High-performance 24CrNiMo steel was fabricated using Laser Powder Bed Fusion (LPBF). Subsequent quenching treatment was applied and the influence of quenching temperatures on micro-structure evolution and properties w...High-performance 24CrNiMo steel was fabricated using Laser Powder Bed Fusion (LPBF). Subsequent quenching treatment was applied and the influence of quenching temperatures on micro-structure evolution and properties was systematically characterised and analysed. The micro-structure of the as-built steel consisted of two parts. The first part comprised martensite with twins combined with ω-Fe nano-particles, and the second part consisted of lower bainite in the molten pool, as well as upper bainite, granular bainite and tempered martensite in the heat-affected zone. With the quenching temperatures varying from 800℃ to 950℃, the micro-structure gradually transformed from acicular ferrite + martensite to tempered martensite +θ-Fe3C carbides, and the grain size exhibited noticeable growth. Moreover, quenching treatments could eliminate the anisotropy and inhomogeneity of the micro-structure. The rod-shaped nanosized η-Fe2C and θ-Fe3C precipitates were clearly observed, which were converted from ω-Fe and distributed at multiple angles in the lath. The size and number of nano-precipitates, triggered by the high self-tempering degree of martensite, gradually increased. The relationships among grain size, the twins, dislocation density and nano-precipitation and the dramatically improved performance of quenched samples were analysed using strengthening mechanisms. After quenching at 850℃, the as-built 24CrNiMo steel attained ultra-high mechanical properties including hardness, Ultimate Tensile Strength (UTS), Elongation (El) and impact energy with values of 480.9 HV_(1), 1611.4 MPa, 9.8% and 42.8 J, respectively. Meanwhile, both the wear and thermal fatigue resistance increased by approximately 40%. This study demonstrated that LPBF-fabricated 24CrNiMo steel, with matching good performances, can be achieved using a subsequent one-step quenching process.展开更多
Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve bio...Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve biomimetic locomotion patterns such as straight-line swimming and turning swimming.The soft robotic turtle(12.50 mm in length and 0.24 g in weight)is integrated with an Ecoflex-based torso and four magnetically programmed acrylic elastomer VHB-based limbs containing samarium-iron–nitrogen particles,and was able to carry a load more than twice its own weight.Similar to the limb locomotion characteristics of sea turtles,the magnetic torque causes the four limbs to mimic sinusoidal bending deformation under the influence of an external magnetic field,so that the turtle swims continuously forward.Significantly,when the bending deformation magnitudes of its left and right limbs differ,the soft robotic turtle switches from straight-line to turning swimming at 6.334 rad/s.Furthermore,the tracking swimming activities of the soft robotic turtle along specific planned paths,such as square-shaped,S-shaped,and double U-shaped maze,is anticipated to be utilized for special detection and targeted drug delivery,among other applications owing to its superior remote directional control ability.展开更多
Excellent fluid sealing performance is crucial to ensuring the safety of important equipment,especially in aerospace field,such as space capsule and fuel chamber.The frequently opening and closing of the sealing devic...Excellent fluid sealing performance is crucial to ensuring the safety of important equipment,especially in aerospace field,such as space capsule and fuel chamber.The frequently opening and closing of the sealing devices is particularly important.Driven by this background,clams(Mactra chinensis)which can open and close their double shells with superior sealing performance,are studied in this work.Here,we show that the clam’s sealing ability is the result of its unique multilevel intermeshing microstructures,including hinge teeth and micro-blocks.These microstructures,which resemble gear teeth,engage with each other when the shell closes,forming a tight structure that prevents the infiltration of water from the outside.Furthermore,the presence of micron blocks prevents the penetration of finer liquids.The simulation results of the bionic end seal components show that the multilevel microstructure has a superior sealing effect.This research is expected to be applied to undersea vehicles that require frequent door opening and closing.展开更多
Inspired by the self-healing function of biological organisms,Bionic Laser Alloying(BLA)process was adopted to fabricate the bionic self-healing Thermal Barrier Coatings(TBCs).The BLA with different fractions of TiAl3...Inspired by the self-healing function of biological organisms,Bionic Laser Alloying(BLA)process was adopted to fabricate the bionic self-healing Thermal Barrier Coatings(TBCs).The BLA with different fractions of TiAl3 self-healing agent and Ceria and Yttria-Stabilized Zirconia(CYSZ)on the plasma-sprayed 7YSZ TBCs was carried out by a pulsed Nd:YAG laser.The effect of TiAl3 content on the microstructure,phase composition,and thermal shock behaviors of the bionic self-healing TBCs were investigated.Results indicated that the bionic self-healing TBCs had better thermal shock resistance than that of the as-sprayed TBCs.The thermal shock resistance increased first and then decreased with increasing TiAl3 fraction.The thermal shock resistance of the bionic self-healing TBCs with 15%TiAl3 is triple that of the as-sprayed TBCs.On one hand,the columnar crystals and vertical cracks could improve strain compatibility of TBCs during the thermal shock process;on the other hand,the TiAl3 as a self-healing agent reacted with oxygen in air at high temperature to seal the microcracks,thereby delaying the crack connection.展开更多
Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this...Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.展开更多
Soft in-pipe robot has good adaptability in tubular circumstances,while its rigidity is insufficient,which affects the traction performance.This paper proposes a novel worm-like in-pipe robot with a rigid and soft str...Soft in-pipe robot has good adaptability in tubular circumstances,while its rigidity is insufficient,which affects the traction performance.This paper proposes a novel worm-like in-pipe robot with a rigid and soft structure,which not only has strong traction ability but also flexible mobility in the shaped pipes.Imitating the structure features of the earthworm,the bionic in-pipe robot structure is designed including two soft anchor parts and one rigid telescopic part.The soft-supporting mechanism is the key factor for the in-pipe robot excellent performance,whose mathematical model is established and the mechanical characteristics are analyzed,which is used to optimize the structural parameters.The prototype is developed and the motion control strategy is planned.Various performances of the in-pipe robot are tested,such as the traction ability,moving velocity and adaptability.For comparative analysis,different operating scenarios are built including the horizontal pipe,the inclined pipe,the vertical pipe and other unstructured pipes.The experiment results show that the in-pipe robot is suitable for many kinds of pipe applications,the average traction is about 6.8N,the moving velocity is in the range of 9.5 to 12.7 mm/s.展开更多
The metal and nano-ceramic composite coatings were formed on gray cast iron surface by electrodepositon method.The Ni-Co was used as metal matrix,and the nano-Al2O3 was chosen as second-phase particulates.The gradient...The metal and nano-ceramic composite coatings were formed on gray cast iron surface by electrodepositon method.The Ni-Co was used as metal matrix,and the nano-Al2O3 was chosen as second-phase particulates.The gradient structure of biology material was the model to avoid bad interface bonding and stress distribution,therefore the gradient composite coating was prepared.The morphology of composite coatings was flatter and the microstructure was more com-pact than the pure Ni-Co coatings.Effect of pH value on surface morphology was analyzed,which some microcracks appeared when pH value was greater than 5.The content of codeposition na-no-Al2O3 reached a maximum value at pH value of 3-4,at the same time the properties including mi-crohardness and wear-resistance were analyzed.The result indicated that the mirohardness reached a maximum value and the wear loss volume was less at pH value 3-4.展开更多
On the base of controllable variable stiffness property,variable stiffness composites were the main components of functional materials in aerospace.However,the relatively low mechanical strength,stiffness range,and re...On the base of controllable variable stiffness property,variable stiffness composites were the main components of functional materials in aerospace.However,the relatively low mechanical strength,stiffness range,and response rate restricted the application of variable stiffness composite.In this work,the novel variable stiffness composite system with characteristics of repeatable high load bearing and response rate was successfully prepared via the double-layer anisotropic structure to solve the bottlenecks of variable stiffness composites.The novel variable stiffness composite systems were composed of variable stiffness layer of polycaprolactone(PCL)and the driven layer of silicone elastomer with alcohol,which continuously changed Young’s modulus from 0.1 to 7.263 MPa(72.63 times variation)in 200 s and maintained maximum weight of 11.52 times its own weight(8.5 g).Attributed to the relatively high variable stiffness range and load bearing value of variable stiffness composite system,the repeatable response process led to the efficient high load driven as“muscle”and diversified precise grab of objects with different shapes as“gripper”,owning widespread application prospects in the field of bionics.展开更多
The aim of this study is to systematically reveal the differences in the biomechanics of 16 hand regions related to bionic picking of tomatoes.The biomechanical properties(peak loading force,elastic coefficient,maximu...The aim of this study is to systematically reveal the differences in the biomechanics of 16 hand regions related to bionic picking of tomatoes.The biomechanical properties(peak loading force,elastic coefficient,maximum percentage deformation and interaction contact mechanics between human hand and tomato fruit)of each hand region were experimentally measured and covariance analyzed.The results revealed that there were significant variations in the assessed biomechanical properties between the 16 hand regions(p<0.05).The maximum pain force threshold(peak loading force in I2 region)was 5.11 times higher than the minimum pain force threshold(in Th1 region).It was found that each hand region in its normal direction can elastically deform by at least 15.30%.The elastic coefficient of the 16 hand regions ranged from 0.22 to 2.29 N mm−1.The interaction contact force acting on the fruit surface was affected by the selected human factors and fruit features.The obtained covariance models can quantitatively predict all of the above biomechanical properties of 16 hand regions.The findings were closely related to hand grasping performance during tomato picking,such as soft contact,surface interaction,stable and dexterous grasping,provided a foundation for developing a high-performance tomato-picking bionic robotic hand.展开更多
