In recent years,breakthrough has been made in the field of artificial intelligence(AI),which has also revolutionized the industry of robotics.Soft robots featured with high-level safety,less weight,lower power consump...In recent years,breakthrough has been made in the field of artificial intelligence(AI),which has also revolutionized the industry of robotics.Soft robots featured with high-level safety,less weight,lower power consumption have always been one of the research hotspots.Recently,multifunctional sensors for perception of soft robotics have been rapidly developed,while more algorithms and models of machine learning with high accuracy have been optimized and proposed.Designs of soft robots with AI have also been advanced ranging from multimodal sensing,human-machine interaction to effective actuation in robotic systems.Nonethe-less,comprehensive reviews concerning the new developments and strategies for the ingenious design of the soft robotic systems equipped with AI are rare.Here,the new development is systematically reviewed in the field of soft robots with AI.First,background and mechanisms of soft robotic systems are briefed,after which development focused on how to endow the soft robots with AI,including the aspects of feeling,thought and reaction,is illustrated.Next,applications of soft robots with AI are systematically summarized and discussed together with advanced strategies proposed for performance enhancement.Design thoughts for future intelligent soft robotics are pointed out.Finally,some perspectives are put forward.展开更多
Compared to the commercial soft-magnetic alloys,the high saturation magnetic flux density(Bs)and low coercivity(Hc)of post-developed novel nanocrystalline alloys tend to realize the miniaturization and lightweight of ...Compared to the commercial soft-magnetic alloys,the high saturation magnetic flux density(Bs)and low coercivity(Hc)of post-developed novel nanocrystalline alloys tend to realize the miniaturization and lightweight of electronic products,thus attracting great attention.In this work,we designed a new FeNiBCuSi formulation with a novel atomic ratio,and the microstructure evolution and magnetic softness were investigated.Microstructure analysis revealed that the amount of Si prompted the differential chemical fluctuations of Cu element,favoring the different nucleation and growth processes ofα-Fe nanocrystals.Furthermore,microstructural defects associated with chemical heterogeneities were unveiled using the Maxwell-Voigt model with two Kelvin units and one Maxwell unit based on creeping analysis by nanoindentation.The defect,with a long relaxation time in relaxation spectra,was more likely to induce the formation of crystal nuclei that ultimately evolved into theα-Fe nanocrystals.As a result,Fe_(84)Ni_(2)B_(12.5)Cu_(1)Si_(0.5)alloy with refined uniform nanocrystalline microstructure exhibited excellent magnetic softness,including a high B_(s)of 1.79 T and very low H_(c)of 2.8 A/m.Our finding offers new insight into the influence of activated defects associated with chemical heterogeneities on the microstructures of nanocrystalline alloy with excellent magnetic softness.展开更多
Taking three typical soft samples prepared respectively by loose packings of 77-,95-,and 109-μm copper grains as examples,we perform an experiment to investigate the energy-dependent laser-induced breakdown spectrosc...Taking three typical soft samples prepared respectively by loose packings of 77-,95-,and 109-μm copper grains as examples,we perform an experiment to investigate the energy-dependent laser-induced breakdown spectroscopy(LIBS)of soft materials.We discovered a reversal phenomenon in the trend of energy dependence of plasma emission intensity:increasing initially and then decreasing separated by a well-defined critical energy.The trend reversal is attributed to the laser-induced recoil pressure at the critical energy just matching the sample's yield strength.As a result,a one-to-one correspondence can be well established between the samples'yield stress and the critical energy that is easily obtainable from LIBS measurements.This allows us to propose an innovative method for estimating the yield stress of soft materials via LIBS with attractive advantages including in-situ remote detection,real-time data collection,and minimal destructive to sample.展开更多
