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Leader-follower: Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(SuperLimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–SuperLimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the SuperLimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between SuperLimb, humans, and the environment under human safety assurance. First, the human–SuperLimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–SuperLimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and SuperLimb could well understand the wearer's intentions to switch different SuperLimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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Advances in Graphene‑Based Electrode for Triboelectric Nanogenerator

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Nano-Micro Letters 2025年第1期17卷 378-403页

作者： Bin Xie Yuanhui Guo Yun Chen Hao Zhang Jiawei Xiao Maoxiang Hou Huilong Liu Li Ma Xin Chen Chingping Wong State Key laboratory of Precision Electronic Manufacturing technology and Equipment Guangdong University of TechnologyGuangzhou 510006People’s Republic of China School of Electromechanical Engineering Guangdong University of TechnologyGuangzhou 510006People’s Republic of China School of Materials Science and Engineering Georgia Institute of TechnologyAtlantaGA 30332USA

With the continuous development of wearable electronics,wireless sensor networks and other micro-electronic devices,there is an increasingly urgent need for miniature,flexible and efficient nanopower generation *** nanogenerator(TENG)technology can convert small mechanical energy into electricity,which is expected to address this *** the core component of TENG,the choice of electrode materials significantly affects its *** metal electrode materials often suffer from problems such as durability,which limits the further application of ***,as a novel electrode material,shows excellent prospects for application in TENG owing to its unique structure and excellent electrical *** review systematically summarizes the recent research progress and application prospects of TENGs based on graphene *** precision processing methods of graphene electrodes are introduced,and the applications of graphene electrode-based TENGs in various scenarios as well as the enhancement of graphene electrodes for TENG performance are *** addition,the future development of graphene electrode-based TENGs is also prospectively discussed,aiming to promote the continuous advancement of graphene electrode-based TENGs.

关键词： Triboelectric nanogenerator Precision processing Graphene electrode Self-powered sensor

Self-compliance multilevel storage characteristic in HfO_2-based device

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Chinese Physics B 2016年第10期25卷 259-261页

作者：高晓平傅丽萍陈传兵袁鹏李颖弢 Gansu Key laboratory of sensor and sensor technology Institute of Sensor Technology Gansu Academy of Sciences Cuiying Honors College Lanzhou University School of Physical Science and technology Lanzhou University

In this paper, the self-compliance bipolar resistive switching characteristic of an HfO-based memory device with Ag/HfO/Au structure for multilevel storage is investigated. By applying a positive voltage, the dual-step set processes corresponding to three stable resistance states are observed in the device. The multilevel switching characteristics can still be observed after 48 hours. In addition, the resistance values of all the three states show negligible degradation over 104 s,which may be useful for the applications in nonvolatile multilevel storage.

关键词： resistive switching resistive random access memory multilevel self-compliance

Investigation of magnetization reversal and domain structures in perpendicular synthetic antiferromagnets by first-order reversal curves and magneto-optical Kerr effect

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Chinese Physics B 2023年第11期32卷 580-584页

作者：王向谦李佳楠何开宙谢明玲朱旭鹏 School of Physics Science and technology Lingnan Normal UniversityZhangjiang 524048China Key laboratory of sensor and sensor technology Institute of Sensor TechnologyGansu Academy of SciencesLanzhou 730000China

Perpendicular synthetic-antiferromagnet(p-SAF) has broad applications in spin-transfer-torque magnetic random access memory and magnetic sensors. In this study, the p-SAF films consisting of (Co/Ni)3]/Ir(tIr)/[(Ni/Co)3are fabricated by magnetron sputtering technology. We study the domain structure and switching field distribution in p-SAF by changing the thickness of the infrared space layer. The strongest exchange coupling field(Hex) is observed when the thickness of Ir layer(tIr) is 0.7 nm and becoming weak according to the Ruderman–Kittel–Kasuya–Yosida-type coupling at 1.05 nm,2.1 nm, 4.55 nm, and 4.9 nm in sequence. Furthermore, the domain switching process between the upper Co/Ni stack and the bottom Co/Ni stack is different because of the antiferromagnet coupling. Compared with ferromagnet coupling films, the antiferromagnet samples possess three irreversible reversal regions in the first-order reversal curve *** tIrincreasing, these irreversible reversal regions become denser and smaller. The results from this study will help us understand the details of the magnetization reversal process in the p-SAF.

关键词： perpendicular synthetic antiferromagnet first-order reversal curves magnetization reversal pro-cess domain

Effects of catalyst precursors on carbon nanowires by using ethanol catalytic combustion technique

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中国有色金属学会会刊：英文版 2006年第B01期16卷 385-387页

作者：程进邹小平李飞张红丹任鹏飞 Research Center for sensor technology Beijing Information Technology InstituteBeijing 100101China Beijing Key laboratory for sensor Beijing 100101China

Iron nitrate, nickel nitrate and cobalt nitrate were used as catalyst precursors to study their effects on carbon nanowires synthesized by ethanol catalytic combustion (ECC) process. The as-grown carbon nanowires were characterized by means of scanning electron microscopy, transmission electron microscopy and Raman spectroscopy. The results show that relatively uniform nanowires will be formed when the catalyst precursor is iron nitrate; while helical structure or disordered structure will be formed when the catalyst precursor is nickel nitrate or cobalt nitrate.

