High-precision and real-time diagnosis of sucker rod pumping system(SRPS)is important for quickly mastering oil well operations.Deep learning-based method for classifying the dynamometer card(DC)of oil wells is an eff...High-precision and real-time diagnosis of sucker rod pumping system(SRPS)is important for quickly mastering oil well operations.Deep learning-based method for classifying the dynamometer card(DC)of oil wells is an efficient diagnosis method.However,the input of the DC as a two-dimensional image into the deep learning framework suffers from low feature utilization and high computational effort.Additionally,different SRPSs in an oil field have various system parameters,and the same SRPS generates different DCs at different moments.Thus,there is heterogeneity in field data,which can dramatically impair the diagnostic accuracy.To solve the above problems,a working condition recognition method based on 4-segment time-frequency signature matrix(4S-TFSM)and deep learning is presented in this paper.First,the 4-segment time-frequency signature(4S-TFS)method that can reduce the computing power requirements is proposed for feature extraction of DC data.Subsequently,the 4S-TFSM is constructed by relative normalization and matrix calculation to synthesize the features of multiple data and solve the problem of data heterogeneity.Finally,a convolutional neural network(CNN),one of the deep learning frameworks,is used to determine the functioning conditions based on the 4S-TFSM.Experiments on field data verify that the proposed diagnostic method based on 4S-TFSM and CNN(4S-TFSM-CNN)can significantly improve the accuracy of working condition recognition with lower computational cost.To the best of our knowledge,this is the first work to discuss the effect of data heterogeneity on the working condition recognition performance of SRPS.展开更多
Rapid online analysis of liquid slag is essential for optimizing the quality and energy efficiency of steel production. To investigate the key factors that affect the online measurement of refined slag using laser-ind...Rapid online analysis of liquid slag is essential for optimizing the quality and energy efficiency of steel production. To investigate the key factors that affect the online measurement of refined slag using laser-induced breakdown spectroscopy(LIBS), this study examined the effects of slag composition and temperature on the intensity and stability of the LIBS spectra. The experimental temperature was controlled at three levels: 1350℃, 1400℃, and 1450℃. The results showed that slag composition and temperature significantly affected the intensity and stability of the LIBS spectra. Increasing the Fe content and temperature in the slag reduces its viscosity, resulting in an enhanced intensity and stability of the LIBS spectra. Additionally, 42 refined slag samples were quantitatively analyzed for Fe, Si, Ca, Mg, Al, and Mn at 1350℃, 1400℃, and 1450℃.The normalized full spectrum combined with partial least squares(PLS) quantification modeling was used, using the Ca Ⅱ 317.91 nm spectral line as an internal standard. The results show that using the internal standard normalization method can significantly reduce the influence of spectral fluctuations. Meanwhile, a temperature of 1450℃ has been found to yield superior results compared to both 1350℃ and 1400℃, and it is advantageous to conduct a quantitative analysis of the slag when it is in a “water-like” state with low viscosity.展开更多
We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,ma...We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)equation.The results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance peaks.However,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave field.When the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is reduced.When the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization does.When a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.展开更多
Dynamic structuralcolors can change in response todifferent environmental stimuli.This ability remains effectiveeven when the size of the speciesresponsible for the structural coloris reduced to a few micrometers,prov...Dynamic structuralcolors can change in response todifferent environmental stimuli.This ability remains effectiveeven when the size of the speciesresponsible for the structural coloris reduced to a few micrometers,providing a promising sensingmechanism for solving microenvironmentalsensing problems inmicro-robotics and microfluidics.However, the lack of dynamicstructural colors that can encoderapidly, easily integrate, and accuratelyreflect changes in physical quantities hinders their use in microscale sensing applications. Herein, we present a 2.5-dimensionaldynamic structural color based on nanogratings of heterogeneous materials, which were obtained by interweaving a pH-responsive hydrogelwith an IP-L photoresist. Transverse gratings printed with pH-responsive hydrogels elongated the period of longitudinal grating in the swollenstate, resulting in pH-tuned structural colors at a 45° incidence. Moreover, the patterned encoding and array printing of dynamic structuralcolors were achieved using grayscale stripe images to accurately encode the periods and heights of the nanogrid structures. Overall, dynamicstructural color networks exhibit promising potential for applications in information encryption and in situ sensing for microfluidic chips.展开更多