Shape Memory Polymers(SMPs)need to be given a temporary shape in advance to realize the shape memory process,but the manual shaping process is cumbersome and has low precision.Here,we propose a universal applicable me...Shape Memory Polymers(SMPs)need to be given a temporary shape in advance to realize the shape memory process,but the manual shaping process is cumbersome and has low precision.Here,we propose a universal applicable method for 4D printing self-folding SMPs by pre-stretching extruded filaments during 3D printing,the temporary shape of the SMPs were designed and fixed during 3D printing.Prepared samples can automatically perform shape memory process under stimulation without manual temporary shape programming process.Furthermore,using carbon ink as a photothermal conversion agent enables the 4D printing SMPs to have thermal and light response characteristics.In addition,some bionic applications of self-folding SMPs were demonstrated,such as self-morphing grasper,DNA double helix structures,programmable sequential switching mimosa,self-folding box and human hand.The combination of SMP and 3D printing fully takes advantage of 4D printing technology,and the self-folding SMPs show great potential applications in the fields of tissue engineering scaffold,self-folding robots,self-assembly system and so on.展开更多
Shape memory polymers(SMPs)are a promising class of materials for biomedical applications due to their favorable mechanical properties,fast response,and good biocompatibility.However,it is difficult to achieve control...Shape memory polymers(SMPs)are a promising class of materials for biomedical applications due to their favorable mechanical properties,fast response,and good biocompatibility.However,it is difficult to achieve controllable sequential shape change for most SMPs due to their high deformation temperature and the simplex deformation process.Herein,shape memory composites based on polylactic acid(PLA)matrix and semi-crystalline linear polymer polycaprolactone(PCL)are fabricated using 4D printing technology.Compared with pure PLA,with the rise of PCL content,the 4D-printed PLA/PCL composites show decreased glass transition temperature(Tg)from 67.2 to 55.2°C.Through the precise control of the deformation condition,controllable sequential deformation with an outstanding shape memory effect can be achieved for the PLA/PCL shape memory composites.The response time of shape recovery is less than 1.2 s,and the shape fixation/recov-ery rates are above 92%.In order to simulate sequential petal opening and sequential drug releasing effects,a double-layer bionic flower and a drug release device,respectively,are presented by assembling PLA/PCL samples with different PLA/PCL ratios.The results indicate the potential applications of 4D-printed PLA/PCL composites in the field of bio-inspired robotics and biomedical devices.展开更多
The human skin has the ability to sense tactile touch and a great range of pressures.Therefore,in prosthetic or robotic systems,it is necessary to prepare pressure sensors with high sensitivity in a wide measurement r...The human skin has the ability to sense tactile touch and a great range of pressures.Therefore,in prosthetic or robotic systems,it is necessary to prepare pressure sensors with high sensitivity in a wide measurement range to provide human-like tactile sensation.Herein,we developed a flexible piezoresistive pressure sensor that is highly sensitive in a broad pressure range by using lotus leaf micropatterned polydimethylsiloxane and multilayer superposition.By superposing four layers of micropatterned constructive substrates,the multilayer piezoresistive pressure sensor achieves a broad pressure range of 312 kPa,a high sensitivity of 2.525 kPa^(−1),a low limit of detection(LOD)of<12 Pa,and a fast response time of 45 ms.Compared with the traditional flexible pressure sensor,the pressure range of this sensor can be increased by at least an order of magnitude.The flexible piezoresistive pressure sensor also shows high robustness:after testing for at least 1000 cycles,it shows no sign of fatigue.More importantly,these sensors can be potentially applied in various human motion detection scenarios,including tiny pulse monitoring,throat vibration detection,and large under-feet pressure sensing.The proposed fabrication strategy may guide the design of other kinds of multifunctional sensors to improve the detection performance.展开更多
Haze is mainly caused by the suspended particulate matters in the air,of which the particulate matters pollution harms leaf vegetables.In this paper,oilseed rapes at four different growing periods were investigated in...Haze is mainly caused by the suspended particulate matters in the air,of which the particulate matters pollution harms leaf vegetables.In this paper,oilseed rapes at four different growing periods were investigated in a simulated particulate pollution environment.In combination of hyper-spectral technology and micro examination,the response of hyper-spectral characteristics of the leaf to particulate matters was investigated in-depth.The hyperspectral,chlorophyll content,net photosynthetic rate and stomatal conductance of leaf were obtained.The deposition and adsorption of particulate matters on the leaf were observed by Environmental Scanning Electron Microscope(ESEM).Normalized difference vegetation index(NDVI),modified red edge normalized(mNDVI705)and modified red edge simple ratio index(mSR705)were selected as characteristic parameters and the range of 510 nm~620 nm as the sensitive band.16 methods were used to establish the physiological information inversion model.The main results were as follows:Under the influence of particulate