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An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

Research 2024年第1期2023卷 149-163页

作者： Qian Li Haoze Li Huan Shen Yangguang Yu Haoran He Xincheng Feng Yi Sun Zhiyuan Mao Guangming Chen Zongjun Tian Lida Shen Xiangming Zheng Aihong Ji College of mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina state key laboratory of mechanics and control for Aerospace structures Nanjing University of Aeronautics and AstronauticsNanjingChina

Insects that can perform flapping-wing flight,climb on a wall,and switch smoothly between the 2 locomotion regimes provide us with excellent biomimetic ***,very few biomimetic robots can perform complex locomotion tasks that combine the 2 abilities of climbing and ***,we describe an aerial–wall amphibious robot that is self-contained for flying and climbing,and that can seamlessly move between the air and *** adopts a flapping/rotor hybrid power layout,which realizes not only efficient and controllable flight in the air but also attachment to,and climbing on,the vertical wall through a synergistic combination of the aerodynamic negative pressure adsorption of the rotor power and a climbing mechanism with bionic adhesion *** the basis of the attachment mechanism of insect foot pads,the prepared biomimetic adhesive materials of the robot can be applied to various types of wall surfaces to achieve stable *** longitudinal axis layout design of the rotor dynamics and control strategy realize a unique cross-domain movement during the flying–climbing transition,which has important implications in understanding the takeoff and landing of ***,it enables the robot to cross the air–wall boundary in 0.4 s(landing),and cross the wall–air boundary in 0.7 s(taking off).The aerial–wall amphibious robot expands the working space of traditional flying and climbing robots,which can pave the way for future robots that can perform autonomous visual monitoring,human search and rescue,and tracking tasks in complex air–wall environments.

关键词： robot smoothly Vertical

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Mass-spring model for elastic wave propagation in multilayered van der Waals metamaterials

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Applied Mathematics and mechanics(English Edition) 2024年第7期45卷 1107-1118页

作者： Yabin JING Lifeng WANG Yuqiang GAO state key laboratory of mechanics and control for Aerospace structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

Multilayered van der Waals(vdW)materials have attracted increasing interest because of the manipulability of their superior optical,electrical,thermal,and mechanical properties.A mass-spring model(MSM)for elastic wave propagation in multilayered vdW metamaterials is reported in this *** dynamics(MD)simulations are adopted to simulate the propagation of elastic waves in multilayered vdW *** results show that the graphene/MoS_(2)metamaterials have an elastic wave bandgap in the terahertz *** MSM for the multilayered vdW metamaterials is proposed,and the numerical simulation results show that this model can well describe the dispersion and transmission characteristics of the multilayered vdW *** MSM can predict elastic wave transmission characteristics in multilayered vdW metamaterials stacked with different two-dimensional(2D)*** results presented in this paper offer theoretical help for the vibration reduction of multilayered vdW semiconductors.

关键词： multilayered van der Waals(vd W)metamaterial molecular dynamics(MD) mass-spring model(MSM) dispersion relation transmission characteristic

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Isogeometric Analysis for the Arbitrary AFG Microbeam with Two-Phase Nonlocal Stress-Driven Model

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Acta Mechanica Solida Sinica 2024年第2期37卷 341-360页

作者： Pei-Liang Bian Zhaowei Liu Hai Qing Tiantang Yu Department of Engineering mechanics Hohai UniversityNanjing211100China state key laboratory of mechanics and control of mechanical structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

Scale effects play critical roles in the mechanical responses of *** isogeometric analysis was developed here to investigate the mechanical responses of an axially functionally graded *** Euler–Bernoulli beam model was utilized,and size effects in the structure were modeled with a stress-driven two-phase local/nonlocal integral *** governing equation of microstructures was given in an equivalent differential form with two additional constitutive boundary *** framework was verified and utilized to analyze the microbeam’s static and dynamic mechanical *** present work showed great potential for modeling various types of functionally graded microstructures.