Bioinspired superhydrophobic surfaces have attracted many industrial and academic interests in recent years.Inspired by unique superhydrophobicity and anisotropic friction properties of snake scale surfaces,this study...Bioinspired superhydrophobic surfaces have attracted many industrial and academic interests in recent years.Inspired by unique superhydrophobicity and anisotropic friction properties of snake scale surfaces,this study explores the feasibility to produce a bionic superhydrophobic stainless steel surface via laser precision engineering,which allows the realization of directional superhydrophobicity and dynamic control of its water transportation.Dynamic mechanism of water sliding on hierarchical snake scale structures is studied,which is the key to reproduce artificially bioinspired multifunctional materials with great potentials to be used for water harvesting,droplet manipulation,pipeline transportation,and vehicle acceleration.展开更多
In the spectral analysis of laser-induced breakdown spectroscopy,abundant characteristic spectral lines and severe interference information exist simultaneously in the original spectral data.Here,a feature selection m...In the spectral analysis of laser-induced breakdown spectroscopy,abundant characteristic spectral lines and severe interference information exist simultaneously in the original spectral data.Here,a feature selection method called recursive feature elimination based on ridge regression(Ridge-RFE)for the original spectral data is recommended to make full use of the valid information of spectra.In the Ridge-RFE method,the absolute value of the ridge regression coefficient was used as a criterion to screen spectral characteristic,the feature with the absolute value of minimum weight in the input subset features was removed by recursive feature elimination(RFE),and the selected features were used as inputs of the partial least squares regression(PLS)model.The Ridge-RFE method based PLS model was used to measure the Fe,Si,Mg,Cu,Zn and Mn for 51 aluminum alloy samples,and the results showed that the root mean square error of prediction decreased greatly compared to the PLS model with full spectrum as input.The overall results demonstrate that the Ridge-RFE method is more efficient to extract the redundant features,make PLS model for better quantitative analysis results and improve model generalization ability.展开更多
A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities ...A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.展开更多
Planar and curved microlens arrays(MLAs)are the key components of miniaturized microoptical systems.In order to meet the requirements for advanced and multipurpose applications in microoptical field,a simple manufactu...Planar and curved microlens arrays(MLAs)are the key components of miniaturized microoptical systems.In order to meet the requirements for advanced and multipurpose applications in microoptical field,a simple manufacturing method is urgently required for fabricating MLAs with unique properties,such as waterproofness and variable field-of-view(FOV)imaging.Such properties are beneficial for the production of advanced artificial compound eyes for the significant applications in complex microcavity environments with high humidity,for instance,miniature medical endoscopy.However,the simple and effective fabrication of advanced artificial compound eyes still presents significant challenges.In this paper,bioinspired by the natural superhydrophobic surface of lotus leaf,we propose a novel method for the fabrication of waterproof artificial compound eyes.Electrohydrodynamic jet printing was used to fabricate hierarchical MLAs and nanolens arrays(NLAs)on polydimethylsiloxane film.The flexible film of MLAs hybridized with NLAs exhibited excellent superhydrophobic property with a water contact angle of 158°.The MLAs film was deformed using a microfluidics chip to create artificial compound eyes with variable FOV,which ranged from 0°to 160°.展开更多
CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated repairing.In order to study the...CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated repairing.In order to study the effect of repaired morphology of RAM on laser modulation and to improve laser damage threshold of optics,an finite element method(FEM)mathematical model of 351 nm laser irradiating fused silica optics is developed based on Maxwell electromagnetic field equations,to explore the 3D near-field light intensity distribution inside optics with repaired site on its surface.The influences of the cone angle and the size of the repaired site on incident laser modulation are studied as well.The results have shown that for the repaired site with a cone angle of 73.3°,the light intensity distribution has obvious three-dimensional characteristics.The relative light intensity on z-section has a circularly distribution,and the radius of the annular intensification zone increases with the decrease of z.While the distribution of maximum relative light intensity on y-section is parabolical with the increase of y.As the cone angle of the repaired site decreases,the effect of the repaired surface on light modulation becomes stronger,leading to a weak resistance to laser damage.Moreover,the large size repaired site would also reduce the laser damage threshold.Therefore,a repaired site with a larger cone angle and smaller size is preferred in practical CO2 laser repairing of surface damage.This work will provide theoretical guidance for the design of repaired surface topography,as well as the improvement of RAM process.展开更多
A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the r...A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the robot can move like a four-tracked robot on many terrains. The center of gravity（ CG） kinematics model is established,which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model,the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally,a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.展开更多