关键词：碳纳米线制备催化剂前驱物乙醇催化燃烧技术

Preparation of carbon nanotubes by ethanol catalytic combustion technique using nickel salt as catalyst precursor

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中国有色金属学会会刊：英文版 2006年第B01期16卷 381-384页

作者：李飞邹小平程进张红丹任鹏飞 Research Center for sensor technology Beijing Information Technology InstituteBeijing 100101China Beijing Key laboratory for sensor Beijing 100101China

A simple growth technique of carbon nanotubes (CNTs) by combustion of ethanol was developed. In the experiment, copper plate was employed as substrate, nickel nitrate (Ni(NO3)2) and nickel chloride (NiCl2) as catalyst precursor, and ethanol as carbon source. The cleaned copper substrate was dipped into catalyst precursor solution for mounting catalyst precursor particles. The dip-coated substrate was then placed into ethanol flame for about 10 min after drying. The black wool-like production grown on copper plate was obtained. This route is called an ethanol catalytic combustion(ECC) process. The black powders were characterized by means of scanning electron microscopy(SEM), transmission electron microscopy(TEM), energy dispersive X-ray spectrometer(EDS) and Raman spectroscopy. The results show that the techique is much simpler and more economical to meet the future broader applications.

关键词：碳纳米管制备催化剂前驱物乙醇催化燃烧技术硝酸镍

Synthesis of ultralong Si_3N_4 nanowires by a simple thermal evaporation method

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Rare Metals 2013年第2期32卷 186-190页

作者： Wen-Qi Wang Xiao-Ping Zou Nan-Jia Zhou Guang Zhu Gui-Ying Wang Zhen-Sheng Peng Anhui Key laboratory of Spintronics and Nano-materials (Cultivating Base) Suzhou University Research Center for sensor technology Beijing Key Laboratory for SensorBeijing Information Science and Technology University Department of Materials Science and Engineering Northwestern University Structure Research laboratory University of Science and Technology of China

Largescale vaporsolid synthesis of ultralong silicon nitride （Si3N4） nanowires was achieved by using simple thermal evaporation of mixture powders of active carbon and monoxide silicon. The products were charac terized by Xray diffraction, scanning electron microscopy, energydispersive Xray spectroscopy, and transmission electron microscopy. The results suggest that the silicon nitride nanowires have a smooth surface, with lengths of up to several hundreds of microns and diameters of 100300 nm. A detailed study of both the chemical and structural composition was performed. Such ultralong sil icon nitride nanowires demonstrate potential applications as materials for constructing nanoscale devices and as reinforcement in advanced composites.

关键词： Si3N4 nanowires Ultralong Thermal evaporation

Secure Localization technology Based on Dynamic Trust Management in Wireless sensor Networks

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Chinese Journal of Electronics 2021年第4期30卷 759-768页

作者： LI Peng YU Xiaotian XU He WANG Ruchuan School of Computer Science and technology Nanjing University of Posts and Telecommunications Jiangsu High technology Research Key laboratory for Wireless sensor Networks

Wireless sensor networks have critical applications in various fields, and the algorithm of their secure localization has become a vital technology to support a network. In the light of the self-organization, random deployment and dynamic topology, the localization process is vulnerable to various kinds of malicious attacks. The model of dynamic trust management for a given node is proposed to deal with security concerns in wireless sensor networks. The trust computation is divided into three stages, which are the stage of trust initialization,trust establishment, and trust evolution. The initial value of a global trust relationship is established through a corresponding global trust relation graph in the initial stage of trust. The trust value of each node is calculated by the attribute value in the stage of trust establishment. In the evolution of trust, the iterative process of trust value is accelerated via the finite state machine. Compared with the existing wireless sensor networks, simulation results show that the proposed security localization technology method can resist many kinds of attacks with low communication and time consumption.

关键词： Wireless sensor networks Secured localization Dynamic trust management Finite state machines

On Least Squares Weighted Recursive Estimation of Clock Skew and Offset in Wireless sensor Networks

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Chinese Journal of Electronics 2017年第5期26卷 1041-1047页

作者： HU Bing SUN Zhixin Key laboratory of Broadband Wireless Communication and sensor Network technology Ministry of EducationNanjing University of Posts and Telecommunications

Three clock synchronization algorithms for Wireless sensor networks(WSNs) in Pairwise broadcast synchronization(PBS) mechanism are *** include the joint Least squares estimator(LS),joint Least squares weighted estimator(LSW) and joint Least squares weighted Recursive estimator(R-LSW).For these estimators,the corresponding algorithms are derived and described by assuming a Gaussian random delay *** PBS,these estimators can achieve the Cramer-Rao lower bound(CRLB) for both listening node and active node without knowledge of the deterministic *** purpose of considering R-LSW is to reduce the use of storage space with the method of estimating while *** and analytical results verify that the estimators are efficient.

关键词： Clock synchronization Wireless sensor networks(WSNs) Pairwise broadcast synchronization(PBS) Least squares estimator(LS)