With its generality and practicality, the combination of partial charging curves and machine learning(ML) for battery capacity estimation has attracted widespread attention. However, a clear classification,fair compar...With its generality and practicality, the combination of partial charging curves and machine learning(ML) for battery capacity estimation has attracted widespread attention. However, a clear classification,fair comparison, and performance rationalization of these methods are lacking, due to the scattered existing studies. To address these issues, we develop 20 capacity estimation methods from three perspectives:charging sequence construction, input forms, and ML models. 22,582 charging curves are generated from 44 cells with different battery chemistry and operating conditions to validate the performance. Through comprehensive and unbiased comparison, the long short-term memory(LSTM) based neural network exhibits the best accuracy and robustness. Across all 6503 tested samples, the mean absolute percentage error(MAPE) for capacity estimation using LSTM is 0.61%, with a maximum error of only 3.94%. Even with the addition of 3 m V voltage noise or the extension of sampling intervals to 60 s, the average MAPE remains below 2%. Furthermore, the charging sequences are provided with physical explanations related to battery degradation to enhance confidence in their application. Recommendations for using other competitive methods are also presented. This work provides valuable insights and guidance for estimating battery capacity based on partial charging curves.展开更多
In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structur...In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structured light measurement model based on a galvanometer scanner was proposed to obtain the 3D information of the workpiece. A height calibration method was proposed to further ensure measurement accuracy, so as to achieve accurate laser focusing. In-situ machining software was developed to realize time-saving and labor-saving 3D laser processing. The feasibility and practicability of this in-situ laser machining system were verified using specific cases. In comparison with the conventional line structured light measurement method, the proposed methods do not require light plane calibration, and do not need additional motion axes for 3D reconstruction;thus they provide technical and cost advantages. The insitu laser machining system realizes a simple operation process by integrating measurement and machining,which greatly reduces labor and time costs.展开更多
Miniature robots show great potential in exploring narrow and confined spaces to perform various tasks,but many applications are limited by the dependence of these robots on electrical or pneumatic tethers to power su...Miniature robots show great potential in exploring narrow and confined spaces to perform various tasks,but many applications are limited by the dependence of these robots on electrical or pneumatic tethers to power supplies outboard.Developing an onboard actuator that is small in size and powerful enough to carry all the components onboard is a major challenge to eliminate the need for a tether.Bistability can trigger a dramatic energy release during switching between the 2 stable states,thus providing a promising way to overcome the intrinsic limitation of insufficient power of small actuators.In this work,the antagonistic action between torsional deflection and bending deflection in a lamina emergent torsional joint is utilized to achieve bistability,yielding a buckling-free bistable design.The unique configuration of this bistable design enables integrating of a single bending electroactive artificial muscle in the structure to form a compact,self-switching bistable actuator.A low-voltage ionic polymer-metal composites artificial muscle is employed,yielding a bistable actuator capable of generating an instantaneous angular velocity exceeding 300°/s by a 3.75-V voltage.Two untethered robotic demonstrations using the bistable actuator are presented,including a crawling robot(gross weight of 2.7 g,including actuator,battery,and on-board circuit)that can generate a maximum instantaneous velocity of 40 mm/s and a swimming robot equipped with a pair of origami-inspired paddles that swims breaststroke.The low-voltage bistable actuator shows potential for achieving autonomous motion of various fully untethered miniature robots.展开更多
Dynamic movement primitives(DMPs)as a robust and efcient framework has been studied widely for robot learning from demonstration.Classical DMPs framework mainly focuses on the movement learning in Cartesian or joint s...Dynamic movement primitives(DMPs)as a robust and efcient framework has been studied widely for robot learning from demonstration.Classical DMPs framework mainly focuses on the movement learning in Cartesian or joint space,and can’t properly represent end-efector orientation.In this paper,we present an extended DMPs framework(EDMPs)both in Cartesian space and 2-Dimensional(2D)sphere manifold for Quaternion-based orientation learning and generalization.Gaussian mixture model and Gaussian mixture regression(GMM-GMR)are adopted as the initialization phase of EDMPs to