The accurate and intelligent identification of the working conditions of a sucker-rod pumping system is necessary. As onshore oil extraction gradually enters its mid-to late-stage, the cost required to train a deep le...The accurate and intelligent identification of the working conditions of a sucker-rod pumping system is necessary. As onshore oil extraction gradually enters its mid-to late-stage, the cost required to train a deep learning working condition recognition model for pumping wells by obtaining enough new working condition samples is expensive. For the few-shot problem and large calculation issues of new working conditions of oil wells, a working condition recognition method for pumping unit wells based on a 4-dimensional time-frequency signature (4D-TFS) and meta-learning convolutional shrinkage neural network (ML-CSNN) is proposed. First, the measured pumping unit well workup data are converted into 4D-TFS data, and the initial feature extraction task is performed while compressing the data. Subsequently, a convolutional shrinkage neural network (CSNN) with a specific structure that can ablate low-frequency features is designed to extract working conditions features. Finally, a meta-learning fine-tuning framework for learning the network parameters that are susceptible to task changes is merged into the CSNN to solve the few-shot issue. The results of the experiments demonstrate that the trained ML-CSNN has good recognition accuracy and generalization ability for few-shot working condition recognition. More specifically, in the case of lower computational complexity, only few-shot samples are needed to fine-tune the network parameters, and the model can be quickly adapted to new classes of well conditions.展开更多
Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed i...Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar mechanisms.The Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector method.The mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization goal.The constraint condition is established based on the actual working condition.Then the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of velocity.The total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is obtained.Finally,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and effective.The workspace distribution of the robot meets the design requirements.展开更多
In this work, in order to improve spatial recognition abilities for the long-term operation tasks of the assistant robot for the elderly, a novel approach of semantic region estimation is proposed. We define a novel g...In this work, in order to improve spatial recognition abilities for the long-term operation tasks of the assistant robot for the elderly, a novel approach of semantic region estimation is proposed. We define a novel graphbased semantic region descriptions, which are estimated in a dynamically fashion. We propose a two-level update algorithm, namely, Symbols update level and Regions update level. The algorithm firstly adopts particle filter to update weights of the symbols, and then use the Viterbi algorithm to estimate the region the robot stays in based on those weights, optimally. Experimental results demonstrate that our proposed approach can solve problems of the long-term operation and kidnapped robot problem.展开更多
In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the ...In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the movement analysis of the robot with different configurations in elbow section, the pose model of the robot is established, and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model. Based on the pose model established, the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference. The virtual simulations and prototype experiments are carried out, and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated.展开更多
The concentrations of SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiO,and loss on ignition(L.O.I.) are the main inorganic components of geological samples.Concentrations of the eight oxides and L.O.I.are also the main indicators ...The concentrations of SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiO,and loss on ignition(L.O.I.) are the main inorganic components of geological samples.Concentrations of the eight oxides and L.O.I.are also the main indicators of concern in the production of building ceramics.Quantitative analysis of the eight oxides and L.O.I.was performed using fiber-laserbased laser-induced breakdown spectroscopy(LIBS).A combination of continuous background deduction,full width at half maximum(FWHM) intensity integral and spectral sum normalization was proposed for data processing.After the data processing combined the continuous background deduction,FWHM intensity integral and spectral sum normalization,the mean absolute errors(MAEs) of the calibration of L.O.I.,SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiOwas reduced from 2.03%,12.06%,4.84%,1.10%,0.69%,0.31%,0.11%,0.20%and 0.10% to 1.80%,9.48%,2.12%,0.36%,0.58%,0.11%,0.08%,0.19% and 0.05%,respectively.This multivariate method was further introduced and discussed to improve the analysis performance.The MAEs of L.O.I.,SiO,Al2O,KO and NaO were further reduced to1.12%,2.07%,1.38%,0.35% and 0.43%,respectively.The results show that the overall prediction error can meet the requirements for the production of building ceramics.The LIBS desktop analyzer has great potential in detection applications on geological samples.展开更多
