To reveal the complex crude oil-CO_(2) interaction mechanism and oil mobilization behavior during CO_(2) huff-n-puff in shale-type shale oil reservoirs,CO_(2) huff-n-puff experiments with on-line nuclear magnetic reso...To reveal the complex crude oil-CO_(2) interaction mechanism and oil mobilization behavior during CO_(2) huff-n-puff in shale-type shale oil reservoirs,CO_(2) huff-n-puff experiments with on-line nuclear magnetic resonance monitoring were conducted on Gulong shale cores,combined with the prediction model of CO_(2) dynamic diffusion coefficient,the flow mechanism and factors influencing oil mobilization during CO_(2) huff and puff in Gulong shale oil reservoirs are studied,and the diffusion and mass transfer behavior of CO_(2) in shale is investigated.The results show that at the injection stage,CO_(2) invades into macropores near the injection end,and drives part of the crude oil to micropores in the deep part of the core.At the shut-in stage,the crude oil gradually reflows to macropores near the injection end and is redistributed in the core.At the production stage,the oil mobilization zone is gradually expanded from the production end(injection end)to the deep part of the core.The contribution ratio of produced oil from macropores and micropores is about 8︰3 after production.The diffusion coefficient of CO_(2) in shale porous media gradually decreases with the advance of diffusion front at shut-in stage.The better the porosity and permeability of core samples,the higher the CO_(2) concentration at diffusion front,the greater the CO_(2) diffusion coefficient,and the slower the diffusion decline rate is.Increasing the huff and puff cycles could effectively enhance oil displacement efficiency,though its impact on the crude oil mobilization zone remains insignificant.The crude oil in small pores of the small layer with undeveloped laminae is difficult to be produced during CO_(2) huff and puff,and the oil recovery is only 12.72%.The crude oil in macropores and micropores of the small layer with developed laminae can be effectively mobilized during CO_(2) huff and puff,and the oil recovery can reach 39.11%.展开更多
A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working ...A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working prin- ciple is discussed. The four tracked-units are controlled independently and driven cooperatively. By means of two DC motors being controlled respectively, one tracked-unit can accomplish two types of driving mode: tracked travel and in- tegral unit legged rotation (IULR), forming a track-legged compound function mechanism. Its capabilities of surmount- ing obstacles and its toppling stability in underground mines have also been analyzed. The results show that the mobile mechanism can directly surmount an obstacle of the height less than the length of one tracked-unit and get across a raceway with a span less than the length of one tracked-unit by using tracked travel and IULR. Its unstable slope angle is 51.3°. Toppling stability is determined by its structural size, moving direction and slope angle. IULR of four tracked-units can adjust the robot’s posture and then enhance toppling stability or assist in surmounting obstacles. Its track-legged compound function mechanism makes it suitable for working in underground mines.展开更多
A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is d...A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.展开更多
Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degr...Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.展开更多
Marine mobile buoy（MMB） have many potential applications in the maritime industry and ocean science.Great progress has been made,however the technology in this area is far from maturity in theory and faced with many...Marine mobile buoy（MMB） have many potential applications in the maritime industry and ocean science.Great progress has been made,however the technology in this area is far from maturity in theory and faced with many difficulties in application.A dynamic model of the propulsion mechanism is very necessary for optimizing the parameters of the MMB,especially with consideration of hydrodynamic force.The principle of wave-driven propulsion mechanism is briefly introduced.To set a theory foundation for study on the MMB,a dynamic model of the propulsion mechanism of the MMB is obtained.The responses of the motion of the platform and the hydrofoil are obtained by using a numerical integration method to solve the ordinary differential equations.A simplified form of the motion equations is reached by omitting terms with high order small values.The relationship among the heave motion of the buoy,stiffness of the elastic components,and the forward speed can be obtained by using these simplified equations.The dynamic analysis show the following：The angle of displacement of foil is fairly small with the biggest value around 0.3 rad;The speed of mobile buoy and the angle of hydrofoil increased gradually with the increase of heave motion of buoy;The relationship among heaven motion,stiffness and attack angle is that heave motion leads to the angle change of foil whereas the item of speed or push function is determined by vertical velocity and angle,therefore,the heave motion and stiffness can affect the motion of buoy significantly if the size of hydrofoil is kept constant.The proposed model is provided to optimize the parameters of the MMB and a foundation is laid for improving the performance of the MMB.展开更多