matters,the spectral reflectance decreased as a whole.With the increase of leaf age,the phenomenon of blue shift aggravated.The amplitude of yellow and blue edge decreased with overall decreasing vegetation indices.The furrows and irregular band protrusions in leaves were favorable for keeping particulate matters.With longer affecting time and more deposition of particle matters on the leaf,the stomatal opening became smaller.After comparing,principal component regression(PCR)+multiple scatter correction(MSC)+second derivative(SD)+Savitzky-Golay smooth(SG),and partial least square(PLS)+multiple scatter correction(MSC)+first derivative(FD)+Savitzky-Golay smooth(SG)were determined the best method to establish the inversion model of chlorophyll content and net photosynthetic rate respectively.This study may bring novel ideas for the diagnosis and analysis of the physiological response of leaf vegetables under particulate matters pollution using hyper-spectral technology.展开更多
Flexible pressure sensor that enables detection of multimodal signals has greater advantages in human–computer interaction,medical/health care,and other applications.To make a versatile flexible pressure sensor,hiera...Flexible pressure sensor that enables detection of multimodal signals has greater advantages in human–computer interaction,medical/health care,and other applications.To make a versatile flexible pressure sensor,hierarchical and anisotropy structure are key features to improve sensing performance and realize multi-signal detection.However,traditional flexible sensors usually have narrow linear range and single signal detection capability.Herein,a highly sensitive flexible piezoresistive pressure sensor which has broad linear range of pressure is developed by replicating one dimensional microstructures from reed leaf and using multilayer superposition of micropatterned polydimethylsiloxane(m-PDMS).Through superposing 4 layers of parallel micropatterned constructive substrates,the multilayer piezoresistive pressure sensor exhibits a high sensitivity of 2.54 kPa?1,a fast response time of 30 ms,and a broad linear range of 107 kPa.The flexible piezoresistive pressure sensor is also highly robust:there is no fatigue after testing for at least 1000 cycles.Due to the specific anisotropy of the micro-structure,the sensor can measure the tangential force in different directions.It permits multimode signal detection,including pressure,tangential force,and deformation.The versatile flexible pressure sensor enables effective monitoring of multisignals,it reveals great potential for medical and health care,flexible human–computer interaction,and intelligent robot.展开更多
Through the evolution of hundreds of millions of years,the living creature have superior structure and function such as the structure of non-smooth surfaces have a well water-repellent,drag reduction,adhesion reductio...Through the evolution of hundreds of millions of years,the living creature have superior structure and function such as the structure of non-smooth surfaces have a well water-repellent,drag reduction,adhesion reduction functions.This study chose a kind of widely used material gray cast iron as substrate,which the metal and nano-ceramic nanocomposite coatings by electrodepositon on gray cast iron surface were prepared.The 2-D and 3-D surface morphologies of composite coating were observed and the result indicated that 2-D and 3-D had a typical geometrical non-smooth character.Furthermore,the contact angles of coating were measured.The relation between coating morphology and wettability was analysed.Therefore,the water-repellent of the composite coating surface was due to the characteristic microstructure and content of coating.展开更多
基金co-supported by the National Key Research and Development Program of China (No. 2022YFB4600500)the National Natural Science Foundation of China (No. 52235006)
文摘High-performance 24CrNiMo steel was fabricated using Laser Powder Bed Fusion (LPBF). Subsequent quenching treatment was applied and the influence of quenching temperatures on micro-structure evolution and properties was systematically characterised and analysed. The micro-structure of the as-built steel consisted of two parts. The first part comprised martensite with twins combined with ω-Fe nano-particles, and the second part consisted of lower bainite in the molten pool, as well as upper bainite, granular bainite and tempered martensite in the heat-affected zone. With the quenching temperatures varying from 800℃ to 950℃, the micro-structure gradually transformed from acicular ferrite + martensite to tempered martensite +θ-Fe3C carbides, and the grain size exhibited noticeable growth. Moreover, quenching treatments could eliminate the anisotropy and inhomogeneity of the micro-structure. The rod-shaped nanosized η-Fe2C and θ-Fe3C precipitates were clearly observed, which were converted from ω-Fe and distributed at multiple angles in the lath. The size and number of nano-precipitates, triggered by the high self-tempering degree of martensite, gradually increased. The relationships among grain size, the twins, dislocation density and nano-precipitation and the dramatically improved performance of quenched samples were analysed using strengthening mechanisms. After quenching at 850℃, the as-built 24CrNiMo steel attained ultra-high mechanical properties including hardness, Ultimate Tensile Strength (UTS), Elongation (El) and impact energy with values of 480.9 HV_(1), 1611.4 MPa, 9.8% and 42.8 J, respectively. Meanwhile, both the wear and thermal fatigue resistance increased by approximately 40%. This study demonstrated that LPBF-fabricated 24CrNiMo steel, with matching good performances, can be achieved using a subsequent one-step quenching process.