Laser beams with ns pulse width are generally employed as an excitation source in the process of detecting inclusions and elemental segregation on a workpiece surface by microanalysis of the laser-induced breakdown sp...Laser beams with ns pulse width are generally employed as an excitation source in the process of detecting inclusions and elemental segregation on a workpiece surface by microanalysis of the laser-induced breakdown spectroscopy.In addition,the ablation crater interval of laser sampling on the sample surface is generally 20μm or more.It is difficult to detect the morphology of inclusions smaller than 50μm in diameter and the micro-segregation of elements.However,in this work,when the laser ablation crater is 10μm and the sampling resolution of the laser on the sample surface is 5μm,the morphology and distribution of spherical inclusions(20–60μm)in ductile iron can be detected according to the difference of the Fe spectrum on the Fe matrix and the spheroidal inclusions.Moreover,the distribution of micro-segregation of Mg and Ti elements in ductile iron was also studied.展开更多
This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the...This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.展开更多
An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both v...An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.展开更多
A high-efficiency propeller can enable a long mission duration for autonomous underwater vehicles(AUVs).In this study,a new method with OpenProp coupled with computational fluid dynamics was developed to design a prop...A high-efficiency propeller can enable a long mission duration for autonomous underwater vehicles(AUVs).In this study,a new method with OpenProp coupled with computational fluid dynamics was developed to design a propeller for an Explorer100 AUV.The towed system simulation of the AUV was used to measure the nominal wake,and a self-propulsion simulation was used to measure the effective wake at the disc plane just in front of a propeller.Two propellers referring to the nominal wake(propeller 1)and effective wake(propeller 2)were designed with OpenProp and appended with the AUV for self-propulsion simulations,respectively.Through the numerical simulation of the AUV self-propulsion tests,the cruising velocity of AUV was obtained.The flow characteristics of the self-propulsion in pressure and velocity contours were also analyzed.The propeller designed with an effective wake improved the thrust,velocity,and efficiency by approximately 11.3%,6.7%,and 2.5%,respectively,as compared with those with a nominal wake.The cruising velocity of the final designed propeller for the Explorer100 AUV improved by 21.8%,as compared to that of the original propeller from the AUV free-running tests.展开更多
We investigate the capillary forces between submillimeter spheres and flat surfaces at constant liquid volumes theoretically and experimentally. An iterative method is used to estimate the capillary force with contact...We investigate the capillary forces between submillimeter spheres and flat surfaces at constant liquid volumes theoretically and experimentally. An iterative method is used to estimate the capillary force with contact angles as the boundary conditions and the constant volume as a constraint. The theoretical analysis shows that the maximum capillary force between them decreases with the increase of the liquid bridge volume at small contact angles. The experimental results show that the force is smaller than the theoretical values at the initial separation distances. It is also observed that the force first increases and then decreases with an increasing separation distance in some cases. These phenomena of capillary forces hysteresis are explained according to the wetting hysteresis.展开更多
基金We would like to thank the associate editor and the reviewers for their constructive comments.This work was supported in part by the National Natural Science Foundation of China under Grant 62203234in part by the State Key Laboratory of Robotics of China under Grant 2023-Z03+1 种基金in part by the Natural Science Foundation of Liaoning Province under Grant 2023-BS-025in part by the Research Program of Liaoning Liaohe Laboratory under Grant LLL23ZZ-02-02.
文摘High-precision and real-time diagnosis of sucker rod pumping system(SRPS)is important for quickly mastering oil well operations.Deep learning-based method for classifying the dynamometer card(DC)of oil wells is an efficient diagnosis method.However,the input of the DC as a two-dimensional image into the deep learning framework suffers from low feature utilization and high computational effort.Additionally,different SRPSs in an oil field have various system parameters,and the same SRPS generates different DCs at different moments.Thus,there is heterogeneity in field data,which can dramatically impair the diagnostic accuracy.To solve the above problems,a working condition recognition method based on 4-segment time-frequency signature matrix(4S-TFSM)and deep learning is presented in this paper.First,the 4-segment time-frequency signature(4S-TFS)method that can reduce the computing power requirements is proposed for feature extraction of DC data.Subsequently,the 4S-TFSM is constructed by relative normalization and matrix calculation to synthesize the features of multiple data and solve the problem of data heterogeneity.Finally,a convolutional neural network(CNN),one of the deep learning frameworks,is used to determine the functioning conditions based on the 4S-TFSM.Experiments on field data verify that the proposed diagnostic method based on 4S-TFSM and CNN(4S-TFSM-CNN)can significantly improve the accuracy of working condition recognition with lower computational cost.To the best of our knowledge,this is the first work to discuss the effect of data heterogeneity on the working condition recognition performance of SRPS.