It is particularly important to explore the response and transmission characteristics of shoe sole when exposed to foot-transmitted vibration(FTV)in daily life.In this study,based on mechanical mobility and vibration ...It is particularly important to explore the response and transmission characteristics of shoe sole when exposed to foot-transmitted vibration(FTV)in daily life.In this study,based on mechanical mobility and vibration transmissibility,the vibration response and transmission characteristics of ordinary sole and multi-cellular structure sole under three excitation modes were analyzed with finite element analysis.The analysis results of the ordinary sole are as follows:The distribution and transmission of vibration energy of ordinary sole are more related to the excitation position and mode-shape;the phalange region is more violent in vibration response to vibration and transmission of vibration.In addition,the analysis results of multi-cellular structure soles show that different types of multi-cellular structure soles have different effects on the equivalent mechanical mobility and the equivalent vibration transmissibility,among which Grid type has the greatest influence.So,this study can help prevent foot injury and provide guidance for the optimal design of the sole.展开更多
In this work,the photovoltaic properties of BFBPD-PC61 BM system as a promising high-performance organic solar cell（OSC） were theoretically investigated by means of quantum chemistry and molecular dynamics calculati...In this work,the photovoltaic properties of BFBPD-PC61 BM system as a promising high-performance organic solar cell（OSC） were theoretically investigated by means of quantum chemistry and molecular dynamics calculations coupled with the incoherent charge-hopping model.Moreover,the hole carrier mobility of BFBPD thin-film was also estimated with the aid of an amorphous cell including 100 BFBPD molecules.Results revealed that the BFBPD-PC61 BM system possesses a middle-sized open-circuit voltage of 0.70 V,large short-circuit current density of 17.26 mA ·cm^-2,high fill factor of 0.846,and power conversion efficiency of 10%.With the Marcus model,in the BFBPD-PC61 BM interface,the exciton-dissociation rate,kdis,was predicted to be 2.684×10^13 s^-1,which is as 3-5 orders of magnitude large as the decay（radiative and non-radiative） one（10-8-10^10s^-1）,indicating a high exciton-dissociation efficiency of 100% in the BFBPD-PC61 BM interface.Furthermore,by the molecular dynamics simulation,the hole mobility of BFBPD thin-film was predicted to be as high as 1.265 × 10^-2 cm-2·V^-1·s^-1,which can be attributed to its dense packing in solid state.展开更多
The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, a...The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.展开更多
The vibrational power flow in the beam-plate assemblies and then with the isolators is investigated using analytical ' power flow' approach based on the some concepts of mechanical mo- bility and structural dy...The vibrational power flow in the beam-plate assemblies and then with the isolators is investigated using analytical ' power flow' approach based on the some concepts of mechanical mo- bility and structural dynamics. Theoretical expressions of the power flow in the structures are given and examined. The numerical results of the expressions are good agreements with the measuring re- sults obtained by the technique of vibration intensity. On the basis of these results, possible ways of reducing the vibrational power flow in the structures are suggested .展开更多
In confined spaces,conventional ground mobile robots may be unable to reach the target location because of limited maneuvering space or the inability to overcome obstacles.This study presents a ground mobile mechanism...In confined spaces,conventional ground mobile robots may be unable to reach the target location because of limited maneuvering space or the inability to overcome obstacles.This study presents a ground mobile mechanism with a multi-loop reconfigurable trunk(GMMRT)designed to enhance mobility in constrained spaces,such as narrow gaps,ditches,and cross-shaped channels.GMMRT can effectively overcome obstacles in confined spaces through the coordinated motion of its wheels and reconfigurable trunk.Its reconfigurable trunk