handle multi-demonstrations and obtain their mean and covariance.Additionally,some evaluation indicators including reachability and similarity are defned to characterize the learning and generalization abilities of EDMPs.Finally,a real-world experiment was conducted with human demonstrations,the endpoint poses of human arm were recorded and successfully transferred from human to the robot.The experimental results show that the absolute errors of the Cartesian and Riemannian space skills are less than 3.5 mm and 1.0°,respectively.The Pearson’s correlation coefcients of the Cartesian and Riemannian space skills are mostly greater than 0.9.The developed EDMPs exhibits superior reachability and similarity for the multi-space skills’learning and generalization.This research proposes a fused framework with EDMPs and GMM-GMR which has sufcient capability to handle the multi-space skills in multi-demonstrations.展开更多
In this paper,the condensation heat transfer characteristics of parallel flow and counter flow inside an inclined wave-finned flat tube is investigated experimentally.The condensation heat transfer coefficients are an...In this paper,the condensation heat transfer characteristics of parallel flow and counter flow inside an inclined wave-finned flat tube is investigated experimentally.The condensation heat transfer coefficients are analyzed based on the experimental results.Results of experiments show that condensation heat transfer coefficient decreases as the temperature difference Δt=ts-tw increases and mass flow rate decreases.The parallel flow has a similar development with the counter flow,and the condensation heat transfer coefficient of counter flow is less than that of parallel flow under the same air cooling conditions.In addition,condensation heat transfer coefficient correlations are also obtained under experimental ranges.The calculations agree well with the measured data and the agreement is seen to be within ±4% for the parallel flow and ±5% for the counter flow.展开更多
Ionic polymer-metal composites(IPMCs)are typical smart mate-rials that are commonly used in bionic applications,including soft robots,bionic flapping aircraft,and bionic fish.However,their low output force seriously l...Ionic polymer-metal composites(IPMCs)are typical smart mate-rials that are commonly used in bionic applications,including soft robots,bionic flapping aircraft,and bionic fish.However,their low output force seriously limits device performance.Stacking of multiple IPMC actuators to improve the overall performance of soft actuators is a strategy that is used in practical applications.Under the energy dissipation condition in the IPMC stacking structure,if each single IPMC in the struc-ture has high power density,the structure will produce excel-lent performance with high efficiency that can greatly promote wider application of IPMC actuators.To meet this requirement,a method for fabrication process integration with multiple opti-mized factors was used to obtain IPMC materials in this paper.Carbon nanotube(CNT)doping,isopropyl alcohol-assisted plat-ing,and hot pressing with a mesoscopic structural mold were selected as typical optimization methods for process integration and were initially investigated separately to determine the opti-mal process parameters.By combining the best process para-meters in an integrated process,the IPMC treated by isopropyl alcohol-assisted plating and CNT doping process(No.AC7)showed excellent actuation performance and high work density(~9.71/12.36 gf,~14.93/31.89 kJ/m^(3) under 3/4 VDC).The enhanced performance meets the requirements for practical bionic applications.展开更多
Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usu...Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usually required, despite the deformation challenges and difficulty in positioning. This paper proposes an ultrafast laser processing system for trimming complex ceramic structural parts. Opto-electromechanical cooperative control software is developed to control the laser processing system. The trimming problem of the ceramic cores used in aero engines is studied. The regional registration method is introduced based on the iterative closest point algorithm to register the path extracted from the computer-aided design model with the deformed ceramic core. A zonal and layering processing method for three-dimensional contours on complex surfaces is proposed to generate the working data of high-speed scanning galvanometer and the computer numerical control machine tool, respectively. The results show that the laser system and the method proposed in this paper are suitable for trimming complex non-datum parts such as ceramic cores. Compared with the results of manual trimming, the method proposed in this paper has higher accuracy, efficiency, and yield. The method mentioned above has been used in practical application with satisfactory results.展开更多
