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A compact bimorph rotary piezoelectric actuator with customized small power supply

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Science China(Technological Sciences) 2024年第4期67卷 1185-1195页

作者： DENG Jie LIU DaQing WANG WeiYi LIU YingXiang School of mechatronics and engineering Harbin Institute of TechnologyHarbin 150001China

Inertial piezoelectric actuators are widely applied in precision devices with simple structure and accurate ***,existing inertial piezoelectric actuators still face the challenges of rollback motion and bulky power *** this work,an alternate excitation strategy and a customized small power supply for a bimorph rotary piezoelectric actuator(BRPA)are proposed to solve the *** BRPA prototype is designed with a bipedal symmetrical structure,measuring 35 mm in height and 32 mm in diameter,which has a maximum rotation velocity of 0.247 rad/s and a resolution of 0.66μ*** to the bipedal symmetrical structure,the friction directions between the driving feet and the rotor can be coordinated to suppress the *** rollback ratio is almost zero when the phase difference of the exciting signal is set as 180°.The customized power supply is designed and manufactured,whose size is 58 mm×56 mm×46 *** can output signals for the single step mode and the continuous mode,and they are adopted to excite BRPA to achieve a small stroke with one single step and a large stroke with continuous step,***,an experimental system for optical fiber alignment is developed based on the BRPA and the customized small power supply,the experiment has verified the practicability of this work in the precision fields,especially in the miniaturized precision systems.

关键词： inertial piezoelectric actuator customized small power supply single step mode continuous mode rollback suppression miniaturized precision system

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Bio-inspired Attachment Mechanism of Dynastes Hercules:Vertical Climbing for On-Orbit Assembly Legged Robots

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Journal of Bionic engineering 2024年第1期21卷 137-148页

作者： Yuetian Shi Xuyan Hou Zhonglai Na Jie Zhou Nan Yu Song Liu Linbo Xin Guowei Gao Yuhui Liu School of mechatronics engineering Harbin Institute of TechnologyHarbin 150001China

With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of *** paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of *** by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the *** morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability *** study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through *** propose an ideal climbing strategy that provides useful reference for robot applications in ***,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space *** bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.

关键词： Space assembly robot Truss climbing Bionic structure Dynastes Hercules tarsus

Minmax Common Due-Window Assignment Scheduling with Deteriorating Jobs

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Journal of the Operations Research Society of China 2024年第3期12卷 681-693页

作者： Dan-Yang Lv Jing Xue Ji-Bo Wang School of mechatronics engineering Shenyang Aerospace UniversityShenyang110136LiaoningChina

This paper investigates the common due-window assignment scheduling problem with deteriorating jobs on a single machine in which the processing time of a job is a proportional function of its starting *** goal is to minimize the maximum value of earliness and tardiness penalties,as well as due-window location cost,and size *** on whether the location and size of due-window are known,this paper studies three relevant cases,all of which are solvable in polynomial time.

关键词： Scheduling Single machine Deteriorating jobs Common due-window Earliness Tardiness

Tribological behavior of TiN,AlTiN,and AlTiCrN coatings in atmospheric and vacuum environments

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Friction 2024年第11期12卷 2611-2626页

作者： Youn-Hoo HWANG Kuk-Jin SEO Tae-Hyeong KIM You Jin MIN Yuzhen LIU Dae-Eun KIM Department of Mechanical engineering Yonsei UniversitySeoul 03722Republic of Korea Department of mechatronics and Energy engineering Ningbo Tech UniversityNingbo 315211China

In this study,the tribological characteristics of TiN,AlTiN,and AlTiCrN coatings sliding against a SUS420J1 stainless steel pin were investigated in atmospheric and vacuum *** coatings were deposited on SUS440C substrates using the arc-physical vapor deposition *** friction and wear behavior of the coatings were evaluated based on the systematic analyses of the friction coefficient data as well as the physical and chemical state of the wear *** results revealed that the friction coefficients of the SUS440C specimen and AlTiCrN coatings increased,whereas those of the TiN and AlTiN coatings decreased when the environment was changed from atmospheric to *** was confirmed that the formation of an oxide layer and adsorption of oxides on the surface were dominant factors that influenced the tribological behavior in the atmospheric *** the other hand,the compatibility,oxidation inhibition,and droplets of the surface mainly affected the frictional characteristics in the vacuum *** results of this work are expected to aid in the selection of proper coating materials for tribological systems operating in a vacuum.