comprises six limbs and four vertex platforms,forming a versatile,adaptable structure.GMMRT supports two topological structures:wheeled mobility and overall rolling.It features three distinct motion modes:(i)adjusting external dimensions,(ii)performing zero-radius steering,and(iii)overall deformation rolling motion.The kinematic model of GMMRT is established,and its parameters are described using Denavit–Hartenberg parameters.The degrees of freedom under the two topological structures are analyzed on the basis of screw theory.Torque analysis of servo motors is conducted through dynamic analysis.An experimental prototype is designed to validate the three motion modes and servo motor selection,and relevant experiments are performed.Through the development and experimental validation of GMMRT,this work advances mobile robot design for confined spaces and provides a promising approach to overcome the limitations of conventional ground robots.展开更多
To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists ...To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.展开更多
With recent relevant publications on stochastic motion robots in Nature, Science, and other journals, research on such robots has gained increasing attention. However, theoretical and applied research on stochastic mo...With recent relevant publications on stochastic motion robots in Nature, Science, and other journals, research on such robots has gained increasing attention. However, theoretical and applied research on stochastic motion in the field of robotics and mechanisms face many challenges due to the uncertainty of stochastic motion. Currently, a large gap remains in the research of stochastic motion mechanism. In this study, a novel mechanism that can conduct probabilistic rolling is proposed to reach a designated position and achieve overlying movement over a particular area. The mechanism consists of a regular tetrahedron frame, a central node, and four connecting linear actuators. According to mobility and kinematic analyses, the mechanism can implement probabilistic rolling. Each rolling gait has three probable rolling directions, and the mechanism rolls in one of the three directions in probability. A kinematic simulation is conducted, and a control method is proposed on the basis of the moving path analysis. Furthermore, the mathematical principle of probabilistic rolling is revealed in terms of probability theory and statistics. Lastly, a prototype is fabricated. To achieve the rolling function, the design of the linear actuators is improved, and the extension ratio is increased from 0.58 to 1.13. Then, tests are conducted. In a 4 m2 test site, the mechanism makes 11 moves to reach the target position and covers 29.25% of the site.展开更多
A physical model of hole mobility for germanium-on-insulator p MOSFETs is built by analyzing all kinds of scattering mechanisms, and a good agreement of the simulated results with the experimental data is achieved, co...A physical model of hole mobility for germanium-on-insulator p MOSFETs is built by analyzing all kinds of scattering mechanisms, and a good agreement of the simulated results with the experimental data is achieved, confirming the validity of this model. The scattering mechanisms involved in this model include acoustic phonon scattering, ionized impurity scattering, surface roughness scattering, coulomb scattering and the scattering caused by Ge film thickness fluctuation. The simulated results show that the coulomb scattering from the interface charges is responsible for the hole mobility degradation in the low-field regime and the surface roughness scattering limits the hole mobility in the high-field regime. In addition, the effects of some factors, e.g. temperature, doping concentration of the channel and the thickness of Ge film, on degradation of the mobility are also discussed using the model, thus obtaining a reasonable range of the relevant parameters.展开更多
A high-performance PMOSFET based on silicon material of hybrid orientation is obtained.Hybrid orientation wafers,integrated by（100） and（110） crystal orientation,are fabricated using silicon-silicon bonding, chemic...A high-performance PMOSFET based on silicon material of hybrid orientation is obtained.Hybrid orientation wafers,integrated by（100） and（110） crystal orientation,are fabricated using silicon-silicon bonding, chemical mechanical polishing,etching silicon and non-selective expitaxy.A PMOSFET with W/L = 50μm/8μm is also processed,and the measured results show that the drain-source current and peak mobility of the PMOSFET are enhanced by up to 50.7%and 150%at V_（gs） =-15 V and V_（ds） =-0.5 V,respectively.The mobility values are higher than that reported in the literature.展开更多
基金Supported by the National Natural Science Foundation of China(520743198)Scientific and Technological Problems Tackling Project of Heilongjiang Province(DQYT-2022-JS-761).