Dielectric elastomer actuators(DEAs)are one of the most promising soft actuation technologies owing to their relatively high power density and electromechanical efficiency enabled by a resonant actuation technique.How...Dielectric elastomer actuators(DEAs)are one of the most promising soft actuation technologies owing to their relatively high power density and electromechanical efficiency enabled by a resonant actuation technique.However,existing DEA designs suffer from a very narrow optimal output bandwidth close to resonance and poor output control capability due to their fixed geometrical configurations.This condition greatly limits their applications in programmable actuation and broad-bandwidth applications.Accordingly,this work developed a novel resonance tunable DEA(RTDEA)design for broad-optimal-output actuation bandwidths that is enabled by an integration of a stiffness and voltage control strategy.This design features a broad resonant frequency adjustment from 84 to 126 Hz and independent tunings of its resonant amplitude and frequency.Parametric studies were conducted to illustrate the fundamental principles behind the resonance tuning strategy,and optimization was performed to maximize the tuning capability.Here,a resonance tuning control strategy is proposed to achieve accurate adjustments of the RTDEA’s resonance based on the stiffness and voltage control strategy.These resonance tunable soft actuators are envisioned to greatly expand DEAs’applications in,for instance,soft robotic locomotion,human–robot communication,and active vibrational control with demands of broad actuation bandwidths and high output performance.展开更多
Kirigami is an art of paper cutting,which can be used in mechanical metamaterials,actuators,and energy absorption based on its deployable and load-deflection characteristics.Traditional cuts with zero width produce un...Kirigami is an art of paper cutting,which can be used in mechanical metamaterials,actuators,and energy absorption based on its deployable and load-deflection characteristics.Traditional cuts with zero width produce undesirable plastic deformation or even tear fracture due to stress concentration in stretching.This study proposes to enlarge the cut width into a notch flexure,which is applied to an orthogonality-cutted kirigami sheet,which buckles out of plane into a 3D configuration patterns under uniaxial tension.The use of compliant beam as the notch makes the stress distribution around the cuts more uniform in both elastic and elastoplastic regime.The experimental and numerical results show that by tuning the geometric parameters of cuts and material properties of the sheets,the trigger condition of 3D patterns can be adjusted.Potential capability of tunable phononic wave propagation in this kirigami-inspired metamaterial is demonstrated.This design methodology offers a theoretical guide for kirigami-based structures.展开更多
基金supported by the National Natural Science Foundation of China (52075420)the National Key Research and Development Program of China (2020YFB1708400)。
文摘With its generality and practicality, the combination of partial charging curves and machine learning(ML) for battery capacity estimation has attracted widespread attention. However, a clear classification,fair comparison, and performance rationalization of these methods are lacking, due to the scattered existing studies. To address these issues, we develop 20 capacity estimation methods from three perspectives:charging sequence construction, input forms, and ML models. 22,582 charging curves are generated from 44 cells with different battery chemistry and operating conditions to validate the performance. Through comprehensive and unbiased comparison, the long short-term memory(LSTM) based neural network exhibits the best accuracy and robustness. Across all 6503 tested samples, the mean absolute percentage error(MAPE) for capacity estimation using LSTM is 0.61%, with a maximum error of only 3.94%. Even with the addition of 3 m V voltage noise or the extension of sampling intervals to 60 s, the average MAPE remains below 2%. Furthermore, the charging sequences are provided with physical explanations related to battery degradation to enhance confidence in their application. Recommendations for using other competitive methods are also presented. This work provides valuable insights and guidance for estimating battery capacity based on partial charging curves.
文摘In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structured light measurement model based on a galvanometer scanner was proposed to obtain the 3D information of the workpiece. A height calibration method was proposed to further ensure measurement accuracy, so as to achieve accurate laser focusing. In-situ machining software was developed to realize time-saving and labor-saving 3D laser processing. The feasibility and practicability of this in-situ laser machining system were verified using specific cases. In comparison with the conventional line structured light measurement method, the proposed methods do not require light plane calibration, and do not need additional motion axes for 3D reconstruction;thus they provide technical and cost advantages. The insitu laser machining system realizes a simple operation process by integrating measurement and machining,which greatly reduces labor and time costs.
基金This work was supported by the National Key Research and Development Program of China(grant 2019YFB1311600,G.C.and B.L.)the National Science Foundation of China(grants U1913213[G.C.]and 52075411[B.L.]).
