This study examines the locomotor biomechanics of the giant panda(Ailuropoda melanoleuca),a species of profound ecological and evolutionary significance.Despite its characteristic slow movement and non-sprinting locom...This study examines the locomotor biomechanics of the giant panda(Ailuropoda melanoleuca),a species of profound ecological and evolutionary significance.Despite its characteristic slow movement and non-sprinting locomotion,the panda has endured for over 8 million years,offering a unique perspective on the evolution of mammalian locomotion.Through comprehensive gait analysis and ground reaction force measurements,we investigate the functional distinctions between the forelimbs and hind limbs,highlighting the biomechanical underpinnings of its plantigrade locomotion.Our findings reveal how the panda’s limb structure and movement patterns contribute to energy efficiency,particularly during slow locomotion.By comparing these results with those of other large mammals,such as grizzly bears(Ursus arcto),we explore the role of limb mechanics in energy conservation.Additionally,we assess the locomotor performance of pandas across different age groups,shedding light on the maturation of locomotor abilities and the potential adaptive significance of their slow,deliberate movement.This research offers novel insights into the biomechanics of panda locomotion and its evolutionary implications,furthering our understanding of the functional evolution of bear species and informing conservation strategies for this iconic species.展开更多
The article improves the process of dielectric barrier discharge(DBD)activated anode bonding.The treated surface was characterized by the hydrophilic surface test.The results showed that the hydrophilic angle was sign...The article improves the process of dielectric barrier discharge(DBD)activated anode bonding.The treated surface was characterized by the hydrophilic surface test.The results showed that the hydrophilic angle was significantly reduced under nano-gap conditions and the optimal discharge voltage was 2 kV.Then,the anodic bonding and dielectric barrier discharge activated bonding were performed in comparison experiments,and the bonding strength was characterized by tensile failure test.The results showed that the bonding strength was higher under the nano-gap dielectric barrier discharge.This process completed 110°C ultra-low temperature anodic bonding and the bonding strength reached 2 MPa.Finally,the mechanism of promoting bonding after activation is also discussed.展开更多
Piezoelectric stages use piezoelectric actuators and flexure hinges as driving and amplifying mechanisms,respectively.These systems have high positioning accuracy and high-frequency responses,and they are widely used ...Piezoelectric stages use piezoelectric actuators and flexure hinges as driving and amplifying mechanisms,respectively.These systems have high positioning accuracy and high-frequency responses,and they are widely used in various precision/ultra-precision positioning fields.However,the main challenge with these devices is the inherent hysteresis nonlinearity of piezoelectric actuators,which seriously affects the tracking accuracy of a piezoelectric stage.Inspired by this challenge,in this work,we developed a Hammerstein model to describe the hysteresis nonlinearity of a piezoelectric stage.In particular,in our proposed scheme,a feedback-linearization algorithm is used to eliminate the static hysteresis nonlinearity.In addition,a composite controller based on equivalent-disturbance compensation was designed to counteract model uncertainties and external disturbances.An analysis of the stability of a closed-loop system based on this feedback-linearization algorithm and composite controller was performed,and this was followed by extensive comparative experiments using a piezoelectric stage developed in the laboratory.The experimental results confirmed that the feedback-linearization algorithm and the composite controller offer improved linearization and trajectory-tracking performance.展开更多
Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(F...Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(FWMRs)have garnered widespread attention among scientists due to their superior miniaturized aerodynamic theory,reduced noise,and enhanced resistance to disturbances in complex and diverse environments.Flying insects,it not only has remarkable flapping flight ability(wings),but also takeoff and landing habitat ability(legs).If the various functions of flying insects can be imitated,efficient biomimetic FWMRs can be produced.This paper provides a review of the flight kinematics,aerodynamics,and wing structural parameters of insects.Then,the traditional wings and folding wings of insect-inspired FWMRs were compared.The research progress in takeoff and landing of FWMRs was also summarized,and the future developments and challenges for insect-inspired FWMRs were discussed.展开更多
This study aims to develop a model to characterize the inhomogeneous material deformation behavior in micro-forming.First,the influence of individual grain heterogeneity on the deformation behavior of CuZn20 foils was...This study aims to develop a model to characterize the inhomogeneous material deformation behavior in micro-forming.First,the influence of individual grain heterogeneity on the deformation behavior of CuZn20 foils was investigated via tensile and micro-hardness tests.The results showed that different from thick sheets,the hardening behavior of grains in the deformation area of thin foils is not uniform.The flow stress of thin foils actually only reflects the average hardening behavior of several easy-deformation-grains,which is the reason that thinner foils own smaller flow stress.Then,a composite modeling method under consideration of individual grain heterogeneity was developed,where the effects of grain orientation and shape are quantitatively represented by the method of flow stress classification and Voronoi tessellation,respectively.This model provides an accurate and effective method to analyze the influence of individual grain heterogeneity on the deformation behavior of the micro-sized material.展开更多