Soft actuators have garnered substantial attention in current years in view of their potential appliances in diverse domains like robotics,biomedical devices,and biomimetic systems.These actuators mimic the natural mo...Soft actuators have garnered substantial attention in current years in view of their potential appliances in diverse domains like robotics,biomedical devices,and biomimetic systems.These actuators mimic the natural movements of living organisms,aiming to attain enhanced flexibility,adaptability,and versatility.On the other hand,angle-independent structural color has been achieved through innovative design strategies and engineering approaches.By carefully controlling the size,shape,and arrangement of nanostructures,researchers have been able to create materials exhibiting consistent colors regardless of the viewing angle.One promising class of materials that holds great potential for bioinspired soft actuators is MXenes in view of their exceptional mechanical,electrical,and optical properties.The integration of MXenes for bioinspired soft actuators with angle-independent structural color offers exciting possibilities.Overcoming material compatibility issues,improving color reproducibility,scalability,durability,power supply efficiency,and cost-effectiveness will play vital roles in advancing these technologies.This perspective appraises the development of bioinspired MXene-centered soft actuators with angleindependent structural color in soft robotics.展开更多
The lack of soft magnetic composites with high power density in MHz frequency range has become an obstacle in the efficient operation of the electrical and electronic equipments.Here,a promising method to increase the...The lack of soft magnetic composites with high power density in MHz frequency range has become an obstacle in the efficient operation of the electrical and electronic equipments.Here,a promising method to increase the cut-off frequency of iron-based soft magnetic composites to hundreds of MHz is reported.The cut-off frequency is increased from 10 MHz to 1 GHz by modulating the height of the ring,the distribution of particles,and the particle size.The mechanism of cut-off frequency and permeability is the coherent rotation of domain modulated by inhomogeneous field due to the eddy current effect.An empirical formula for the cut-off frequency in a magnetic ring composed of iron-based particles is established from experimental data.This work provides an effective approach to fabricate soft magnetic composites with a cut-off frequency in hundreds of MHz.展开更多
To improve the bit error rate(BER)performance of multi-user signal detection in satelliteterrestrial downlink non-orthogonal multiple access(NOMA)systems,an iterative signal detection algorithm based on soft interfere...To improve the bit error rate(BER)performance of multi-user signal detection in satelliteterrestrial downlink non-orthogonal multiple access(NOMA)systems,an iterative signal detection algorithm based on soft interference cancellation with optimal power allocation is proposed.Given that power allocation has a significant impact on BER performance,the optimal power allocation is obtained by minimizing the average BER of NOMA users.According to the allocated powers,successive interference cancellation(SIC)between NOMA users is performed in descending power order.For each user,an iterative soft interference cancellation is performed,and soft symbol probabilities are calculated for soft decision.To improve detection accuracy and without increasing the complexity,the aforementioned algorithm is optimized by adding minimum mean square error(MMSE)signal estimation before detection,and in each iteration soft symbol probabilities are utilized for soft-decision of the current user and also for the update of soft interference of the previous user.Simulation results illustrate that the optimized algorithm i.e.MMSE-IDBSIC significantly outperforms joint multi-user detection and SIC detection by 7.57dB and 8.03dB in terms of BER performance.展开更多
In this study,a novel residential virtual power plant(RVPP)scheduling method that leverages a gate recurrent unit(GRU)-integrated deep reinforcement learning(DRL)algorithm is proposed.In the proposed scheme,the GRU-in...In this study,a novel residential virtual power plant(RVPP)scheduling method that leverages a gate recurrent unit(GRU)-integrated deep reinforcement learning(DRL)algorithm is proposed.In the proposed scheme,the GRU-integrated DRL algorithm guides the RVPP to participate effectively in both the day-ahead and real-time markets,lowering the electricity purchase costs and consumption risks for end-users.The Lagrangian relaxation technique is introduced to transform the constrained Markov decision process(CMDP)into an unconstrained optimization problem,which guarantees that the constraints are strictly satisfied without determining the penalty coefficients.Furthermore,to enhance the scalability of the constrained soft actor-critic(CSAC)-based RVPP scheduling approach,a fully distributed scheduling architecture was designed to enable plug-and-play in the residential distributed energy resources(RDER).Case studies performed on the constructed RVPP scenario validated the performance of the proposed methodology in enhancing the responsiveness of the RDER to power tariffs,balancing the supply and demand of the power grid,and ensuring customer comfort.展开更多