关键词： Isogeometric analysis Size effect Functionally graded material Nonlocal theory Euler-Bernoulli beam

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Research on the macro-and meso-mechanical properties of frozen sand mold based on Hertz-Mindlin with Bonding model

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Particuology 2024年第5期88卷 176-191页

作者： Jianpei Shi Zhongde Shan Haoqin Yang College of mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China state key laboratory of mechanics and control of mechanical structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China College of Material Science and Technology Nanjing University of Aeronautics and AstronauticsNanjing 210016China

In this study,macro-and meso-mechanical properties of frozen sand molds were discussed based on the Hertz-Mindlin with Bonding(HMB)***-Burman,steepest ascent,and central composite designs were utilized to propose a parameter calibration *** effects of mesoscopic parameter variations on the compressive strength and average gradient of stress-strain were investigated through response surface method *** showed that the relative error between the simulated and measured repose angle is 3.1%under calibrated intrinsic contact *** compressive strength and average stress-strain gradient primarily depend on the normal and shear stiffness per unit area,as well as the particle size and porosity of the silica ***,taking load-displacement curves of three frozen sand molds with different geometric characteristics as the target value,the reliability and effectiveness of the frozen sand mold HMB model were verified through uniaxial compression tests and discrete element simulations.

关键词： Frozen sand mold Hertz-Mindlin with Bonding model Uniaxial compression test Discrete element method mechanical properties

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Adaptive fault-tolerant control for non-minimum phase hypersonic vehicles based on adaptive dynamic programming

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Chinese Journal of aeronautics 2024年第3期37卷 290-311页

作者： Le WANG Ruiyun QI Bin JIANG state key laboratory of mechanics and control for Aerospace structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China

In this paper,a novel adaptive Fault-Tolerant control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter *** strategy is based on the output redefinition method and Adaptive Dynamic Programming(ADP).The intelligent FTC scheme consists of two main parts:a basic fault-tolerant and stable controller and an ADP-based supplementary *** the basic FTC part,an output redefinition approach is designed to make zero-dynamics stable with respect to the new ***,Ideal Internal Dynamic(IID)is obtained using an optimal bounded inversion approach,and a tracking controller is designed for the new output to realize output tracking of the nonminimum phase HSV *** the ADP-based compensation control part,an ActionDependent Heuristic Dynamic Programming(ADHDP)adopting an actor-critic learning structure is utilized to further optimize the tracking performance of the HSV control ***,simulation results are provided to verify the effectiveness and efficiency of the proposed FTC algorithm.

关键词： Hypersonic vehicle Fault-tolerant control Non-minimum phase system Adaptive control Nonlinear control Adaptive dynamic programming

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Wheel-legged In-pipe Robot with a Bioinspired Hook and Dry Adhesive Attachment Device

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Journal of Bionic Engineering 2024年第3期21卷 1208-1222页

作者： Yahong Liu Yi Sun Kai Cao Shutao Wu Xiaofeng Xu Qingfei Han Shikun Wen Huan Shen Guangming Chen Jiajun Xu Zhiwei Yu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China state key laboratory of mechanics and control for Aerospace structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China

In-pipe robots have been widely used in pipes-with smooth inner ***,current in-pipe robots face challenges in terms of moving past obstacles and climbing in marine-vessel pipeline systems,which are affected by marine biofouling and electrochemical *** paper takes inspiration from the dual-hook structure of Trypoxylus dichotomus’s feet and gecko‑like dry adhesives,proposing an in-pipe robot that is capable of climbing on rough and smooth pipe *** combination of the bioinspired hook and dry adhesives allows the robot to stably attach to rough or smooth pipe inwalls,while the wheel-leg hybrid mechanism provides better conditions for obstacle *** paper explores the attachment and obstacle-surmounting mechanisms of the ***,motion strategies for the robot are devised based on different pipe structural *** experiments showed that this robot can adapt to both smooth and rough pipe environments simultaneously,and its motion performance is superior to conventional driving *** robot’s active turning actuators also enable it to navigate through horizontally or vertically oriented 90°bends.

关键词： In-pipe robot Bioinspired attachment device Wheel-legged robot mechanical design

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Dynamic response of sandwich panel attached with a double mass-spring-damping system to shallow-buried explosion:Analytical modeling

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Science China(Technological Sciences) 2024年第2期67卷 568-586页

作者： ZHANG DuJiang ZHAO ZhenYu GAO HuiYao LU TianJian state key laboratory of mechanics and control for Aerospace structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China MIIT key laboratory of Multifunctional Lightweight Materials and structures(MLMS) Nanjing University of Aeronautics and AstronauticsNanjing 210016China