基金financially supported by the National Key R&D Program Projects of China (No.2021YFB3202402)National Natural Science Foundation of China (No.62173321)。
文摘Rapid online analysis of liquid slag is essential for optimizing the quality and energy efficiency of steel production. To investigate the key factors that affect the online measurement of refined slag using laser-induced breakdown spectroscopy(LIBS), this study examined the effects of slag composition and temperature on the intensity and stability of the LIBS spectra. The experimental temperature was controlled at three levels: 1350℃, 1400℃, and 1450℃. The results showed that slag composition and temperature significantly affected the intensity and stability of the LIBS spectra. Increasing the Fe content and temperature in the slag reduces its viscosity, resulting in an enhanced intensity and stability of the LIBS spectra. Additionally, 42 refined slag samples were quantitatively analyzed for Fe, Si, Ca, Mg, Al, and Mn at 1350℃, 1400℃, and 1450℃.The normalized full spectrum combined with partial least squares(PLS) quantification modeling was used, using the Ca Ⅱ 317.91 nm spectral line as an internal standard. The results show that using the internal standard normalization method can significantly reduce the influence of spectral fluctuations. Meanwhile, a temperature of 1450℃ has been found to yield superior results compared to both 1350℃ and 1400℃, and it is advantageous to conduct a quantitative analysis of the slag when it is in a “water-like” state with low viscosity.
基金the Research Program of Shenyang Institute of Science and Technology(Grant No.ZD-2024-05).
文摘We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)equation.The results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance peaks.However,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave field.When the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is reduced.When the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization does.When a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.
基金supported by the National Natural Science Foundation of China(Grant No.61925307).
文摘Dynamic structuralcolors can change in response todifferent environmental stimuli.This ability remains effectiveeven when the size of the speciesresponsible for the structural coloris reduced to a few micrometers,providing a promising sensingmechanism for solving microenvironmentalsensing problems inmicro-robotics and microfluidics.However, the lack of dynamicstructural colors that can encoderapidly, easily integrate, and accuratelyreflect changes in physical quantities hinders their use in microscale sensing applications. Herein, we present a 2.5-dimensionaldynamic structural color based on nanogratings of heterogeneous materials, which were obtained by interweaving a pH-responsive hydrogelwith an IP-L photoresist. Transverse gratings printed with pH-responsive hydrogels elongated the period of longitudinal grating in the swollenstate, resulting in pH-tuned structural colors at a 45° incidence. Moreover, the patterned encoding and array printing of dynamic structuralcolors were achieved using grayscale stripe images to accurately encode the periods and heights of the nanogrid structures. Overall, dynamicstructural color networks exhibit promising potential for applications in information encryption and in situ sensing for microfluidic chips.
基金This work was supported by the Advanced Remanufacturing and Technology Centre(ARTC)under its RIE2020 Advanced Manufacturing and Engineering(AME)IAF PP Grant(No.A19C2a0019).
文摘Bioinspired superhydrophobic surfaces have attracted many industrial and academic interests in recent years.Inspired by unique superhydrophobicity and anisotropic friction properties of snake scale surfaces,this study explores the feasibility to produce a bionic superhydrophobic stainless steel surface via laser precision engineering,which allows the realization of directional superhydrophobicity and dynamic control of its water transportation.Dynamic mechanism of water sliding on hierarchical snake scale structures is studied,which is the key to reproduce artificially bioinspired multifunctional materials with great potentials to be used for water harvesting,droplet manipulation,pipeline transportation,and vehicle acceleration.