As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progres...As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progress in flexible optoelectronics,MNF has been emerging as a promising candidate for assembling tactile sensors and soft actuators owing to its unique optical and mechanical properties.This review discusses the advances in MNF enabled tactile sensors and soft actuators,specifically,focusing on the latest research results over the past 5 years and the applications in health monitoring,human-machine interfaces,and robotics.Future prospects and challenges in developing flexible MNF devices are also presented.展开更多
By considering the thermo poroelastic effects of rock,the constitutive relationship of fatigue deterioration of rock under cyclic loading,elastic-brittle failure criteria and wellbore stress superposition effects,a th...By considering the thermo poroelastic effects of rock,the constitutive relationship of fatigue deterioration of rock under cyclic loading,elastic-brittle failure criteria and wellbore stress superposition effects,a thermal-hydraulic-mechanicalfatigue damage coupled model for fracture propagation during soft hydraulic fracturing in hot dry rock(HDR)was established and validated.Based on this model,numerical simulations were conducted to investigate the fracture initiation and propagation characteristics in HDR under the combined effects of different temperatures and cyclic loading.The results are obtained in three aspects.First,cyclic injection,fluid infiltration,pore pressure accumulation,and rock strength deterioration collectively induce fatigue damage of rocks during soft hydraulic fracturing.Second,the fracture propagation pattern of soft hydraulic fracturing in HDR is jointly controlled by temperature difference and cyclic loading.A larger temperature difference generates stronger thermal stress,facilitating the formation of complex fracture networks.As cyclic loading decreases,the influence range of thermal stress expands.When the cyclic loading is 90%pb and 80%pb(where pb is the breakdown pressure during conventional hydraulic fracturing),the stimulated reservoir area increases by 88.33% and 120%,respectively,compared to conventional hydraulic fracturing(with an injection temperature of 25℃).Third,as cyclic loading is further reduced,the reservoir stimulation efficiency diminishes.When the cyclic loading decreases to 70%pb,the fluid pressure far away from the wellbore cannot reach the minimum breakdown pressure of the rock,resulting in no macroscopic hydraulic fractures.展开更多
基金supported by the Hong Kong Polytechnic University(Project No.1-WZ1Y).
文摘In recent years,breakthrough has been made in the field of artificial intelligence(AI),which has also revolutionized the industry of robotics.Soft robots featured with high-level safety,less weight,lower power consumption have always been one of the research hotspots.Recently,multifunctional sensors for perception of soft robotics have been rapidly developed,while more algorithms and models of machine learning with high accuracy have been optimized and proposed.Designs of soft robots with AI have also been advanced ranging from multimodal sensing,human-machine interaction to effective actuation in robotic systems.Nonethe-less,comprehensive reviews concerning the new developments and strategies for the ingenious design of the soft robotic systems equipped with AI are rare.Here,the new development is systematically reviewed in the field of soft robots with AI.First,background and mechanisms of soft robotic systems are briefed,after which development focused on how to endow the soft robots with AI,including the aspects of feeling,thought and reaction,is illustrated.Next,applications of soft robots with AI are systematically summarized and discussed together with advanced strategies proposed for performance enhancement.Design thoughts for future intelligent soft robotics are pointed out.Finally,some perspectives are put forward.