As the requirements of production process is getting higher and higher with the reduction of volume,microphone production automation become an urgent need to improve the production efficiency.The most important part i...As the requirements of production process is getting higher and higher with the reduction of volume,microphone production automation become an urgent need to improve the production efficiency.The most important part is studied and a precise algorithm of calculating the deviation angle of four types microphones is proposed,based on the feature extraction and visual detection.Pretreatment is performed to achieve the real-time microphone image.Canny edge detection and typical feature extraction are used to distinguish the four types of microphones,categorizing them as type M1 and type M2.And Hough transformation is used to extract the image features of microphone.Therefore,the deviation angle between the posture of microphone and the ideal posture in 2Dplane can be achieved.Depending on the angle,the system drives the motor to adjust posture of the microphone.The final purpose is to realize the high efficiency welding of four different types of microphones.展开更多
Dielectrophoresis impedance measurement(DEPIM)is a powerful tool for bioparticle detection due to its advantages of high efficiency,label-free and low costs.However,the strong electric field may decrease the viability...Dielectrophoresis impedance measurement(DEPIM)is a powerful tool for bioparticle detection due to its advantages of high efficiency,label-free and low costs.However,the strong electric field may decrease the viability of the bioparticle,thus leading to instability of impedance measurement.A new design of biochip is presented with high stable bioparticle detection capabilities by using both negative dielectrophoresis(nDEP)and traveling wave dielectrophoresis(twDEP).In the biochip,a spiral electrode is arranged on the top of channel,while a detector is arranged on the bottom of the channel.The influence factors on the DEP force and twDEP force are investigated by using the basic principle of DEP,based on which,the relationship between Clausius-Mossotti(CM)factor and the frequency of electric field is obtained.The two-dimensional model of the biochip is built by using Comsol Multiphysics.Electric potential distribution,force distribution and particle trajectory in the channel are then obtained by using the simulation model.Finally,both the simulations and experiments are performed to demonstrate that the new biochip can enhance the detection efficiency and reduce the negative effects of electric field on the bioparticles.展开更多
The development of autonomous robots and the wide range of communication resources hold significant potential for enhancing multi-robot collaboration and its applications.Over the past decades,there has been a growing...The development of autonomous robots and the wide range of communication resources hold significant potential for enhancing multi-robot collaboration and its applications.Over the past decades,there has been a growing interest in autonomous navigation and multi-robot collaboration.Consequently,a comprehensive review of current trends in this field has become crucial for both novice and experienced researchers.This paper focuses on automation systems and multi-robot navigation to support their operations.The review is structured around three potential benefits:perception,planning,and collaboration.This review has systematically explored a broad spectrum of autonomous robots and multi-robot navigation strategies with over 170 references.Also,we point out the challenges of the existing work,as well as the development direction.We believe that this review can build a bridge between autonomous robots and their applications.展开更多
The microinjection of Zebrafish embryos is significant to life science and biomedical research.In this article,a novel automated system is developed for cell microinjection.A sophisticated microfluidic chip is designe...The microinjection of Zebrafish embryos is significant to life science and biomedical research.In this article,a novel automated system is developed for cell microinjection.A sophisticated microfluidic chip is designed to transport,hold,and inject cells continuously.For the first time,a microinjector with microforce perception is proposed and integrated within the enclosed microfluidic chip to judge whether cells have been successfully punctured.The deep learning model is employed to detect the yolk center of zebrafish embryos and locate the position of the injection needle within the yolk,which enables enhancing the precision of cell injection.A prototype is fabricated to achieve automatic batch microinjection.Experimental results demonstrated that the injection efficiency is about 20 seconds per cell.Cell puncture success rate and cell survival rate are 100%and 84%,respectively.Compared to manual operation,this proposed system improves cell operation efficiency and cell survival rate.The proposed microinjection system has the potential to greatly reduce the workload of the experimenters and shorten the relevant study period.展开更多
A physically feasible,reliable,and safe motion is essential for robot operation.A parameterization-based trajectory planning approach is proposed for an 8-DOF manipulator with multiple constraints.The inverse kinemati...A physically feasible,reliable,and safe motion is essential for robot operation.A parameterization-based trajectory planning approach is proposed for an 8-DOF manipulator with multiple constraints.The inverse kinematic solution is obtained through an analytical method,and the trajectory is planned in joint space.As such,the trajectory planning of the 8-DOF manipulator is transformed into a parameterization-based trajectory optimization problem within its physical,obstacle and task constraints,and the optimization variables are significantly reduced.Then teaching-learning-based optimization(TLBO)algorithm is employed to search for the redundant parameters to generate an optimal trajectory.Simulation and physical experiment results demonstrate that this approach can effectively solve the trajectory planning problem of the manipulator.Moreover,the planned trajectory has no theoretical end-effector deviation for the task constraint.This approach can provide a reference for the motion planning of other redundant manipulators.展开更多