基金supported by National Key Research and Development Program of China(No.2016YFF0102502)the Key Research Program of Frontier Sciences,CAS(No.QYZDJ-SSW-JSC037)the Youth Innovation Promotion Association,CAS,Liao Ning Revitalization Talents Program(No.XLYC1807110)。
文摘In the spectral analysis of laser-induced breakdown spectroscopy,abundant characteristic spectral lines and severe interference information exist simultaneously in the original spectral data.Here,a feature selection method called recursive feature elimination based on ridge regression(Ridge-RFE)for the original spectral data is recommended to make full use of the valid information of spectra.In the Ridge-RFE method,the absolute value of the ridge regression coefficient was used as a criterion to screen spectral characteristic,the feature with the absolute value of minimum weight in the input subset features was removed by recursive feature elimination(RFE),and the selected features were used as inputs of the partial least squares regression(PLS)model.The Ridge-RFE method based PLS model was used to measure the Fe,Si,Mg,Cu,Zn and Mn for 51 aluminum alloy samples,and the results showed that the root mean square error of prediction decreased greatly compared to the PLS model with full spectrum as input.The overall results demonstrate that the Ridge-RFE method is more efficient to extract the redundant features,make PLS model for better quantitative analysis results and improve model generalization ability.
基金Supported by State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2010-ZD-04)Capital Medical Development Scientific Research Fund(20092098)
文摘A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.
基金The authors wish to acknowledge the funding provided by the National Natural Science Foundation of China(Grant Nos.61727811,61703395,91748212,U1613220,and 61821005)the Scientific Instrument Developing Project of the Chinese Academy of Sciences(Grant No.YJKYYQ20180027)+2 种基金the External Cooperation Program of the Chinese Academy of Sciences(Grant No.173321KYSB20170015)Youth Innovation Promotion Association of the Chinese Academy of Sciences(Grant No.Y201943)LiaoNing Revitalization Talents Program(Grant No.XLYC1807006).
文摘Planar and curved microlens arrays(MLAs)are the key components of miniaturized microoptical systems.In order to meet the requirements for advanced and multipurpose applications in microoptical field,a simple manufacturing method is urgently required for fabricating MLAs with unique properties,such as waterproofness and variable field-of-view(FOV)imaging.Such properties are beneficial for the production of advanced artificial compound eyes for the significant applications in complex microcavity environments with high humidity,for instance,miniature medical endoscopy.However,the simple and effective fabrication of advanced artificial compound eyes still presents significant challenges.In this paper,bioinspired by the natural superhydrophobic surface of lotus leaf,we propose a novel method for the fabrication of waterproof artificial compound eyes.Electrohydrodynamic jet printing was used to fabricate hierarchical MLAs and nanolens arrays(NLAs)on polydimethylsiloxane film.The flexible film of MLAs hybridized with NLAs exhibited excellent superhydrophobic property with a water contact angle of 158°.The MLAs film was deformed using a microfluidics chip to create artificial compound eyes with variable FOV,which ranged from 0°to 160°.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.51775147 and 51705105)the Science Challenge Project of China(Grant No.TZ2016006-0503-01)+2 种基金the Young Elite Scientists Sponsorship Program by CAST(Grant No.2018QNRC001)the China Postdoctoral Science Foundation funded project(Grant Nos.2018T110288 and 2017M621260)the Self-Planned Task of State Key Laboratory of Robotics and System(HIT)(Grant Nos.SKLRS201718A and SKLRS201803B).
文摘CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated repairing.In order to study the effect of repaired morphology of RAM on laser modulation and to improve laser damage threshold of optics,an finite element method(FEM)mathematical model of 351 nm laser irradiating fused silica optics is developed based on Maxwell electromagnetic field equations,to explore the 3D near-field light intensity distribution inside optics with repaired site on its surface.The influences of the cone angle and the size of the repaired site on incident laser modulation are studied as well.The results have shown that for the repaired site with a cone angle of 73.3°,the light intensity distribution has obvious three-dimensional characteristics.The relative light intensity on z-section has a circularly distribution,and the radius of the annular intensification zone increases with the decrease of z.While the distribution of maximum relative light intensity on y-section is parabolical with the increase of y.As the cone angle of the repaired site decreases,the effect of the repaired surface on light modulation becomes stronger,leading to a weak resistance to laser damage.Moreover,the large size repaired site would also reduce the laser damage threshold.Therefore,a repaired site with a larger cone angle and smaller size is preferred in practical CO2 laser repairing of surface damage.This work will provide theoretical guidance for the design of repaired surface topography,as well as the improvement of RAM process.
基金Supported by the National Natural Science Foundation(61273344)Ph.D. Program Foundation of Ministry of Education of China(20121101110011)+1 种基金Fundamental Research Fund of Beijing Institute of Technology(20130242009)State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2011-ZD-06,SKLRS-2013-MS-10)
文摘A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the robot can move like a four-tracked robot on many terrains. The center of gravity（ CG） kinematics model is established,which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model,the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally,a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.