关键词： friction wear coating vacuum TiN

A Symmetric-Actuating Linear Piezoceramic Ultrasonic Motor Capable of Producing a Scissoring Effect

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Research 2024年第1期2023卷 571-581页

作者： Zhanmiao Li Xingyu Yi Rongqi Zhu Zhonghui Yu Xiaoting Yuan MohammadJavad PourhosseiniAsl Shuxiang Dong School of Materials Science and engineering Peking UniversityBeijing 100871China College of mechatronics and Control engineering and Institute for Advanced StudyShenzhen UniversityShenzhen 518051China

Conventionally,to produce a linear motion,one motor’s stator is employed to drive one runner moving forward or *** far,there is almost no report of one electromechanical motor or piezoelectric ultrasonic motor that can directly generate two symmetrical linear motions,while this function is desired for precise scissoring and grasping in the minimally invasive surgery ***,we report a brandnew symmetric-actuating linear piezoceramic ultrasonic motor capable of generating symmetrical linear motions of two outputs directly without additional mechanical transmission *** key component of the motor is an(2×3)arrayed piezoceramic bar stator operating in the coupled resonant mode of the first longitudinal(L_(1))and third bending(B_(3))modes,leading to symmetric elliptical vibration trajectories at its two ends.A pair of microsurgical scissors is used as the end-effector,demonstrating a very promising future for high-precision microsurgical operations.

关键词： field symmetric backward

Review on the Fabrication of Surface Functional Structures for Enhancing Bioactivity of Titanium and Titanium Alloy Implants

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Chinese Journal of Mechanical engineering 2024年第4期37卷 23-49页

作者： Heng Tang Jiaxiang Xu Bin Guo Yansong Xie Yalong Sun Yanjun Lu Yong Tang Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics engineering College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518000China School of Mechanical and Power engineering Zhengzhou UniversityZhengzhou 450001China

Titanium and its alloys have been widely applied in many biomedical fields because of its excellent mechanical properties,corrosion resistance and good ***,problems such as rejection,shedding and infection will occur after titanium alloy implantation due to the low biological activity of titanium alloy *** structures with specific functions,which can enhance osseointegration and antibacterial properties,are fabricated on the surface of titanium implants to improve the biological activity between the titanium implants and human *** paper presents a comprehensive review of recent developments and applications of surface functional structure in titanium and titanium alloy *** applications of surface functional structure on different titanium and titanium alloy implants are introduced,and their manufacturing technologies are summarized and ***,the fabrication of various surface functional structures used for titanium and titanium alloy implants is reviewed and analyzed in ***,the challenges affecting the development of surface functional structures applied in titanium and titanium alloy implants are outlined,and recommendations for future research are presented.

关键词： Surface functional structure Titanium implant Manufacturing technology Bioactivity

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Optimal Energy Efficiency Based High-speed Flying Control Method for Hydraulic Quadruped Robot

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Journal of Bionic engineering 2024年第3期21卷 1156-1173页

作者： Qingjun Yang Zhenyang Zhang Rui Zhu Dianxin Wang School of mechatronics engineering Harbin Institute of TechnologyHarbin150000China Nanjing Chenguang Group Co.Ltd Nanjing210006China

Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of high-speed ***,the energy consumption per unit distance was adopted as the energy efficiency evaluation index based on the constant pressure oil supply characteristics of the hydraulic system,and the global optimization algorithm was adopted to solve the optimal ***,the gait parameters that affect the energy efficiency of quadruped were analyzed and the mapping relationship between each parameter and energy efficiency was captured,so as to select the optimum combination of energy efficiency parameters,which is significant to improve endurance ***,to ensure the stability of the high-speed flying trot gait motion of the hydraulic quadruped robot,the active compliance control strategy was ***,the proposed method was successfully verified by simulations and *** experimental results reveal that the flying trot gait of the hydraulic quadruped robot can be stably controlled at a speed of 2.2 m/s.