文摘Miniature robots show great potential in exploring narrow and confined spaces to perform various tasks,but many applications are limited by the dependence of these robots on electrical or pneumatic tethers to power supplies outboard.Developing an onboard actuator that is small in size and powerful enough to carry all the components onboard is a major challenge to eliminate the need for a tether.Bistability can trigger a dramatic energy release during switching between the 2 stable states,thus providing a promising way to overcome the intrinsic limitation of insufficient power of small actuators.In this work,the antagonistic action between torsional deflection and bending deflection in a lamina emergent torsional joint is utilized to achieve bistability,yielding a buckling-free bistable design.The unique configuration of this bistable design enables integrating of a single bending electroactive artificial muscle in the structure to form a compact,self-switching bistable actuator.A low-voltage ionic polymer-metal composites artificial muscle is employed,yielding a bistable actuator capable of generating an instantaneous angular velocity exceeding 300°/s by a 3.75-V voltage.Two untethered robotic demonstrations using the bistable actuator are presented,including a crawling robot(gross weight of 2.7 g,including actuator,battery,and on-board circuit)that can generate a maximum instantaneous velocity of 40 mm/s and a swimming robot equipped with a pair of origami-inspired paddles that swims breaststroke.The low-voltage bistable actuator shows potential for achieving autonomous motion of various fully untethered miniature robots.
基金Supported by National Natural Science Foundation of China(Grant No.52175029)Key Industrial Chain Projects of Shaanxi Province(Grant No.2018ZDCXL-GY-06-05).
文摘Dynamic movement primitives(DMPs)as a robust and efcient framework has been studied widely for robot learning from demonstration.Classical DMPs framework mainly focuses on the movement learning in Cartesian or joint space,and can’t properly represent end-efector orientation.In this paper,we present an extended DMPs framework(EDMPs)both in Cartesian space and 2-Dimensional(2D)sphere manifold for Quaternion-based orientation learning and generalization.Gaussian mixture model and Gaussian mixture regression(GMM-GMR)are adopted as the initialization phase of EDMPs to handle multi-demonstrations and obtain their mean and covariance.Additionally,some evaluation indicators including reachability and similarity are defned to characterize the learning and generalization abilities of EDMPs.Finally,a real-world experiment was conducted with human demonstrations,the endpoint poses of human arm were recorded and successfully transferred from human to the robot.The experimental results show that the absolute errors of the Cartesian and Riemannian space skills are less than 3.5 mm and 1.0°,respectively.The Pearson’s correlation coefcients of the Cartesian and Riemannian space skills are mostly greater than 0.9.The developed EDMPs exhibits superior reachability and similarity for the multi-space skills’learning and generalization.This research proposes a fused framework with EDMPs and GMM-GMR which has sufcient capability to handle the multi-space skills in multi-demonstrations.
基金This work was supported by the National Natural Science Foundation of China(No.11675128).
文摘In this paper,the condensation heat transfer characteristics of parallel flow and counter flow inside an inclined wave-finned flat tube is investigated experimentally.The condensation heat transfer coefficients are analyzed based on the experimental results.Results of experiments show that condensation heat transfer coefficient decreases as the temperature difference Δt=ts-tw increases and mass flow rate decreases.The parallel flow has a similar development with the counter flow,and the condensation heat transfer coefficient of counter flow is less than that of parallel flow under the same air cooling conditions.In addition,condensation heat transfer coefficient correlations are also obtained under experimental ranges.The calculations agree well with the measured data and the agreement is seen to be within ±4% for the parallel flow and ±5% for the counter flow.
基金This work was supported by the National Natural Science Foundation of China[11802223,61890961]Basic Research Project of China[JCKY2020110C074].
文摘Ionic polymer-metal composites(IPMCs)are typical smart mate-rials that are commonly used in bionic applications,including soft robots,bionic flapping aircraft,and bionic fish.However,their low output force seriously limits device performance.Stacking of multiple IPMC actuators to improve the overall performance of soft actuators is a strategy that is used in practical applications.Under the energy dissipation condition in the IPMC stacking structure,if each single IPMC in the struc-ture has high power density,the structure will produce excel-lent performance with high efficiency that can greatly promote wider application of IPMC actuators.To meet this requirement,a method for fabrication process integration with multiple opti-mized factors was used to obtain IPMC materials in this paper.Carbon nanotube(CNT)doping,isopropyl alcohol-assisted plat-ing,and hot pressing with a mesoscopic structural mold were selected as typical optimization methods for process integration and were initially investigated separately to determine the opti-mal process parameters.By combining the best process para-meters in an integrated process,the IPMC treated by isopropyl alcohol-assisted plating and CNT doping process(No.AC7)showed excellent actuation performance and high work density(~9.71/12.36 gf,~14.93/31.89 kJ/m^(3) under 3/4 VDC).The enhanced performance meets the requirements for practical bionic applications.