基金supported by National Natural Science Foundation of China(Grant nos.52275290,51905222)Natural Science Foundation of Jiangsu Province(Grant no.BK20211068)+2 种基金Research Project of State Key Laboratory of Mechanical System and Vibration(Grant no.MSV202419)Major Program of National Natural Science Foundation of China(NSFC)for Basic Theory and Key Technology of Tri-Co Robots(Grant no.92248301)Opening project of the Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University(Grant no.KF2023006).
文摘Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve biomimetic locomotion patterns such as straight-line swimming and turning swimming.The soft robotic turtle(12.50 mm in length and 0.24 g in weight)is integrated with an Ecoflex-based torso and four magnetically programmed acrylic elastomer VHB-based limbs containing samarium-iron–nitrogen particles,and was able to carry a load more than twice its own weight.Similar to the limb locomotion characteristics of sea turtles,the magnetic torque causes the four limbs to mimic sinusoidal bending deformation under the influence of an external magnetic field,so that the turtle swims continuously forward.Significantly,when the bending deformation magnitudes of its left and right limbs differ,the soft robotic turtle switches from straight-line to turning swimming at 6.334 rad/s.Furthermore,the tracking swimming activities of the soft robotic turtle along specific planned paths,such as square-shaped,S-shaped,and double U-shaped maze,is anticipated to be utilized for special detection and targeted drug delivery,among other applications owing to its superior remote directional control ability.
基金supported by the National Natural Science Foundation of China(52105296,51973165 and 62161160311)the Fundamental Research Funds for the Central Universities(2042022kf1220)+1 种基金Open Fund of Hubei Key Laboratory of Electronic Manufacturing and Packaging Integration(Wuhan University)(EMPI2023020)Large-scale Instrument And Equipment Sharing Foundation of Wuhan University.
文摘Excellent fluid sealing performance is crucial to ensuring the safety of important equipment,especially in aerospace field,such as space capsule and fuel chamber.The frequently opening and closing of the sealing devices is particularly important.Driven by this background,clams(Mactra chinensis)which can open and close their double shells with superior sealing performance,are studied in this work.Here,we show that the clam’s sealing ability is the result of its unique multilevel intermeshing microstructures,including hinge teeth and micro-blocks.These microstructures,which resemble gear teeth,engage with each other when the shell closes,forming a tight structure that prevents the infiltration of water from the outside.Furthermore,the presence of micron blocks prevents the penetration of finer liquids.The simulation results of the bionic end seal components show that the multilevel microstructure has a superior sealing effect.This research is expected to be applied to undersea vehicles that require frequent door opening and closing.
基金supported by National Natural Science Foundation of China(Grant No.52105311)Natural Science Foundation of Zhejiang Province(Grant No.LQ21E010002)Fundamental Research Funds for the Provincial Universities of Zhejiang(Grant No.RF-A2020009).
文摘Inspired by the self-healing function of biological organisms,Bionic Laser Alloying(BLA)process was adopted to fabricate the bionic self-healing Thermal Barrier Coatings(TBCs).The BLA with different fractions of TiAl3 self-healing agent and Ceria and Yttria-Stabilized Zirconia(CYSZ)on the plasma-sprayed 7YSZ TBCs was carried out by a pulsed Nd:YAG laser.The effect of TiAl3 content on the microstructure,phase composition,and thermal shock behaviors of the bionic self-healing TBCs were investigated.Results indicated that the bionic self-healing TBCs had better thermal shock resistance than that of the as-sprayed TBCs.The thermal shock resistance increased first and then decreased with increasing TiAl3 fraction.The thermal shock resistance of the bionic self-healing TBCs with 15%TiAl3 is triple that of the as-sprayed TBCs.On one hand,the columnar crystals and vertical cracks could improve strain compatibility of TBCs during the thermal shock process;on the other hand,the TiAl3 as a self-healing agent reacted with oxygen in air at high temperature to seal the microcracks,thereby delaying the crack connection.