Open tumor resection is one of the most commonly used treatments for malignant liver tumors.The ability to accurately locate the liver tumor during the operation is the key to the success of the operation.Intraoperati...Open tumor resection is one of the most commonly used treatments for malignant liver tumors.The ability to accurately locate the liver tumor during the operation is the key to the success of the operation.Intraoperative liver tumor localization remains challenging due to tissue deformation and intraoperative imaging limitations.This paper proposes a dual-constraint framework that syn-ergistically integrates liver surface deformation and vascular biomechanical modeling to resolve this problem.Liver surface registration captures global deformation using a fast finite-element model(18 s),while vascular topology matching refines internal tumor displacement by enforcing correspondence between preoperative and intraoperative vessel trees.This synergistic strategy leverages both external and internal anatomical cues to achieve robust localization.Evaluated on 13 clinical cases,our method achieved sub-millimeter tumor localization accuracy(1.68±0.22 mm).Compared to single-constraint methods(LTLS:2.04±0.26 mm;LTBV:2.23±0.31 mm),our approach reduced error by 24%–37%without increasing runtime.This clinically efficient method shows promise for improving intraoperative guidance during liver tumor ablation.展开更多
A scanning electron microscope(SEM)provides real-time imaging with nanometer resolution and a large scanning area,which enables the development and integration of robotic nanomanipulation systems inside a vacuum chamb...A scanning electron microscope(SEM)provides real-time imaging with nanometer resolution and a large scanning area,which enables the development and integration of robotic nanomanipulation systems inside a vacuum chamber to realize simultaneous imaging and direct interactions with nanoscaled samples.Emerging techniques for nanorobotic manipulation during SEM imaging enable the characterization of nanomaterials and nanostructures and the prototyping/assembly of nanodevices.This paper presents a comprehensive survey of recent advances in nanorobotic manipulation,including the development of nanomanipulation platforms,tools,changeable toolboxes,sensing units,control strategies,electron beam-induced deposition approaches,automation techniques,and nanomanipulation-enabled applications and discoveries.The limitations of the existing technologies and prospects for new technologies are also discussed.展开更多
The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a huma...The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization （BBO） is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization （HBBO） algorithm, which is based on BBO and differential evolution （DE）, is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and Did/best/I/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF （degree of freedom） redundant humanoid manipulator is employed as an example. The end-effector error （position and orientation） and the ＇away limitation level＇ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.展开更多
Digital microfluidics （DMF） is a versatile microfluidics technology that has significant application potential in the areas of automation and miniaturization. In DME discrete droplets containing samples and reagents...Digital microfluidics （DMF） is a versatile microfluidics technology that has significant application potential in the areas of automation and miniaturization. In DME discrete droplets containing samples and reagents are controlled to implement a series of operations via electrowetting-on-dielectric. This process works by apply- ing electrical potentials to an array of electrodes coated with a hydrophobic dielectric layer. Unlike microchannels, DMF facilitates precise control over multiple reaction processes without using complex pump, microvalve, and tubing networks. DMF also presents other distinct features, such as portability, less sample consumption, shorter chemical reaction time, flexibility, and easier combination with other technology types. Due to its unique advantages, DMF has been applied to a broad range of fields （e.g., chemistry, biology, medicine, and environment）. This study reviews the basic principles of droplet actuation, configuration design, and fabrication of the DMF device, as well as discusses the latest progress in DMF from the biochemistry perspective.展开更多
Swimming micro-nanorobots have attracted researchers’interest in potential medical applications on target therapy,biosensor,drug carrier,and others.At present,the experimental setting of the swimming micro-nanorobots...Swimming micro-nanorobots have attracted researchers’interest in potential medical applications on target therapy,biosensor,drug carrier,and others.At present,the experimental setting of the swimming micro-nanorobots was mainly studied in pure water or H_(2)O_(2) solution.This paper presents a micro-nanorobot that applied glucose in human body fluid as driving fuel.Based on the catalytic properties of the anode and cathode materials of the glucose fuel cell,platinum(Pt)and carbon nanotube(CNT)were selected as the anode and cathode materials,respectively,for the micro-nanorobot.The innovative design adopted the method of template electrochemical and chemical vapor deposition to manufacture the Pt/CNT micro-nanorobot structure.Both the scanning electron microscope(SEM)and transmission electron microscope(TEM)were employed to observe the morphology of the sample,and its elements were analyzed by energy-dispersive X-ray spectroscopy(EDX).Through a large number of experiments in a glucose solution and according to Stoker’s law of viscous force and Newton’s second law,we calculated the driving force of the fabricated micro-nanorobot.It was concluded that the structure of the Pt/CNT micronanorobot satisfied the required characteristics of both biocompatibility and motion.展开更多