文摘To reveal the complex crude oil-CO_(2) interaction mechanism and oil mobilization behavior during CO_(2) huff-n-puff in shale-type shale oil reservoirs,CO_(2) huff-n-puff experiments with on-line nuclear magnetic resonance monitoring were conducted on Gulong shale cores,combined with the prediction model of CO_(2) dynamic diffusion coefficient,the flow mechanism and factors influencing oil mobilization during CO_(2) huff and puff in Gulong shale oil reservoirs are studied,and the diffusion and mass transfer behavior of CO_(2) in shale is investigated.The results show that at the injection stage,CO_(2) invades into macropores near the injection end,and drives part of the crude oil to micropores in the deep part of the core.At the shut-in stage,the crude oil gradually reflows to macropores near the injection end and is redistributed in the core.At the production stage,the oil mobilization zone is gradually expanded from the production end(injection end)to the deep part of the core.The contribution ratio of produced oil from macropores and micropores is about 8︰3 after production.The diffusion coefficient of CO_(2) in shale porous media gradually decreases with the advance of diffusion front at shut-in stage.The better the porosity and permeability of core samples,the higher the CO_(2) concentration at diffusion front,the greater the CO_(2) diffusion coefficient,and the slower the diffusion decline rate is.Increasing the huff and puff cycles could effectively enhance oil displacement efficiency,though its impact on the crude oil mobilization zone remains insignificant.The crude oil in small pores of the small layer with undeveloped laminae is difficult to be produced during CO_(2) huff and puff,and the oil recovery is only 12.72%.The crude oil in macropores and micropores of the small layer with developed laminae can be effectively mobilized during CO_(2) huff and puff,and the oil recovery can reach 39.11%.
文摘A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working prin- ciple is discussed. The four tracked-units are controlled independently and driven cooperatively. By means of two DC motors being controlled respectively, one tracked-unit can accomplish two types of driving mode: tracked travel and in- tegral unit legged rotation (IULR), forming a track-legged compound function mechanism. Its capabilities of surmount- ing obstacles and its toppling stability in underground mines have also been analyzed. The results show that the mobile mechanism can directly surmount an obstacle of the height less than the length of one tracked-unit and get across a raceway with a span less than the length of one tracked-unit by using tracked travel and IULR. Its unstable slope angle is 51.3°. Toppling stability is determined by its structural size, moving direction and slope angle. IULR of four tracked-units can adjust the robot’s posture and then enhance toppling stability or assist in surmounting obstacles. Its track-legged compound function mechanism makes it suitable for working in underground mines.
基金This project is supported by National Hi-tech Research and Development Program of China(863 Program, No.2003AA404190).
文摘A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.
基金Supported by National Science-Technology Support Plan Projects of China (Grant No.2015BAK04B00)2015 Sino-German Postdoc Scholarship Program (Grant No.57165010)
文摘Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.
基金Supported by National Natural Science Foundation of China(Grant No.51175484)Program for New Century Excellent Talents in University,China(Grant No.NCET-12-0500)+1 种基金Program of Introducing Talents of Discipline to Universities,China(Grant No.B14028)Fundamental Research Funds for the Central Universities,China(Grant No.841513053)
文摘Marine mobile buoy（MMB） have many potential applications in the maritime industry and ocean science.Great progress has been made,however the technology in this area is far from maturity in theory and faced with many difficulties in application.A dynamic model of the propulsion mechanism is very necessary for optimizing the parameters of the MMB,especially with consideration of hydrodynamic force.The principle of wave-driven propulsion mechanism is briefly introduced.To set a theory foundation for study on the MMB,a dynamic model of the propulsion mechanism of the MMB is obtained.The responses of the motion of the platform and the hydrofoil are obtained by using a numerical integration method to solve the ordinary differential equations.A simplified form of the motion equations is reached by omitting terms with high order small values.The relationship among the heave motion of the buoy,stiffness of the elastic components,and the forward speed can be obtained by using these simplified equations.The dynamic analysis show the following：The angle of displacement of foil is fairly small with the biggest value around 0.3 rad;The speed of mobile buoy and the angle of hydrofoil increased gradually with the increase of heave motion of buoy;The relationship among heaven motion,stiffness and attack angle is that heave motion leads to the angle change of foil whereas the item of speed or push function is determined by vertical velocity and angle,therefore,the heave motion and stiffness can affect the motion of buoy significantly if the size of hydrofoil is kept constant.The proposed model is provided to optimize the parameters of the MMB and a foundation is laid for improving the performance of the MMB.