基金supported by the National Natural Science Foundation of China(U1664263)。
文摘Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.
基金National Natural Science Foundation of China,52005369Open Project Fund of Tianjin Key Laboratory of Integrated Design and Online Monitoring of Light Industry and Food Engineering Machinery and Equipment,2020LIMFE05.
文摘Soft in-pipe robot has good adaptability in tubular circumstances,while its rigidity is insufficient,which affects the traction performance.This paper proposes a novel worm-like in-pipe robot with a rigid and soft structure,which not only has strong traction ability but also flexible mobility in the shaped pipes.Imitating the structure features of the earthworm,the bionic in-pipe robot structure is designed including two soft anchor parts and one rigid telescopic part.The soft-supporting mechanism is the key factor for the in-pipe robot excellent performance,whose mathematical model is established and the mechanical characteristics are analyzed,which is used to optimize the structural parameters.The prototype is developed and the motion control strategy is planned.Various performances of the in-pipe robot are tested,such as the traction ability,moving velocity and adaptability.For comparative analysis,different operating scenarios are built including the horizontal pipe,the inclined pipe,the vertical pipe and other unstructured pipes.The experiment results show that the in-pipe robot is suitable for many kinds of pipe applications,the average traction is about 6.8N,the moving velocity is in the range of 9.5 to 12.7 mm/s.
基金Funded by the National Natural Science Foundation of China(No.50635030)the National Basic Research of China (No.2007CB616913)
文摘The metal and nano-ceramic composite coatings were formed on gray cast iron surface by electrodepositon method.The Ni-Co was used as metal matrix,and the nano-Al2O3 was chosen as second-phase particulates.The gradient structure of biology material was the model to avoid bad interface bonding and stress distribution,therefore the gradient composite coating was prepared.The morphology of composite coatings was flatter and the microstructure was more com-pact than the pure Ni-Co coatings.Effect of pH value on surface morphology was analyzed,which some microcracks appeared when pH value was greater than 5.The content of codeposition na-no-Al2O3 reached a maximum value at pH value of 3-4,at the same time the properties including mi-crohardness and wear-resistance were analyzed.The result indicated that the mirohardness reached a maximum value and the wear loss volume was less at pH value 3-4.
基金the project of the National Key Research and Development Program of China(2018YFA0703300)the National Natural Science Foundation of China(52105302,52175271,52021003,and 91848204)+1 种基金the team of Innovation and entrepreneurship of Jilin Province(20210509047RQ,20210508057RQ)the Program for JLU Science and Technology Innovative Research Team(2017TD-04).
文摘On the base of controllable variable stiffness property,variable stiffness composites were the main components of functional materials in aerospace.However,the relatively low mechanical strength,stiffness range,and response rate restricted the application of variable stiffness composite.In this work,the novel variable stiffness composite system with characteristics of repeatable high load bearing and response rate was successfully prepared via the double-layer anisotropic structure to solve the bottlenecks of variable stiffness composites.The novel variable stiffness composite systems were composed of variable stiffness layer of polycaprolactone(PCL)and the driven layer of silicone elastomer with alcohol,which continuously changed Young’s modulus from 0.1 to 7.263 MPa(72.63 times variation)in 200 s and maintained maximum weight of 11.52 times its own weight(8.5 g).Attributed to the relatively high variable stiffness range and load bearing value of variable stiffness composite system,the repeatable response process led to the efficient high load driven as“muscle”and diversified precise grab of objects with different shapes as“gripper”,owning widespread application prospects in the field of bionics.
基金supported by a European Marie Curie International Incoming Fellowship(326847 and 912847)a Chinese Universities Scientific Fund(2452018313)an Opening Project of the Key Laboratory of Bionic Engineering(Ministry of Education)of Jilin University(KF20200005).
文摘The aim of this study is to systematically reveal the differences in the biomechanics of 16 hand regions related to bionic picking of tomatoes.The biomechanical properties(peak loading force,elastic coefficient,maximum percentage deformation and interaction contact mechanics between human hand and tomato fruit)of each hand region were experimentally measured and covariance analyzed.The results revealed that there were significant variations in the assessed biomechanical properties between the 16 hand regions(p<0.05).The maximum pain force threshold(peak loading force in I2 region)was 5.11 times higher than the minimum pain force threshold(in Th1 region).It was found that each hand region in its normal direction can elastically deform by at least 15.30%.The elastic coefficient of the 16 hand regions ranged from 0.22 to 2.29 N mm−1.The interaction contact force acting on the fruit surface was affected by the selected human factors and fruit features.The obtained covariance models can quantitatively predict all of the above biomechanical properties of 16 hand regions.The findings were closely related to hand grasping performance during tomato picking,such as soft contact,surface interaction,stable and dexterous grasping,provided a foundation for developing a high-performance tomato-picking bionic robotic hand.