关键词： Hydraulic quadruped robot Flying trot Energy efficiency Active compliance control

Micro-nano-fabrication of green functional materials by multiphase microfluidics for environmental and energy applications

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Green Energy & Environment 2024年第8期9卷 1199-1219页

作者： Cheng Qi Tao Zhou Xingjiang Wu Kailang Liu Lei Li Zhou Liu Zhuo Chen Jianhong Xu Tiantian Kong Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics engineering College of Mechatronics and Control EngineeringShenzhen University The State Key Laboratory of Chemical engineering Department of Chemical EngineeringTsinghua University College of Chemistry and Environmental engineering Shenzhen University Department of Biomedical engineering School of MedicineShenzhen University

Multiphase microfluidic has emerged as a powerful platform to produce novel materials with tailor-designed functionalities, as microfluidic fabrication provides precise controls over the size, component, and structure of resultant materials. Recently, functional materials with welldefined micro-/nanostructures fabricated by microfluidics find important applications as environmental and energy materials. This review first illustrated in detail how different structures or shapes of droplet and jet templates are formed by typical configurations of microfluidic channel networks and multiphase flow systems. Subsequently, recent progresses on several representative energy and environmental applications, such as water purification, water collecting and energy storage, were overviewed. Finally, it is envisioned that integrating microfluidics and other novel materials will play increasing important role in contributing environmental remediation and energy storage in near future.

关键词： Microfluidics Multi-phase flow Droplet and microfiber Environmental remediation Energy Storage

Machine learning modeling for fuel cell-battery hybrid power system dynamics in a Toyota Mirai 2 vehicle under various drive cycles

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Energy and AI 2024年第3期17卷 406-418页

作者： Adithya Legala Matthew Kubesh Venkata Rajesh Chundru Graham Conway Xianguo Li Southwest Research Institute San AntonioTXUSA Department of Mechanical and mechatronics engineering University of WaterlooWaterlooOntarioCanada

Electrification is considered essential for the decarbonization of mobility sector, and understanding and modeling the complex behavior of modern fuel cell-battery electric-electric hybrid power systems is challenging, especially for product development and diagnostics requiring quick turnaround and fast computation. In this study, a novel modeling approach is developed, utilizing supervised machine learning algorithms, to replicate the dynamic characteristics of the fuel cell-battery hybrid power system in a 2021 Toyota Mirai 2nd generation (Mirai 2) vehicle under various drive cycles. The entire data for this study is collected by instrumenting the Mirai vehicle with in-house data acquisition devices and tapping into the Mirai controller area network bus during chassis dynamometer tests. A multi-input - multi-output, feed-forward artificial neural network architecture is designed to predict not only the fuel cell attributes, such as average minimum cell voltage, coolant and cathode air outlet temperatures, but also the battery hybrid system attributes, including lithium-ion battery pack voltage and temperature with the help of 15 system operating parameters. Over 21,0000 data points on various drive cycles having combinations of transient and near steady-state driving conditions are collected, out of which around 15,000 points are used for training the network and 6,000 for the evaluation of the model performance. Various data filtration techniques and neural network calibration processes are explored to condition the data and understand the impact on model performance. The calibrated neural network accurately predicts the hybrid power system dynamics with an R-squared value greater than 0.98, demonstrating the potential of machine learning algorithms for system development and diagnostics.

关键词： Artificial neural network(ANN) Proton exchange membrane fuel cell(PEMFC) Fuel cell electric vehicle(FCEV) Fuel cell-battery electric-electric hybrid power system Data based models Lithium-ion battery(LiB)