Compliant mechanisms with curved flexure hinges/beams have potential advantages of small spaces,low stress levels,and flexible design parameters,which have attracted considerable attention in precision engineering,met...Compliant mechanisms with curved flexure hinges/beams have potential advantages of small spaces,low stress levels,and flexible design parameters,which have attracted considerable attention in precision engineering,metamaterials,robotics,and so forth.However,serial-parallel configurations with curved flexure hinges/beams often lead to a complicated parametric design.Here,the transfer matrix method is enabled for analysis of both the kinetostatics and dynamics of general serial-parallel compliant mechanisms without deriving laborious formulas or combining other modeling methods.Consequently,serial-parallel compliant mechanisms with curved flexure hinges/beams can be modeled in a straightforward manner based on a single transfer matrix of Timoshenko straight beams using a step-by-step procedure.Theoretical and numerical validations on two customized XY nanopositioners comprised of straight and corrugated flexure units confirm the concise modeling process and high prediction accuracy of the presented approach.In conclusion,the present study provides an enhanced transfer matrix modeling approach to streamline the kinetostatic and dynamic analyses of general serial-parallel compliant mechanisms and beam structures,including curved flexure hinges and irregular-shaped rigid bodies.展开更多
In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale phenomena.However,as one ...In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale phenomena.However,as one of the fundamental approaches for material analytics,torsion tests at a small scale remain a major challenge due to the lack of an ultrahigh precise torque sensor and the delicate sample assembly strategy.Herein,we present a microelectromechanical resonant torque sensor with an ultrahigh resolution of up to 4.78 fN∙m within an ultrawide dynamic range of 123 dB.Moreover,we propose a nanorobotic system to realize the precise assembly of microscale specimens with nanoscale positioning accuracy and to conduct repeatable in situ pure torsion tests for the first time.As a demonstration,we characterized the mechanical properties of Si microbeams through torsion tests and found that these microbeams were five-fold stronger than their bulk counterparts.The proposed torsion characterization system pushes the limit of mechanical torsion tests,overcomes the deficiencies in current in situ characterization techniques,and expands our knowledge regarding the behavior of micro/nanomaterials at various loads,which is expected to have significant implications for the eventual development and implementation of materials science.展开更多
Sampling-based path planning is widely used in robotics,particularly in high-dimensional state spaces.In the path planning process,collision detection is the most time-consuming operation.Therefore,we propose a learni...Sampling-based path planning is widely used in robotics,particularly in high-dimensional state spaces.In the path planning process,collision detection is the most time-consuming operation.Therefore,we propose a learning-based path planning method that reduces the number of collision checks.We develop an efficient neural network model based on graph neural networks.The model outputs weights for each neighbor based on the obstacle,searched path,and random geometric graph,which are used to guide the planner in avoiding obstacles.We evaluate the efficiency of the proposed path planning method through simulated random worlds and real-world experiments.The results demonstrate that the proposed method significantly reduces the number of collision checks and improves the path planning speed in high-dimensional environments.展开更多
Simultaneous Localization and Mapping(SLAM)is widely used to solve the localization problem of unmanned devices such as robots.However,in degraded environments,the accuracy of SLAM is greatly reduced due to the lack o...Simultaneous Localization and Mapping(SLAM)is widely used to solve the localization problem of unmanned devices such as robots.However,in degraded environments,the accuracy of SLAM is greatly reduced due to the lack of constrained features.In this article,we propose a deep learning-based adaptive compensation strategy for sensors.First,we create a dataset dedicated to training a degradation detection model,which contains coordinate data of particle swarms with different distributional features,and endow the model with degradation detection capability through supervised learning.Second,we design a lightweight network model with short computation time and good accuracy for real-time degradation detection tasks.Finally,an adaptive compensation strategy for sensors based on the degree of degradation is designed,where the SLAM is able to assign different weights to the sensor information according to the degree of degradation given by the model,to adjust the contribution of different sensors in the pose optimization process.We demonstrate through simulation experiments and real experiments that the robustness of the improved SLAM in degraded environments is significantly enhanced,and the accuracy of localization and mapping are improved.展开更多
基金supported by the National Natural Science Foundation of China(grant numbers 52405317 and 52075248)the Natural Science Foundation of Jiangsu Province(BK20241407)+3 种基金the Excellence Postdoctoral Project of Jiangsu Province(2024ZB421)the Fundamental Research Funds for the Central Universities(NP2024302)the National Key Laboratory of Aircraft Configuration Design(No.ZZKY-202507)the Jiangsu Key Laboratory of Advanced Robotics Technology(No.KJS2449).