How to ensure the safety of occupants has become a challenge for protective design of armored vehicles against intensive blast *** this study,for armored vehicles subjected to shallow-buried explosions,an analytical model was established to characterize the dynamic performance of an all-metallic sandwich floorboard attached with a double mass-spring-damping system(mimicking seat and occupant),with the former consisting of a front face,a core and a rear *** validation,numerical simulations with the method of finite elements(FE)were *** agreement between analytical predictions and numerical results was *** analytical model was then employed to quantify the effects of explosive mass,yield stress of material make,configurational parameters of sandwich panel,spring stiffness,and damping coefficient on dynamic response of the sandwich panel and double mass-spring-damping *** increasing explosive mass and decreasing yield stress of material make,the peak displacements of rear face,seat and occupant were all found to *** core relative density was increased,these peak displacements also increased when the ratio of face thickness to core height was relatively *** the ratio of face thickness to core height led to increased peak accelerations of seat and *** peak displacement of rear face was insensitive to the increase of either spring stiffness or damping coefficient,while the peak acceleration of occupant increased with increasing spring *** increasing the damping coefficient between the rear face and seat or that between the seat and occupant or both,the peak acceleration of occupant *** occupant safety duly considered,the proposed analytical model provides useful guidance for designing high-performance protective structures for armored vehicles subjected to intensive blast loadings.

关键词： analytical model shallow-buried explosion sandwich panel occupant safety mass-spring-damping system

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Vibration of black phosphorus nanotubes via orthotropic cylindrical shell model

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Theoretical & Applied mechanics Letters 2024年第3期14卷 166-173页

作者： Minglei He Lifeng Wang state key laboratory of mechanics and control for Aerospace structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Black phosphorus nanotubes(BPNTs)may have good properties and potential *** thevibration property of BPNTs is essential for gaining insight into the mechanical behaviour of BPNTs and designingoptimized *** this paper,the mechanical behaviour and vibration property of BPNTs are studied viaorthotropic cylindrical shell model and molecular dynamics(MD)*** vibration frequencies of twochiral BPNTs are analysed *** to the results of MD calculations,it is revealed that thenatural frequencies of two BPNTs with approximately equal sizes are unequal at each order,and that the naturalfrequencies of armchair BPNTs are higher than those of zigzag *** addition,an armchair BPNTs witha stable structure is considered as the object of research,and the vibration frequencies of BPNTs of differentsizes are *** comparing the MD results,it is found that both the isotropic cylindrical shell modeland orthotropic cylindrical shell model can better predict the thermal vibration of the lower order modes of thelonger BPNTs ***,for the vibration of shorter and thinner BPNTs,the prediction of the orthotropiccylindrical shell model is obviously superior to the isotropic shell model,thereby further proving the validity ofthe shell model that considers orthotropic for BPNTs.

关键词： Orthotropic cylindrical shell Molecular dynamics simulation Black phosphorus nanotube Vibration

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Epitaxial growth of borophene on graphene surface towards efficient and broadband photodetector

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Nano Research 2024年第4期17卷 3053-3060页

作者： Zenghui Wu Chen Shifan Zitong Wu Yi Liu Wei Shao Xinchao Liang Chuang Hou Guoan Tai The state key laboratory of mechanics and control of mechanical structures and laboratory of Intelligent Nano Materials and Devices of Ministry of Education College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China

In-situ integration of multiple materials with well-defined interfaces as heterostructures is of great interest due to their unique properties and potential for new device *** of its polymorphism and diverse bonding geometries,borophene is a promising candidate for two-dimensional heterostructures,but suitable synthesis conditions have limited its potential *** this end,we demonstrate the vertical borophene and graphene heterostructures which form by epitaxial growth of borophene onto multilayer graphene on Cu substrates via chemical vapor deposition,where hydrogen and NaBH_(4) are respectively used as the carrier gas and the boron *** lattice structure of the as-synthesized borophene well coincides with the predictedα′-boron *** borophene-based photodetector shows an excellent broadband photoresponse from the ultraviolet(255 nm)to the infrared(940 nm)wavelengths,with enhanced responsivity compared to pristine borophene or graphene *** work informs emerging efforts to integrate borophene into nanoelectronic applications for both fundamental investigations and technological applications.

关键词： borophene graphene heterostructure photodetector two-dimensional materials

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Development of Wheel-Legged Biped Robots:A Review

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Journal of Bionic Engineering 2024年第2期21卷 607-634页

作者： Xuefei Liu Yi Sun Shikun Wen Kai Cao Qian Qi Xiaoshu Zhang Huan Shen Guangming Chen Jiajun Xu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China state key laboratory of mechanics and control for Aerospace structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged *** robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness ***-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this *** hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are *** summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped ***,this study discusses the key research directions and development trends for the wheel-legged biped robots.

关键词： Wheel-legged biped robot Wheeled motion Legged motion control strategy

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