基金Project supported by the Anhui Provincial Natural Science Foundation(Grant No.2208085QE121)the Key Research&Development Plan of Anhui Province(Grant No.2022a05020016)+1 种基金the University Natural Science Research Project of Anhui Province(Grant No.2023AH051084)the National Natural Science Foundation of China(Grant No.52071078)。
文摘Compared to the commercial soft-magnetic alloys,the high saturation magnetic flux density(Bs)and low coercivity(Hc)of post-developed novel nanocrystalline alloys tend to realize the miniaturization and lightweight of electronic products,thus attracting great attention.In this work,we designed a new FeNiBCuSi formulation with a novel atomic ratio,and the microstructure evolution and magnetic softness were investigated.Microstructure analysis revealed that the amount of Si prompted the differential chemical fluctuations of Cu element,favoring the different nucleation and growth processes ofα-Fe nanocrystals.Furthermore,microstructural defects associated with chemical heterogeneities were unveiled using the Maxwell-Voigt model with two Kelvin units and one Maxwell unit based on creeping analysis by nanoindentation.The defect,with a long relaxation time in relaxation spectra,was more likely to induce the formation of crystal nuclei that ultimately evolved into theα-Fe nanocrystals.As a result,Fe_(84)Ni_(2)B_(12.5)Cu_(1)Si_(0.5)alloy with refined uniform nanocrystalline microstructure exhibited excellent magnetic softness,including a high B_(s)of 1.79 T and very low H_(c)of 2.8 A/m.Our finding offers new insight into the influence of activated defects associated with chemical heterogeneities on the microstructures of nanocrystalline alloy with excellent magnetic softness.
基金Project supported by the National Key Research and Development Program of China(Grant No.2017YFA0402300)the National Natural Science Foundation of China(Grant Nos.U2241288 and 11974359).
文摘Taking three typical soft samples prepared respectively by loose packings of 77-,95-,and 109-μm copper grains as examples,we perform an experiment to investigate the energy-dependent laser-induced breakdown spectroscopy(LIBS)of soft materials.We discovered a reversal phenomenon in the trend of energy dependence of plasma emission intensity:increasing initially and then decreasing separated by a well-defined critical energy.The trend reversal is attributed to the laser-induced recoil pressure at the critical energy just matching the sample's yield strength.As a result,a one-to-one correspondence can be well established between the samples'yield stress and the critical energy that is easily obtainable from LIBS measurements.This allows us to propose an innovative method for estimating the yield stress of soft materials via LIBS with attractive advantages including in-situ remote detection,real-time data collection,and minimal destructive to sample.
文摘Soft actuators have garnered substantial attention in current years in view of their potential appliances in diverse domains like robotics,biomedical devices,and biomimetic systems.These actuators mimic the natural movements of living organisms,aiming to attain enhanced flexibility,adaptability,and versatility.On the other hand,angle-independent structural color has been achieved through innovative design strategies and engineering approaches.By carefully controlling the size,shape,and arrangement of nanostructures,researchers have been able to create materials exhibiting consistent colors regardless of the viewing angle.One promising class of materials that holds great potential for bioinspired soft actuators is MXenes in view of their exceptional mechanical,electrical,and optical properties.The integration of MXenes for bioinspired soft actuators with angle-independent structural color offers exciting possibilities.Overcoming material compatibility issues,improving color reproducibility,scalability,durability,power supply efficiency,and cost-effectiveness will play vital roles in advancing these technologies.This perspective appraises the development of bioinspired MXene-centered soft actuators with angleindependent structural color in soft robotics.
基金the National Natural Science Foun-dation of China(Grant Nos.91963201 and 12174163)the 111 Project(Grant No.B20063).
文摘The lack of soft magnetic composites with high power density in MHz frequency range has become an obstacle in the efficient operation of the electrical and electronic equipments.Here,a promising method to increase the cut-off frequency of iron-based soft magnetic composites to hundreds of MHz is reported.The cut-off frequency is increased from 10 MHz to 1 GHz by modulating the height of the ring,the distribution of particles,and the particle size.The mechanism of cut-off frequency and permeability is the coherent rotation of domain modulated by inhomogeneous field due to the eddy current effect.An empirical formula for the cut-off frequency in a magnetic ring composed of iron-based particles is established from experimental data.This work provides an effective approach to fabricate soft magnetic composites with a cut-off frequency in hundreds of MHz.
基金supported by the National Key Research and Development Program of China(No.2021YFB2900602)the National Natural Science Foundation of China(No.61875230).