基金supported by the National Natural Science Foundation of China(52175271,52021003,52375287)Science and Technology Development Plan Project of Jilin Province(20210509047RQ,20230508041RC).
文摘Shape Memory Polymers(SMPs)need to be given a temporary shape in advance to realize the shape memory process,but the manual shaping process is cumbersome and has low precision.Here,we propose a universal applicable method for 4D printing self-folding SMPs by pre-stretching extruded filaments during 3D printing,the temporary shape of the SMPs were designed and fixed during 3D printing.Prepared samples can automatically perform shape memory process under stimulation without manual temporary shape programming process.Furthermore,using carbon ink as a photothermal conversion agent enables the 4D printing SMPs to have thermal and light response characteristics.In addition,some bionic applications of self-folding SMPs were demonstrated,such as self-morphing grasper,DNA double helix structures,programmable sequential switching mimosa,self-folding box and human hand.The combination of SMP and 3D printing fully takes advantage of 4D printing technology,and the self-folding SMPs show great potential applications in the fields of tissue engineering scaffold,self-folding robots,self-assembly system and so on.
基金supported by the Project of National Key Research and Development Program of China(Nos.2018YFB1105100 and 2018YFC2001300)the National Natural Science Foundation of China(Nos.5167050531,51822504,91848204,91948302,and 52021003)+2 种基金the Key Scientific and Technological Project of Jilin Province(No.20180201051GX)the Program for JLU Science and Technology Innovative Research Team(No.2017TD-04)the Scientific Research Project of Education Department of Jilin Province(No.JJKH20211084KJ).
文摘Shape memory polymers(SMPs)are a promising class of materials for biomedical applications due to their favorable mechanical properties,fast response,and good biocompatibility.However,it is difficult to achieve controllable sequential shape change for most SMPs due to their high deformation temperature and the simplex deformation process.Herein,shape memory composites based on polylactic acid(PLA)matrix and semi-crystalline linear polymer polycaprolactone(PCL)are fabricated using 4D printing technology.Compared with pure PLA,with the rise of PCL content,the 4D-printed PLA/PCL composites show decreased glass transition temperature(Tg)from 67.2 to 55.2°C.Through the precise control of the deformation condition,controllable sequential deformation with an outstanding shape memory effect can be achieved for the PLA/PCL shape memory composites.The response time of shape recovery is less than 1.2 s,and the shape fixation/recov-ery rates are above 92%.In order to simulate sequential petal opening and sequential drug releasing effects,a double-layer bionic flower and a drug release device,respectively,are presented by assembling PLA/PCL samples with different PLA/PCL ratios.The results indicate the potential applications of 4D-printed PLA/PCL composites in the field of bio-inspired robotics and biomedical devices.
基金the Project of National Key Research and Development Program of China(No.2018YFC2001300)the National Natural Science Foundation of China(Nos.52175271,51822504,52021003,52105299,51905207,and 91948302)+2 种基金Science and Technology Development Plan Project of Jilin Province(No.20210508057RQ)Program for JinlinUniversity Science and Technology Innovative Research Team(No.2017TD-04)Scientific Research Project of EducationDepartment of Jilin Province(No.JJKH20211084KJ).
文摘The human skin has the ability to sense tactile touch and a great range of pressures.Therefore,in prosthetic or robotic systems,it is necessary to prepare pressure sensors with high sensitivity in a wide measurement range to provide human-like tactile sensation.Herein,we developed a flexible piezoresistive pressure sensor that is highly sensitive in a broad pressure range by using lotus leaf micropatterned polydimethylsiloxane and multilayer superposition.By superposing four layers of micropatterned constructive substrates,the multilayer piezoresistive pressure sensor achieves a broad pressure range of 312 kPa,a high sensitivity of 2.525 kPa^(−1),a low limit of detection(LOD)of<12 Pa,and a fast response time of 45 ms.Compared with the traditional flexible pressure sensor,the pressure range of this sensor can be increased by at least an order of magnitude.The flexible piezoresistive pressure sensor also shows high robustness:after testing for at least 1000 cycles,it shows no sign of fatigue.More importantly,these sensors can be potentially applied in various human motion detection scenarios,including tiny pulse monitoring,throat vibration detection,and large under-feet pressure sensing.The proposed fabrication strategy may guide the design of other kinds of multifunctional sensors to improve the detection performance.