文摘This study examines the locomotor biomechanics of the giant panda(Ailuropoda melanoleuca),a species of profound ecological and evolutionary significance.Despite its characteristic slow movement and non-sprinting locomotion,the panda has endured for over 8 million years,offering a unique perspective on the evolution of mammalian locomotion.Through comprehensive gait analysis and ground reaction force measurements,we investigate the functional distinctions between the forelimbs and hind limbs,highlighting the biomechanical underpinnings of its plantigrade locomotion.Our findings reveal how the panda’s limb structure and movement patterns contribute to energy efficiency,particularly during slow locomotion.By comparing these results with those of other large mammals,such as grizzly bears(Ursus arcto),we explore the role of limb mechanics in energy conservation.Additionally,we assess the locomotor performance of pandas across different age groups,shedding light on the maturation of locomotor abilities and the potential adaptive significance of their slow,deliberate movement.This research offers novel insights into the biomechanics of panda locomotion and its evolutionary implications,furthering our understanding of the functional evolution of bear species and informing conservation strategies for this iconic species.
基金Project(6140863020216JW30001)supported by the General Armaments Department Pre-research Fund,China。
文摘The article improves the process of dielectric barrier discharge(DBD)activated anode bonding.The treated surface was characterized by the hydrophilic surface test.The results showed that the hydrophilic angle was significantly reduced under nano-gap conditions and the optimal discharge voltage was 2 kV.Then,the anodic bonding and dielectric barrier discharge activated bonding were performed in comparison experiments,and the bonding strength was characterized by tensile failure test.The results showed that the bonding strength was higher under the nano-gap dielectric barrier discharge.This process completed 110°C ultra-low temperature anodic bonding and the bonding strength reached 2 MPa.Finally,the mechanism of promoting bonding after activation is also discussed.
基金supported by the National Key R&D Program of China (Grant No.2022YFB3206700)the Independent Research Project of the State Key Laboratory of Mechanical Transmission (Grant No.SKLMT-ZZKT-2022M06)the Innovation Group Science Fund of Chongqing Natural Science Foundation (Grant No.cstc2019jcyj-cxttX0003).
文摘Piezoelectric stages use piezoelectric actuators and flexure hinges as driving and amplifying mechanisms,respectively.These systems have high positioning accuracy and high-frequency responses,and they are widely used in various precision/ultra-precision positioning fields.However,the main challenge with these devices is the inherent hysteresis nonlinearity of piezoelectric actuators,which seriously affects the tracking accuracy of a piezoelectric stage.Inspired by this challenge,in this work,we developed a Hammerstein model to describe the hysteresis nonlinearity of a piezoelectric stage.In particular,in our proposed scheme,a feedback-linearization algorithm is used to eliminate the static hysteresis nonlinearity.In addition,a composite controller based on equivalent-disturbance compensation was designed to counteract model uncertainties and external disturbances.An analysis of the stability of a closed-loop system based on this feedback-linearization algorithm and composite controller was performed,and this was followed by extensive comparative experiments using a piezoelectric stage developed in the laboratory.The experimental results confirmed that the feedback-linearization algorithm and the composite controller offer improved linearization and trajectory-tracking performance.
基金supported by the National Natural Science Foundation of China(grant numbers 52305321 and 62273246)The Natural Science Foundation of Jiangsu Province(BK20230496)+3 种基金China Postdoctoral Science Foundation Funded Project(2023M732536 and 2024T170630)Jiangsu Province Excellence Postdoctoral Program(2023ZB218)The National Key R&D Program of China(2022YFB4702202)The Jiangsu Provincial Key Technology R&D Program(BE2021009-02).
文摘Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(FWMRs)have garnered widespread attention among scientists due to their superior miniaturized aerodynamic theory,reduced noise,and enhanced resistance to disturbances in complex and diverse environments.Flying insects,it not only has remarkable flapping flight ability(wings),but also takeoff and landing habitat ability(legs).If the various functions of flying insects can be imitated,efficient biomimetic FWMRs can be produced.This paper provides a review of the flight kinematics,aerodynamics,and wing structural parameters of insects.Then,the traditional wings and folding wings of insect-inspired FWMRs were compared.The research progress in takeoff and landing of FWMRs was also summarized,and the future developments and challenges for insect-inspired FWMRs were discussed.
基金Project(51905362)supported by the National Natural Science Foundation of ChinaProjects(19KJB460022,18KJB130006)supported by the Natural Science Foundation of Jiangsu Higher Education Institution,China。
文摘This study aims to develop a model to characterize the inhomogeneous material deformation behavior in micro-forming.First,the influence of individual grain heterogeneity on the deformation behavior of CuZn20 foils was investigated via tensile and micro-hardness tests.The results showed that different from thick sheets,the hardening behavior of grains in the deformation area of thin foils is not uniform.The flow stress of thin foils actually only reflects the average hardening behavior of several easy-deformation-grains,which is the reason that thinner foils own smaller flow stress.Then,a composite modeling method under consideration of individual grain heterogeneity was developed,where the effects of grain orientation and shape are quantitatively represented by the method of flow stress classification and Voronoi tessellation,respectively.This model provides an accurate and effective method to analyze the influence of individual grain heterogeneity on the deformation behavior of the micro-sized material.