基金the National Natural Science Foundation of China(No.52175230)Natural Science Foundation of Fujian Province(Nos.2021J01297,2020J011234 and 2020J011227)+3 种基金Technology Program Pilot Project of Fujian Province(No.2020H0015)Xiamen Medical and Health Guidance Project(No.3502720199009)Research Start-Up Fund Project of Huaqiao University(No.11BS412)Subsidized Project for Postgraduates’Innovation Fund in Scientific Research of Huaqiao University(Nos.19013080038 and 20014080038)。
文摘It is particularly important to explore the response and transmission characteristics of shoe sole when exposed to foot-transmitted vibration(FTV)in daily life.In this study,based on mechanical mobility and vibration transmissibility,the vibration response and transmission characteristics of ordinary sole and multi-cellular structure sole under three excitation modes were analyzed with finite element analysis.The analysis results of the ordinary sole are as follows:The distribution and transmission of vibration energy of ordinary sole are more related to the excitation position and mode-shape;the phalange region is more violent in vibration response to vibration and transmission of vibration.In addition,the analysis results of multi-cellular structure soles show that different types of multi-cellular structure soles have different effects on the equivalent mechanical mobility and the equivalent vibration transmissibility,among which Grid type has the greatest influence.So,this study can help prevent foot injury and provide guidance for the optimal design of the sole.
基金supported by the National Natural Science Foundation of China(No.21373132,No.21603133)the Education Department of Shaanxi Provincial Government Research Projects(No.16JK1142,No.16JK1134)the Scientific Research Foundation of Shaanxi University of Technology for Recruited Talents(No.SLGKYQD2-13,No.SLGKYQD2-10,No.SLGQD14-10)
文摘In this work,the photovoltaic properties of BFBPD-PC61 BM system as a promising high-performance organic solar cell（OSC） were theoretically investigated by means of quantum chemistry and molecular dynamics calculations coupled with the incoherent charge-hopping model.Moreover,the hole carrier mobility of BFBPD thin-film was also estimated with the aid of an amorphous cell including 100 BFBPD molecules.Results revealed that the BFBPD-PC61 BM system possesses a middle-sized open-circuit voltage of 0.70 V,large short-circuit current density of 17.26 mA ·cm^-2,high fill factor of 0.846,and power conversion efficiency of 10%.With the Marcus model,in the BFBPD-PC61 BM interface,the exciton-dissociation rate,kdis,was predicted to be 2.684×10^13 s^-1,which is as 3-5 orders of magnitude large as the decay（radiative and non-radiative） one（10-8-10^10s^-1）,indicating a high exciton-dissociation efficiency of 100% in the BFBPD-PC61 BM interface.Furthermore,by the molecular dynamics simulation,the hole mobility of BFBPD thin-film was predicted to be as high as 1.265 × 10^-2 cm-2·V^-1·s^-1,which can be attributed to its dense packing in solid state.
基金Sponsored by Hi-Tech Research and Development Program of China(Grant No. 2001AA422380)
文摘The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.
文摘The vibrational power flow in the beam-plate assemblies and then with the isolators is investigated using analytical ' power flow' approach based on the some concepts of mechanical mo- bility and structural dynamics. Theoretical expressions of the power flow in the structures are given and examined. The numerical results of the expressions are good agreements with the measuring re- sults obtained by the technique of vibration intensity. On the basis of these results, possible ways of reducing the vibrational power flow in the structures are suggested .
基金supported by the Fundamental Research Funds for the Central Universities,China(Grant No.2024JBZX012).