基金supported in part by the National Natural Science Foundation of China under Grant U1908212,62203432 and 92067205in part by the State Key Laboratory of Robotics of China under Grant 2023-Z03 and 2023-Z15in part by the Natural Science Foundation of Liaoning Province under Grant 2020-KF-11-02.
文摘The accurate and intelligent identification of the working conditions of a sucker-rod pumping system is necessary. As onshore oil extraction gradually enters its mid-to late-stage, the cost required to train a deep learning working condition recognition model for pumping wells by obtaining enough new working condition samples is expensive. For the few-shot problem and large calculation issues of new working conditions of oil wells, a working condition recognition method for pumping unit wells based on a 4-dimensional time-frequency signature (4D-TFS) and meta-learning convolutional shrinkage neural network (ML-CSNN) is proposed. First, the measured pumping unit well workup data are converted into 4D-TFS data, and the initial feature extraction task is performed while compressing the data. Subsequently, a convolutional shrinkage neural network (CSNN) with a specific structure that can ablate low-frequency features is designed to extract working conditions features. Finally, a meta-learning fine-tuning framework for learning the network parameters that are susceptible to task changes is merged into the CSNN to solve the few-shot issue. The results of the experiments demonstrate that the trained ML-CSNN has good recognition accuracy and generalization ability for few-shot working condition recognition. More specifically, in the case of lower computational complexity, only few-shot samples are needed to fine-tune the network parameters, and the model can be quickly adapted to new classes of well conditions.
基金supported by the National Key R&D Program of China(No.2018YFB1307900)the Natural Science Foundation of Shanxi Province(Nos.201901D211009,201901D211010)the Technology In⁃novation Foundation of Shanxi University(No.2019L 0177).
文摘Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar mechanisms.The Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector method.The mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization goal.The constraint condition is established based on the actual working condition.Then the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of velocity.The total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is obtained.Finally,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and effective.The workspace distribution of the robot meets the design requirements.
基金supported by the National Natural Science Foundation of China (61305103 and 61473103)the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (51521003 )+1 种基金the Natural Science Foundation of Heilongjiang Province, China (QC2014C072 and F2015010)SelfPlanned Task (SKLRS201609B and SKLRS201411B) of State Key Laboratory of Robotics and System (HIT)
文摘In this work, in order to improve spatial recognition abilities for the long-term operation tasks of the assistant robot for the elderly, a novel approach of semantic region estimation is proposed. We define a novel graphbased semantic region descriptions, which are estimated in a dynamically fashion. We propose a two-level update algorithm, namely, Symbols update level and Regions update level. The algorithm firstly adopts particle filter to update weights of the symbols, and then use the Viterbi algorithm to estimate the region the robot stays in based on those weights, optimally. Experimental results demonstrate that our proposed approach can solve problems of the long-term operation and kidnapped robot problem.
基金Supported by the High-Tech Research and Development Program of China (2006AA04Z236)the"111"Project(B07018)the Self-Planned Task of State Key Laboratory of Robotics and System (HIT) (SKLRS200802C)
文摘In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the movement analysis of the robot with different configurations in elbow section, the pose model of the robot is established, and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model. Based on the pose model established, the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference. The virtual simulations and prototype experiments are carried out, and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated.
基金supported by National Natural Science Foundation of China(No.62173321)the Key Research Program of Frontier Sciences,CAS(No.QYZDJ-SSW-JSC037)+2 种基金the Science and Technology Service Network Initiative Program,CAS(No.KFJ-STS-QYZD-2021-19-002)the Liaoning Provincial Natural Science Foundation(No.2021-BS-022)the Youth Innovation Promotion Association,CAS。
文摘The concentrations of SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiO,and loss on ignition(L.O.I.) are the main inorganic components of geological samples.Concentrations of the eight oxides and L.O.I.are also the main indicators of concern in the production of building ceramics.Quantitative analysis of the eight oxides and L.O.I.was performed using fiber-laserbased laser-induced breakdown spectroscopy(LIBS).A combination of continuous background deduction,full width at half maximum(FWHM) intensity integral and spectral sum normalization was proposed for data processing.After the data processing combined the continuous background deduction,FWHM intensity integral and spectral sum normalization,the mean absolute errors(MAEs) of the calibration of L.O.I.,SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiOwas reduced from 2.03%,12.06%,4.84%,1.10%,0.69%,0.31%,0.11%,0.20%and 0.10% to 1.80%,9.48%,2.12%,0.36%,0.58%,0.11%,0.08%,0.19% and 0.05%,respectively.This multivariate method was further introduced and discussed to improve the analysis performance.The MAEs of L.O.I.,SiO,Al2O,KO and NaO were further reduced to1.12%,2.07%,1.38%,0.35% and 0.43%,respectively.The results show that the overall prediction error can meet the requirements for the production of building ceramics.The LIBS desktop analyzer has great potential in detection applications on geological samples.