基金supported by the Project of Youth Fund of the National Natural Science Foundation (No. 61203208)the National Natural Science Foundation of China(No.61327802)the Specialized Research Fund for the Doctoral Program of Higher Education (No.2013320111 0009)
文摘As the requirements of production process is getting higher and higher with the reduction of volume,microphone production automation become an urgent need to improve the production efficiency.The most important part is studied and a precise algorithm of calculating the deviation angle of four types microphones is proposed,based on the feature extraction and visual detection.Pretreatment is performed to achieve the real-time microphone image.Canny edge detection and typical feature extraction are used to distinguish the four types of microphones,categorizing them as type M1 and type M2.And Hough transformation is used to extract the image features of microphone.Therefore,the deviation angle between the posture of microphone and the ideal posture in 2Dplane can be achieved.Depending on the angle,the system drives the motor to adjust posture of the microphone.The final purpose is to realize the high efficiency welding of four different types of microphones.
基金supported by the Project of Youth Fund of National Natural Science Foundation (No. 61203208)the National Natural Science Foundation of China(No.61327802)
文摘Dielectrophoresis impedance measurement(DEPIM)is a powerful tool for bioparticle detection due to its advantages of high efficiency,label-free and low costs.However,the strong electric field may decrease the viability of the bioparticle,thus leading to instability of impedance measurement.A new design of biochip is presented with high stable bioparticle detection capabilities by using both negative dielectrophoresis(nDEP)and traveling wave dielectrophoresis(twDEP).In the biochip,a spiral electrode is arranged on the top of channel,while a detector is arranged on the bottom of the channel.The influence factors on the DEP force and twDEP force are investigated by using the basic principle of DEP,based on which,the relationship between Clausius-Mossotti(CM)factor and the frequency of electric field is obtained.The two-dimensional model of the biochip is built by using Comsol Multiphysics.Electric potential distribution,force distribution and particle trajectory in the channel are then obtained by using the simulation model.Finally,both the simulations and experiments are performed to demonstrate that the new biochip can enhance the detection efficiency and reduce the negative effects of electric field on the bioparticles.
基金supported by the National Natural Science Foundation of China(62103179,62273246,andU23A20339).
文摘The development of autonomous robots and the wide range of communication resources hold significant potential for enhancing multi-robot collaboration and its applications.Over the past decades,there has been a growing interest in autonomous navigation and multi-robot collaboration.Consequently,a comprehensive review of current trends in this field has become crucial for both novice and experienced researchers.This paper focuses on automation systems and multi-robot navigation to support their operations.The review is structured around three potential benefits:perception,planning,and collaboration.This review has systematically explored a broad spectrum of autonomous robots and multi-robot navigation strategies with over 170 references.Also,we point out the challenges of the existing work,as well as the development direction.We believe that this review can build a bridge between autonomous robots and their applications.
基金support from the National Natural Science Foundation of China(32101626)the Shandong Province Key R&D Plan Project(2022LZGC020)+1 种基金the Natural Science Foundation of Jiangsu Province of China(BK20220490)the Fundamental Research Funds for the Central Universities under Grant No.226-2024-00227.
文摘The microinjection of Zebrafish embryos is significant to life science and biomedical research.In this article,a novel automated system is developed for cell microinjection.A sophisticated microfluidic chip is designed to transport,hold,and inject cells continuously.For the first time,a microinjector with microforce perception is proposed and integrated within the enclosed microfluidic chip to judge whether cells have been successfully punctured.The deep learning model is employed to detect the yolk center of zebrafish embryos and locate the position of the injection needle within the yolk,which enables enhancing the precision of cell injection.A prototype is fabricated to achieve automatic batch microinjection.Experimental results demonstrated that the injection efficiency is about 20 seconds per cell.Cell puncture success rate and cell survival rate are 100%and 84%,respectively.Compared to manual operation,this proposed system improves cell operation efficiency and cell survival rate.The proposed microinjection system has the potential to greatly reduce the workload of the experimenters and shorten the relevant study period.
基金supported by Jiangsu(Industry Foresight and Key Core Technology)Key Research and Development Project(BE2022137)the National Natural Science Foundation of China(51675358).
文摘A physically feasible,reliable,and safe motion is essential for robot operation.A parameterization-based trajectory planning approach is proposed for an 8-DOF manipulator with multiple constraints.The inverse kinematic solution is obtained through an analytical method,and the trajectory is planned in joint space.As such,the trajectory planning of the 8-DOF manipulator is transformed into a parameterization-based trajectory optimization problem within its physical,obstacle and task constraints,and the optimization variables are significantly reduced.Then teaching-learning-based optimization(TLBO)algorithm is employed to search for the redundant parameters to generate an optimal trajectory.Simulation and physical experiment results demonstrate that this approach can effectively solve the trajectory planning problem of the manipulator.Moreover,the planned trajectory has no theoretical end-effector deviation for the task constraint.This approach can provide a reference for the motion planning of other redundant manipulators.