基金This work was funded under the auspices of the National Natural Science Foundation for Young Scientists Fund(31801259)the National Natural Science Foundation for Young Scientists Fund(32001418)the Science and Technology Development Project of Jilin Province(20200402015NC).
文摘Haze is mainly caused by the suspended particulate matters in the air,of which the particulate matters pollution harms leaf vegetables.In this paper,oilseed rapes at four different growing periods were investigated in a simulated particulate pollution environment.In combination of hyper-spectral technology and micro examination,the response of hyper-spectral characteristics of the leaf to particulate matters was investigated in-depth.The hyperspectral,chlorophyll content,net photosynthetic rate and stomatal conductance of leaf were obtained.The deposition and adsorption of particulate matters on the leaf were observed by Environmental Scanning Electron Microscope(ESEM).Normalized difference vegetation index(NDVI),modified red edge normalized(mNDVI705)and modified red edge simple ratio index(mSR705)were selected as characteristic parameters and the range of 510 nm~620 nm as the sensitive band.16 methods were used to establish the physiological information inversion model.The main results were as follows:Under the influence of particulate matters,the spectral reflectance decreased as a whole.With the increase of leaf age,the phenomenon of blue shift aggravated.The amplitude of yellow and blue edge decreased with overall decreasing vegetation indices.The furrows and irregular band protrusions in leaves were favorable for keeping particulate matters.With longer affecting time and more deposition of particle matters on the leaf,the stomatal opening became smaller.After comparing,principal component regression(PCR)+multiple scatter correction(MSC)+second derivative(SD)+Savitzky-Golay smooth(SG),and partial least square(PLS)+multiple scatter correction(MSC)+first derivative(FD)+Savitzky-Golay smooth(SG)were determined the best method to establish the inversion model of chlorophyll content and net photosynthetic rate respectively.This study may bring novel ideas for the diagnosis and analysis of the physiological response of leaf vegetables under particulate matters pollution using hyper-spectral technology.
基金This work was supported by the Project of National Key Research and Development Program of China(2018YFC2001300)the National Natural Science Foundation of China(52175271,51822504,52021003,52105299,51905207,91948302)+2 种基金Science and technology development plan project of Jilin Province(20210508057RQ)Program for JLU Science and Technology Innovative Research Team(2017TD-04)Scientific Research Project of Education Department of Jilin Province(JJKH20211084KJ)。
文摘Flexible pressure sensor that enables detection of multimodal signals has greater advantages in human–computer interaction,medical/health care,and other applications.To make a versatile flexible pressure sensor,hierarchical and anisotropy structure are key features to improve sensing performance and realize multi-signal detection.However,traditional flexible sensors usually have narrow linear range and single signal detection capability.Herein,a highly sensitive flexible piezoresistive pressure sensor which has broad linear range of pressure is developed by replicating one dimensional microstructures from reed leaf and using multilayer superposition of micropatterned polydimethylsiloxane(m-PDMS).Through superposing 4 layers of parallel micropatterned constructive substrates,the multilayer piezoresistive pressure sensor exhibits a high sensitivity of 2.54 kPa?1,a fast response time of 30 ms,and a broad linear range of 107 kPa.The flexible piezoresistive pressure sensor is also highly robust:there is no fatigue after testing for at least 1000 cycles.Due to the specific anisotropy of the micro-structure,the sensor can measure the tangential force in different directions.It permits multimode signal detection,including pressure,tangential force,and deformation.The versatile flexible pressure sensor enables effective monitoring of multisignals,it reveals great potential for medical and health care,flexible human–computer interaction,and intelligent robot.
基金Funded by the National Natural Science Foundation of China(No.50635030)the National Basic Research of China(No.2007CB616913)
文摘Through the evolution of hundreds of millions of years,the living creature have superior structure and function such as the structure of non-smooth surfaces have a well water-repellent,drag reduction,adhesion reduction functions.This study chose a kind of widely used material gray cast iron as substrate,which the metal and nano-ceramic nanocomposite coatings by electrodepositon on gray cast iron surface were prepared.The 2-D and 3-D surface morphologies of composite coating were observed and the result indicated that 2-D and 3-D had a typical geometrical non-smooth character.Furthermore,the contact angles of coating were measured.The relation between coating morphology and wettability was analysed.Therefore,the water-repellent of the composite coating surface was due to the characteristic microstructure and content of coating.