基金supported by the National Key Research and Development Program of China(No.2017YFF0106202)the Key Research Program of Frontier Sciences,Chinese Academy of Sciences(No.QYZDJ-SSW-JSC037)+1 种基金the Liaoning Revitalization Talents Program(No.XLYC1807110)the Youth Innovation Promotion Association,Chinese Academy of Sciences。
文摘Laser beams with ns pulse width are generally employed as an excitation source in the process of detecting inclusions and elemental segregation on a workpiece surface by microanalysis of the laser-induced breakdown spectroscopy.In addition,the ablation crater interval of laser sampling on the sample surface is generally 20μm or more.It is difficult to detect the morphology of inclusions smaller than 50μm in diameter and the micro-segregation of elements.However,in this work,when the laser ablation crater is 10μm and the sampling resolution of the laser on the sample surface is 5μm,the morphology and distribution of spherical inclusions(20–60μm)in ductile iron can be detected according to the difference of the Fe spectrum on the Fe matrix and the spheroidal inclusions.Moreover,the distribution of micro-segregation of Mg and Ti elements in ductile iron was also studied.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.60901074,51075092,61005076,and 61175107)the National High Technology Research and Development Program of China(Grant No.2007AA042105)the Natural Science Foundation of Heilongjiang Province,China(Grant No.E200903)
文摘This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.
基金supported by the National Key R&D Program of China(No.2017YFB1300400)the National Natural Science Foundation of China(No. 51805107)
文摘An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.
基金The National Key Research and Development Program(Grant No.2021YFC2801100)Key-area Research and Development Program of Guangdong Province(Grant No.2020B1111010004)Joint Fund of Science&Technology Department of Liaoning Province,State Key Laboratory of Robotics(Grant No.2020-KF-12-05).
文摘A high-efficiency propeller can enable a long mission duration for autonomous underwater vehicles(AUVs).In this study,a new method with OpenProp coupled with computational fluid dynamics was developed to design a propeller for an Explorer100 AUV.The towed system simulation of the AUV was used to measure the nominal wake,and a self-propulsion simulation was used to measure the effective wake at the disc plane just in front of a propeller.Two propellers referring to the nominal wake(propeller 1)and effective wake(propeller 2)were designed with OpenProp and appended with the AUV for self-propulsion simulations,respectively.Through the numerical simulation of the AUV self-propulsion tests,the cruising velocity of AUV was obtained.The flow characteristics of the self-propulsion in pressure and velocity contours were also analyzed.The propeller designed with an effective wake improved the thrust,velocity,and efficiency by approximately 11.3%,6.7%,and 2.5%,respectively,as compared with those with a nominal wake.The cruising velocity of the final designed propeller for the Explorer100 AUV improved by 21.8%,as compared to that of the original propeller from the AUV free-running tests.
基金Supported by the National Natural Science Funds for Distinguished Young Scholar under Grant No 50725518, the National Natural Science Foundation of China under Grant Nos 50805040 and 50605013, Self-Planned Task of State Key Laboratory of Robotics and System （HIT） under Grant No SKLRS200804B.
文摘We investigate the capillary forces between submillimeter spheres and flat surfaces at constant liquid volumes theoretically and experimentally. An iterative method is used to estimate the capillary force with contact angles as the boundary conditions and the constant volume as a constraint. The theoretical analysis shows that the maximum capillary force between them decreases with the increase of the liquid bridge volume at small contact angles. The experimental results show that the force is smaller than the theoretical values at the initial separation distances. It is also observed that the force first increases and then decreases with an increasing separation distance in some cases. These phenomena of capillary forces hysteresis are explained according to the wetting hysteresis.