基金supported by the National Key Research and Development Program of China(2023YFB4705200)in part by the National Natural Science Foundation of China(62203315 and 62273257)+4 种基金in part by the Natural Science Foundation of Jiangsu Province of China(BK20220490)in part by the Innovation and Entrepreneurship Leading Talent Program of Suzhou City(ZXL2023156)in part by the Young Elite Scientists Sponsorship Program by CAST(2023QNRC001)in part by the Key Project of Jiangsu Key Laboratory of Advanced Robotics(ZZ2206)in part by the Open Research Fund of The State Key Laboratory of Multi-modal Artificial Intelligence Systems,and in part by the Under-graduate Training Program for Innovation and Entrepreneurship,Soochow University(202410285217Y).
文摘Open tumor resection is one of the most commonly used treatments for malignant liver tumors.The ability to accurately locate the liver tumor during the operation is the key to the success of the operation.Intraoperative liver tumor localization remains challenging due to tissue deformation and intraoperative imaging limitations.This paper proposes a dual-constraint framework that syn-ergistically integrates liver surface deformation and vascular biomechanical modeling to resolve this problem.Liver surface registration captures global deformation using a fast finite-element model(18 s),while vascular topology matching refines internal tumor displacement by enforcing correspondence between preoperative and intraoperative vessel trees.This synergistic strategy leverages both external and internal anatomical cues to achieve robust localization.Evaluated on 13 clinical cases,our method achieved sub-millimeter tumor localization accuracy(1.68±0.22 mm).Compared to single-constraint methods(LTLS:2.04±0.26 mm;LTBV:2.23±0.31 mm),our approach reduced error by 24%–37%without increasing runtime.This clinically efficient method shows promise for improving intraoperative guidance during liver tumor ablation.
基金This study was supported by the Natural Sciences and Engineering Research Council of Canada,the Canada Research Chairs Program,and the Ontario Ministry of Research and Innovation via an ORF-RE grant.
文摘A scanning electron microscope(SEM)provides real-time imaging with nanometer resolution and a large scanning area,which enables the development and integration of robotic nanomanipulation systems inside a vacuum chamber to realize simultaneous imaging and direct interactions with nanoscaled samples.Emerging techniques for nanorobotic manipulation during SEM imaging enable the characterization of nanomaterials and nanostructures and the prototyping/assembly of nanodevices.This paper presents a comprehensive survey of recent advances in nanorobotic manipulation,including the development of nanomanipulation platforms,tools,changeable toolboxes,sensing units,control strategies,electron beam-induced deposition approaches,automation techniques,and nanomanipulation-enabled applications and discoveries.The limitations of the existing technologies and prospects for new technologies are also discussed.
基金Project supported by the National Natural Science Foundation of China （No. 61273340） and the China Postdoctoral Science Foundation （No. 2013M541721）
文摘The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization （BBO） is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization （HBBO） algorithm, which is based on BBO and differential evolution （DE）, is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and Did/best/I/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF （degree of freedom） redundant humanoid manipulator is employed as an example. The end-effector error （position and orientation） and the ＇away limitation level＇ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.
文摘Digital microfluidics （DMF） is a versatile microfluidics technology that has significant application potential in the areas of automation and miniaturization. In DME discrete droplets containing samples and reagents are controlled to implement a series of operations via electrowetting-on-dielectric. This process works by apply- ing electrical potentials to an array of electrodes coated with a hydrophobic dielectric layer. Unlike microchannels, DMF facilitates precise control over multiple reaction processes without using complex pump, microvalve, and tubing networks. DMF also presents other distinct features, such as portability, less sample consumption, shorter chemical reaction time, flexibility, and easier combination with other technology types. Due to its unique advantages, DMF has been applied to a broad range of fields （e.g., chemistry, biology, medicine, and environment）. This study reviews the basic principles of droplet actuation, configuration design, and fabrication of the DMF device, as well as discusses the latest progress in DMF from the biochemistry perspective.
基金supported by the National Natural Science Foundation of China(U1813211 and 61773275).
文摘Swimming micro-nanorobots have attracted researchers’interest in potential medical applications on target therapy,biosensor,drug carrier,and others.At present,the experimental setting of the swimming micro-nanorobots was mainly studied in pure water or H_(2)O_(2) solution.This paper presents a micro-nanorobot that applied glucose in human body fluid as driving fuel.Based on the catalytic properties of the anode and cathode materials of the glucose fuel cell,platinum(Pt)and carbon nanotube(CNT)were selected as the anode and cathode materials,respectively,for the micro-nanorobot.The innovative design adopted the method of template electrochemical and chemical vapor deposition to manufacture the Pt/CNT micro-nanorobot structure.Both the scanning electron microscope(SEM)and transmission electron microscope(TEM)were employed to observe the morphology of the sample,and its elements were analyzed by energy-dispersive X-ray spectroscopy(EDX).Through a large number of experiments in a glucose solution and according to Stoker’s law of viscous force and Newton’s second law,we calculated the driving force of the fabricated micro-nanorobot.It was concluded that the structure of the Pt/CNT micronanorobot satisfied the required characteristics of both biocompatibility and motion.