文摘To improve the bit error rate(BER)performance of multi-user signal detection in satelliteterrestrial downlink non-orthogonal multiple access(NOMA)systems,an iterative signal detection algorithm based on soft interference cancellation with optimal power allocation is proposed.Given that power allocation has a significant impact on BER performance,the optimal power allocation is obtained by minimizing the average BER of NOMA users.According to the allocated powers,successive interference cancellation(SIC)between NOMA users is performed in descending power order.For each user,an iterative soft interference cancellation is performed,and soft symbol probabilities are calculated for soft decision.To improve detection accuracy and without increasing the complexity,the aforementioned algorithm is optimized by adding minimum mean square error(MMSE)signal estimation before detection,and in each iteration soft symbol probabilities are utilized for soft-decision of the current user and also for the update of soft interference of the previous user.Simulation results illustrate that the optimized algorithm i.e.MMSE-IDBSIC significantly outperforms joint multi-user detection and SIC detection by 7.57dB and 8.03dB in terms of BER performance.
基金supported by the Sichuan Science and Technology Program(grant number 2022YFG0123).
文摘In this study,a novel residential virtual power plant(RVPP)scheduling method that leverages a gate recurrent unit(GRU)-integrated deep reinforcement learning(DRL)algorithm is proposed.In the proposed scheme,the GRU-integrated DRL algorithm guides the RVPP to participate effectively in both the day-ahead and real-time markets,lowering the electricity purchase costs and consumption risks for end-users.The Lagrangian relaxation technique is introduced to transform the constrained Markov decision process(CMDP)into an unconstrained optimization problem,which guarantees that the constraints are strictly satisfied without determining the penalty coefficients.Furthermore,to enhance the scalability of the constrained soft actor-critic(CSAC)-based RVPP scheduling approach,a fully distributed scheduling architecture was designed to enable plug-and-play in the residential distributed energy resources(RDER).Case studies performed on the constructed RVPP scenario validated the performance of the proposed methodology in enhancing the responsiveness of the RDER to power tariffs,balancing the supply and demand of the power grid,and ensuring customer comfort.
基金financial supports from the National Natural Science Foundation of China(No.61975173)the Key Research and Development Project of Zhejiang Province(No.2022C03103,2023C01045).
文摘As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progress in flexible optoelectronics,MNF has been emerging as a promising candidate for assembling tactile sensors and soft actuators owing to its unique optical and mechanical properties.This review discusses the advances in MNF enabled tactile sensors and soft actuators,specifically,focusing on the latest research results over the past 5 years and the applications in health monitoring,human-machine interfaces,and robotics.Future prospects and challenges in developing flexible MNF devices are also presented.
基金Supported by the China National Natural Science Foundation Major Project(52192621)。
文摘By considering the thermo poroelastic effects of rock,the constitutive relationship of fatigue deterioration of rock under cyclic loading,elastic-brittle failure criteria and wellbore stress superposition effects,a thermal-hydraulic-mechanicalfatigue damage coupled model for fracture propagation during soft hydraulic fracturing in hot dry rock(HDR)was established and validated.Based on this model,numerical simulations were conducted to investigate the fracture initiation and propagation characteristics in HDR under the combined effects of different temperatures and cyclic loading.The results are obtained in three aspects.First,cyclic injection,fluid infiltration,pore pressure accumulation,and rock strength deterioration collectively induce fatigue damage of rocks during soft hydraulic fracturing.Second,the fracture propagation pattern of soft hydraulic fracturing in HDR is jointly controlled by temperature difference and cyclic loading.A larger temperature difference generates stronger thermal stress,facilitating the formation of complex fracture networks.As cyclic loading decreases,the influence range of thermal stress expands.When the cyclic loading is 90%pb and 80%pb(where pb is the breakdown pressure during conventional hydraulic fracturing),the stimulated reservoir area increases by 88.33% and 120%,respectively,compared to conventional hydraulic fracturing(with an injection temperature of 25℃).Third,as cyclic loading is further reduced,the reservoir stimulation efficiency diminishes.When the cyclic loading decreases to 70%pb,the fluid pressure far away from the wellbore cannot reach the minimum breakdown pressure of the rock,resulting in no macroscopic hydraulic fractures.