文摘In confined spaces,conventional ground mobile robots may be unable to reach the target location because of limited maneuvering space or the inability to overcome obstacles.This study presents a ground mobile mechanism with a multi-loop reconfigurable trunk(GMMRT)designed to enhance mobility in constrained spaces,such as narrow gaps,ditches,and cross-shaped channels.GMMRT can effectively overcome obstacles in confined spaces through the coordinated motion of its wheels and reconfigurable trunk.Its reconfigurable trunk comprises six limbs and four vertex platforms,forming a versatile,adaptable structure.GMMRT supports two topological structures:wheeled mobility and overall rolling.It features three distinct motion modes:(i)adjusting external dimensions,(ii)performing zero-radius steering,and(iii)overall deformation rolling motion.The kinematic model of GMMRT is established,and its parameters are described using Denavit–Hartenberg parameters.The degrees of freedom under the two topological structures are analyzed on the basis of screw theory.Torque analysis of servo motors is conducted through dynamic analysis.An experimental prototype is designed to validate the three motion modes and servo motor selection,and relevant experiments are performed.Through the development and experimental validation of GMMRT,this work advances mobile robot design for confined spaces and provides a promising approach to overcome the limitations of conventional ground robots.
基金supported by the National High Technology Research and Development Program of China ("863" Program) (Grant No. 2007AA041502-5)the Technology and Innovation Fund of the Chinese Academy of Sciences
文摘To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.
基金supported by the Fundamental Research Funds for the Central Universities,China(Grant No.2019JBM046).
文摘With recent relevant publications on stochastic motion robots in Nature, Science, and other journals, research on such robots has gained increasing attention. However, theoretical and applied research on stochastic motion in the field of robotics and mechanisms face many challenges due to the uncertainty of stochastic motion. Currently, a large gap remains in the research of stochastic motion mechanism. In this study, a novel mechanism that can conduct probabilistic rolling is proposed to reach a designated position and achieve overlying movement over a particular area. The mechanism consists of a regular tetrahedron frame, a central node, and four connecting linear actuators. According to mobility and kinematic analyses, the mechanism can implement probabilistic rolling. Each rolling gait has three probable rolling directions, and the mechanism rolls in one of the three directions in probability. A kinematic simulation is conducted, and a control method is proposed on the basis of the moving path analysis. Furthermore, the mathematical principle of probabilistic rolling is revealed in terms of probability theory and statistics. Lastly, a prototype is fabricated. To achieve the rolling function, the design of the linear actuators is improved, and the extension ratio is increased from 0.58 to 1.13. Then, tests are conducted. In a 4 m2 test site, the mechanism makes 11 moves to reach the target position and covers 29.25% of the site.
基金Project supported by the National Natural Science Foundation of China(Nos.61274112,61176100,61404055)
文摘A physical model of hole mobility for germanium-on-insulator p MOSFETs is built by analyzing all kinds of scattering mechanisms, and a good agreement of the simulated results with the experimental data is achieved, confirming the validity of this model. The scattering mechanisms involved in this model include acoustic phonon scattering, ionized impurity scattering, surface roughness scattering, coulomb scattering and the scattering caused by Ge film thickness fluctuation. The simulated results show that the coulomb scattering from the interface charges is responsible for the hole mobility degradation in the low-field regime and the surface roughness scattering limits the hole mobility in the high-field regime. In addition, the effects of some factors, e.g. temperature, doping concentration of the channel and the thickness of Ge film, on degradation of the mobility are also discussed using the model, thus obtaining a reasonable range of the relevant parameters.
基金supported by the National Basic Research Program of China(No.61398)
文摘A high-performance PMOSFET based on silicon material of hybrid orientation is obtained.Hybrid orientation wafers,integrated by（100） and（110） crystal orientation,are fabricated using silicon-silicon bonding, chemical mechanical polishing,etching silicon and non-selective expitaxy.A PMOSFET with W/L = 50μm/8μm is also processed,and the measured results show that the drain-source current and peak mobility of the PMOSFET are enhanced by up to 50.7%and 150%at V_（gs） =-15 V and V_（ds） =-0.5 V,respectively.The mobility values are higher than that reported in the literature.
