack angles.

关键词： Hydrofoil numerical simulation free surface effect stall

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Kinetics of Manganese Oxides Dissolution in Sulphuric Acid Solutions Containing Oxalic Acid

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engineering（科研） 2013年第9期5卷 714-719页

作者： I. V. Artamonova I. G. Gorichev E. B. Godunov moscow state engineering university (mami) Moscow Russia

The kinetics of the interaction of MnO2, Mn2O3, and Mn3O4, with sulphuric acid solutions and the effect of oxalic acid on this process are studied. As the sulphuric acid concentration is increased from 0.1 to 5 N, the dissolution rate of Mn2O3, Mn3O4 to MnO2 and Mn2+ ions decreases, whereas it increases with the concentration of Mn2+ ions. Upon the addition of H2Ox, the complete dissolution of Mn3O4 occurs more quickly. The reaction order with respect to the H+ and O x2- ions is +0.5 ± 0.1. A mechanism of MnO2 dissolution promotion by?O x2- is proposed. The dissolution rate was found to depend on the concentrations of?MnHOx - ions and was highest at pH 1.6 ± 0.2. A rate law and mechanism are suggested for manganese oxides dissolution.

关键词： Dual Electrical Layer Acid-Base Model The Kinetics of Manganese Oxide Dissolution Oxalic Acid

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Modular Unification as One of the Possible Directions of Innovations in the Automotive Industry

Modular Unification as One of the Possible Directions of Inn...

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FISITA 2012 World Automotive Congress--Volume 10：Chassis Systems and Integration Technology

作者： Tagir Gadelshin moscow state university of mechanical engineering（mami） MoscowRussia

The aim of this research is to find ways to reduce the cost of designing,manufacturing and maintenance of *** research was conducted at the level of automobile *** architecture consists of *** is proposed to be made through choosing the equity and alignment of external parameters of the *** research of different automobile architectures showed the opportunity of applying of the module unification methods to reduce costs for designing,manufacturing and maintenance of *** way of such unification can be used for vehicles with internal combustion engines,hybrid engines and electric *** the technology of modular unification can be performed on the basis of existing production systems and ***,introduction of this technology does not require large *** and extensive collaboration in the world automotive industry requires a search for ways to improve the efficiency of these *** all,the ratio of benefits from the vehicle usage to its cost would not *** problems can be solved through the use of modular *** these challenges requires the collaboration in the community level of automotive *** and foremost,this is a wide discussion of issues and making the decisions on organizational and legal arrangements.

关键词： Vehicle architecture Modular unification Globalization Economic efficiency

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Definition of Slippage Parameters of Friction Clutches in Gearboxes with Fixed Shaft Axles

Definition of Slippage Parameters of Friction Clutches in Ge...

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FISITA 2012 World Automotive Congress--Volume 5:Advanced Transmission System and Driveline

作者： Mikhail Dmitriev Valery Sharipov moscow state university of mechanical engineering（mami） Russian FederationMoscowRussia

The paper is about a calculation method for slipping parameters of friction clutches（of the slipping work and time） in tractor gearboxes at various gear overlaps and at bench tests of full-sized prototypes.

关键词： Gearbox Slippage Clutch Friction Fixed shaft axles

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Two-Dimensional Coupling Vibration Analysis of Laterally Acoustically Coupled Two-Port Thin-Film Bulk Acoustic Resonators

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Acta Mechanica Solida Sinica 2020年第4期33卷 464-478页

作者： Haoyu Huang Nian Li Bin Wang Zhenghua Qian Bin Huang Tingfeng Ma Iren Kuznetsova state Key Laboratory of Mechanics and Control of mechanical Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China Faculty of mechanical engineering and Mechanics Ningbo UniversityNingbo 315000China Kotelnikov Institute of Radio engineering and Electronics of RAS MoscowRussia 125009

In this paper,we present an approach to studying the mode coupling vibrations in two-port thin-film bulk acoustic wave resonator(FBAR)devices with two pairs of electrodes deposited on the zinc oxide *** two-dimensional plate theory established in our previous work is employed,which takes into account the coupling of the operating thickness-extensional mode with the extensional,flexural,fundamental and second-order thickness-shear *** propagation of straight-crested waves in the plate is studied,and the state-vector approach is successfully used to simplify the derivation *** a structurally symmetric device,the modes are separated into quasi symmetric and antisymmetric *** spectra and corresponding mode shapes are obtained under the stress-free boundary conditions,respectively,and then coupling effects and energy trapping phenomenon are discussed in *** results for structures with asymmetric electrode distributions are also *** is found that the choice of aspect ratio has a great effect on mode couplings of FBAR *** study will be useful for the design of FBAR filters and sensors.

关键词： FBAR RF filter Two-dimensional theory Mode coupling Trapped energy

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Instability of equilibrium of nonholonomic systems with dissipation and circulatory forces

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Applied Mathematics and Mechanics(English Edition) 2011年第2期32卷 211-222页

作者： M.VESKOVI V.OVI A.OBRADOVI Faculty of mechanical engineering University of Kragujevac Faculty of mechanical engineering University of Belgrade

The paper discusses the equilibrium instability problem of the scleronomic nonholonomic systems acted upon by dissipative, conservative, and circulatory forces. The method is based on the existence of solutions to the differential equations of the motion which asymptotically tends to the equilibrium state of the system as t tends to negative infinity. It is assumed that the kinetic energy, the Rayleigh dissipation function, and the positional forces in the neighborhood of the equilibrium position are infinitely differentiable functions. The results obtained here are partially generalized the results obtained by Kozlov et al. （Kozlov, V. V. The asymptotic motions of systems with dissi- pation. Journal of Applied Mathematics and Mechanics, 58（5）, 787-792 （1994）. Merkin, D. R. Introduction to the Theory of the Stability of Motion （in Russian）, Nauka, moscow （1987）. Thomson, W. and Tait, P. Treatise on Natural Philosophy, Part I, Cambridge university Press, Cambridge （1879））. The results are illustrated by an example.

关键词： nonholonomic constraint instability potential dissipative force

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