基金funded by the National Natural Science Foundation of China(Grant/Award Numbers:52075179 and 52130508)Jiangsu Policy Guidance Program(International Science and Technology Cooperation)the Belt and Road Initiative Innovative Cooperation Projects:BZ2021016.
文摘Compliant mechanisms with curved flexure hinges/beams have potential advantages of small spaces,low stress levels,and flexible design parameters,which have attracted considerable attention in precision engineering,metamaterials,robotics,and so forth.However,serial-parallel configurations with curved flexure hinges/beams often lead to a complicated parametric design.Here,the transfer matrix method is enabled for analysis of both the kinetostatics and dynamics of general serial-parallel compliant mechanisms without deriving laborious formulas or combining other modeling methods.Consequently,serial-parallel compliant mechanisms with curved flexure hinges/beams can be modeled in a straightforward manner based on a single transfer matrix of Timoshenko straight beams using a step-by-step procedure.Theoretical and numerical validations on two customized XY nanopositioners comprised of straight and corrugated flexure units confirm the concise modeling process and high prediction accuracy of the presented approach.In conclusion,the present study provides an enhanced transfer matrix modeling approach to streamline the kinetostatic and dynamic analyses of general serial-parallel compliant mechanisms and beam structures,including curved flexure hinges and irregular-shaped rigid bodies.
基金supported by the National Key R&D Program of China(No.2018YFB2002303)the National Natural Science Foundation of China(Nos.52075432,61922093,U1813211,6207330)+1 种基金Hong Kong RGC General Research Fund CityU(11211720)ShenZhen(China)Key Basic Research Project(No.JCYJ20200109114827177).
文摘In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale phenomena.However,as one of the fundamental approaches for material analytics,torsion tests at a small scale remain a major challenge due to the lack of an ultrahigh precise torque sensor and the delicate sample assembly strategy.Herein,we present a microelectromechanical resonant torque sensor with an ultrahigh resolution of up to 4.78 fN∙m within an ultrawide dynamic range of 123 dB.Moreover,we propose a nanorobotic system to realize the precise assembly of microscale specimens with nanoscale positioning accuracy and to conduct repeatable in situ pure torsion tests for the first time.As a demonstration,we characterized the mechanical properties of Si microbeams through torsion tests and found that these microbeams were five-fold stronger than their bulk counterparts.The proposed torsion characterization system pushes the limit of mechanical torsion tests,overcomes the deficiencies in current in situ characterization techniques,and expands our knowledge regarding the behavior of micro/nanomaterials at various loads,which is expected to have significant implications for the eventual development and implementation of materials science.
基金This work is supported by Shenzhen Science and Technology Program,China(RCBS20221008093305007 and 20231115141459001)Young Elite Scientists Sponsorship Program by CAST(2023QNRC001),China.
文摘Sampling-based path planning is widely used in robotics,particularly in high-dimensional state spaces.In the path planning process,collision detection is the most time-consuming operation.Therefore,we propose a learning-based path planning method that reduces the number of collision checks.We develop an efficient neural network model based on graph neural networks.The model outputs weights for each neighbor based on the obstacle,searched path,and random geometric graph,which are used to guide the planner in avoiding obstacles.We evaluate the efficiency of the proposed path planning method through simulated random worlds and real-world experiments.The results demonstrate that the proposed method significantly reduces the number of collision checks and improves the path planning speed in high-dimensional environments.
基金supported by the National Science Foundation of China(62273246)Science and Technology Research Foundation of State Grid Co.Ltd(5700-202318270A-1-1-ZN).
文摘Simultaneous Localization and Mapping(SLAM)is widely used to solve the localization problem of unmanned devices such as robots.However,in degraded environments,the accuracy of SLAM is greatly reduced due to the lack of constrained features.In this article,we propose a deep learning-based adaptive compensation strategy for sensors.First,we create a dataset dedicated to training a degradation detection model,which contains coordinate data of particle swarms with different distributional features,and endow the model with degradation detection capability through supervised learning.Second,we design a lightweight network model with short computation time and good accuracy for real-time degradation detection tasks.Finally,an adaptive compensation strategy for sensors based on the degree of degradation is designed,where the SLAM is able to assign different weights to the sensor information according to the degree of degradation given by the model,to adjust the contribution of different sensors in the pose optimization process.We demonstrate through simulation experiments and real experiments that the robustness of the improved SLAM in degraded environments is significantly enhanced,and the accuracy of localization and mapping are improved.