基金the National Key R&D Program of China(Grant No.2016YFB1102500)the Key R&D Project in Shaanxi Province(Grant No.2019ZDLGY01-07)the Science and Technology Program of Jiangsu Province,China(Grant No.SBK2019041271).
文摘Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usually required, despite the deformation challenges and difficulty in positioning. This paper proposes an ultrafast laser processing system for trimming complex ceramic structural parts. Opto-electromechanical cooperative control software is developed to control the laser processing system. The trimming problem of the ceramic cores used in aero engines is studied. The regional registration method is introduced based on the iterative closest point algorithm to register the path extracted from the computer-aided design model with the deformed ceramic core. A zonal and layering processing method for three-dimensional contours on complex surfaces is proposed to generate the working data of high-speed scanning galvanometer and the computer numerical control machine tool, respectively. The results show that the laser system and the method proposed in this paper are suitable for trimming complex non-datum parts such as ceramic cores. Compared with the results of manual trimming, the method proposed in this paper has higher accuracy, efficiency, and yield. The method mentioned above has been used in practical application with satisfactory results.
基金supported by the National Key Research and Development Program of China(Grant No.2019YFB1311600)the National Natural Science Foundation of China(Grant No.62003333)+2 种基金the Shenzhen Fundamental Research Project(Grant No.JCYJ20200109115639654)the Guangdong Basic and Applied Basic Research Foundation(Grant No.2020A1515110175)the China Postdoctoral Science Foundation(Grant No.2020M682978)。
文摘Dielectric elastomer actuators(DEAs)are one of the most promising soft actuation technologies owing to their relatively high power density and electromechanical efficiency enabled by a resonant actuation technique.However,existing DEA designs suffer from a very narrow optimal output bandwidth close to resonance and poor output control capability due to their fixed geometrical configurations.This condition greatly limits their applications in programmable actuation and broad-bandwidth applications.Accordingly,this work developed a novel resonance tunable DEA(RTDEA)design for broad-optimal-output actuation bandwidths that is enabled by an integration of a stiffness and voltage control strategy.This design features a broad resonant frequency adjustment from 84 to 126 Hz and independent tunings of its resonant amplitude and frequency.Parametric studies were conducted to illustrate the fundamental principles behind the resonance tuning strategy,and optimization was performed to maximize the tuning capability.Here,a resonance tuning control strategy is proposed to achieve accurate adjustments of the RTDEA’s resonance based on the stiffness and voltage control strategy.These resonance tunable soft actuators are envisioned to greatly expand DEAs’applications in,for instance,soft robotic locomotion,human–robot communication,and active vibrational control with demands of broad actuation bandwidths and high output performance.
基金This work was supported by the XJTU joint-collaboration project in multi-disciplines[xhj032021014-03]National Key Research and Development Program of China[2019YFB1311600]+1 种基金Shanxi Key Research and Development Program[2020ZDLGY06-11]Natural Science Foundation of China[No.52075411 and U1913213].
文摘Kirigami is an art of paper cutting,which can be used in mechanical metamaterials,actuators,and energy absorption based on its deployable and load-deflection characteristics.Traditional cuts with zero width produce undesirable plastic deformation or even tear fracture due to stress concentration in stretching.This study proposes to enlarge the cut width into a notch flexure,which is applied to an orthogonality-cutted kirigami sheet,which buckles out of plane into a 3D configuration patterns under uniaxial tension.The use of compliant beam as the notch makes the stress distribution around the cuts more uniform in both elastic and elastoplastic regime.The experimental and numerical results show that by tuning the geometric parameters of cuts and material properties of the sheets,the trigger condition of 3D patterns can be adjusted.Potential capability of tunable phononic wave propagation in this kirigami-inspired metamaterial is demonstrated.This design methodology offers a theoretical guide for kirigami-based structures.
