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An electropermanent magnet valve for the onboard control of multi-degree of freedom pneumatic soft robots 用于多自由度气动软机器人机载控制的电永磁阀
Pub Date : 2024-08-23 DOI: 10.1038/s44172-024-00251-y
Anna Maria Moran, Vi T. Vo, Kevin J. McDonald, Pranav Sultania, Eva Langenbrunner, Jun Hong Vince Chong, Amartya Naik, Lorenzo Kinnicutt, Jingshuo Li, Tommaso Ranzani
To achieve coordinated functions, fluidic soft robots typically rely on multiple input lines for the independent inflation and deflation of each actuator. Fluidic actuators are controlled by rigid electronic pneumatic valves, restricting the mobility and compliance of the soft robot. Recent developments in soft valve designs have shown the potential to achieve a more integrated robotic system, but are limited by high energy consumption and slow response time. In this work, we present an electropermanent magnet (EPM) valve for electronic control of pneumatic soft actuators that is activated through microsecond electronic pulses. The valve incorporates a thin channel made from thermoplastic films. The proposed valve (3 × 3 × 0.8 cm, 2.9 g) can block pressure up to 146 kPa and negative pressures up to –100 kPa with a response time of less than 1 s. Using the EPM valves, we demonstrate the ability to switch between multiple operation sequences in real time through the control of a six-DoF robot capable of grasping and hopping with a single pressure input. Our proposed onboard control strategy simplifies the operation of multi-pressure systems, enabling the development of dynamically programmable soft fluid-driven robots that are versatile in responding to different tasks. Ranzani and colleagues use electropermanent magnets to build a valve that simplifies the controls of pneumatic soft robots. Their design enables the selective activation of the robot’s fluidic channels to perform grasping and locomotion tasks.
为了实现协调功能,流体软体机器人通常依靠多条输入线来实现每个致动器的独立充气和放气。流体致动器由刚性电子气动阀控制,限制了软体机器人的移动性和顺应性。软阀设计的最新发展显示了实现集成度更高的机器人系统的潜力,但受限于高能耗和响应时间慢。在这项工作中,我们提出了一种用于气动软执行器电子控制的电永磁(EPM)阀门,可通过微秒级电子脉冲激活。该阀门包含一个由热塑薄膜制成的薄通道。拟议的阀门(3 × 3 × 0.8 厘米,2.9 克)可阻挡高达 146 千帕的压力和高达-100 千帕的负压,响应时间小于 1 秒。利用 EPM 阀门,我们展示了通过控制一个能够在单一压力输入下抓取和跳跃的六斗阵机器人,在多个操作序列之间实时切换的能力。我们提出的板载控制策略简化了多压力系统的操作,从而能够开发出动态可编程的软流体驱动机器人,使其能够应对不同的任务。Ranzani 及其同事利用电永磁制造了一种阀门,简化了气动软机器人的控制。他们的设计能够选择性地激活机器人的流体通道,以执行抓取和运动任务。
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引用次数: 0
An integrated coupled oscillator network to solve optimization problems 解决优化问题的集成耦合振荡器网络
Pub Date : 2024-08-23 DOI: 10.1038/s44172-024-00261-w
Markus Graber, Klaus Hofmann
Solving combinatorial optimization problems is essential in scientific, technological, and engineering applications, but can be very time and energy-consuming using classical algorithms executed on digital processors. Oscillator-based Ising machines offer a promising alternative by exploiting the analog coupling between electrical oscillators to solve such optimization problems more efficiently. Here we present the design and the capabilities of our scalable approach to solve Ising and quadratic unconstrained binary optimization problems. This approach includes routable oscillator connections to simplify the time-consuming embedding of the problem into the oscillator network. Our manufactured silicon chip, featuring 1440 oscillators implemented in a 28 nm technology, demonstrates the ability to solve optimization problems in 950 ns while consuming typically 319 μW per node. A frequency, phase, and delay calibration ensures robustness against manufacturing variations. The system is evaluated with multiple sets of benchmark problems to analyze the sensitivity for parameters such as the coupling strength or frequency. Markus Graber and Klaus Hofmann present a coupled oscillator network, fabricated on a 4.6 mm2 silicon chip with 1440 oscillators and routable connections, designed to solve Ising and other optimization problems efficiently. Their circuit offers a scalable and practical approach for complex optimization problems.
解决组合优化问题在科学、技术和工程应用中至关重要,但使用在数字处理器上执行的经典算法非常耗时耗力。基于振荡器的伊辛机利用电子振荡器之间的模拟耦合来更高效地解决此类优化问题,提供了一种很有前途的替代方案。在此,我们介绍了我们解决伊辛和二次无约束二元优化问题的可扩展方法的设计和功能。这种方法包括可路由振荡器连接,以简化将问题嵌入振荡器网络的耗时过程。我们制造的硅芯片采用 28 纳米技术实现了 1440 个振荡器,能够在 950 ns 内解决优化问题,而每个节点的功耗通常为 319 μW。频率、相位和延迟校准确保了对制造变化的稳健性。该系统通过多组基准问题进行评估,以分析耦合强度或频率等参数的敏感性。Markus Graber 和 Klaus Hofmann 介绍了一种耦合振荡器网络,该网络在 4.6 平方毫米的硅芯片上制造,具有 1440 个振荡器和可路由连接,旨在高效解决伊辛问题和其他优化问题。他们的电路为复杂的优化问题提供了一种可扩展的实用方法。
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引用次数: 0
Inverse design of bistable composite laminates with switching tunneling method for global optimization 利用开关隧道法进行双稳态复合材料层压板逆向设计的全局优化
Pub Date : 2024-08-23 DOI: 10.1038/s44172-024-00260-x
Katherine S. Riley, Mark H. Jhon, Hortense Le Ferrand, Dan Wang, Andres F. Arrieta
Bistability enables adaptive designs with tunable deflections for applications including morphing wings, robotic grippers, and consumer products. Composite laminates may be designed to exhibit bistability due to pre-strains that develop during the processing of the polymer matrix, enabling fast reconfiguration between two stable shapes. Unfortunately, designing bistable laminates is challenging because of their highly nonlinear behavior. Here, we propose the Switching Tunneling Method to address this challenge by alternating between gradient-based local minimization and tunneling search phases, with the enhancement of objective expression switching to improve numerical conditioning. Results demonstrate high effectiveness compared to existing optimizers; the Switching Tunneling Method achieves a 99% success rate in finding all energy minima across general composite layups. Additionally, our method facilitates the inverse design of variable pre-strain fields, enabling bioinspired, positive Gaussian curvatures, which are not possible with conventional pre-strain laminates. Validations through both finite element analysis and 3D printed samples confirm the optimal designs. Dr Wang, Dr Arrieta, and colleagues report a switching tunneling method for the inverse design of bistable composite laminates. Their optimization methodology addresses the bistable composites’ highly nonlinear nature and successfully identifies the variable pre-strain fields to match the target stable shapes.
双稳态性使可调挠度的自适应设计成为可能,其应用领域包括变形机翼、机器人抓手和消费品。复合材料层压板在设计时可以表现出双稳态性,这是由于在聚合物基体加工过程中产生了预应力,从而可以在两种稳定形状之间快速重新配置。遗憾的是,由于双稳态层压板的高度非线性行为,设计双稳态层压板具有很大的挑战性。在此,我们提出了切换隧道法来应对这一挑战,该方法交替使用基于梯度的局部最小化和隧道搜索阶段,并加强了目标表达式的切换以改善数值调节。结果表明,与现有优化器相比,切换隧道法具有很高的有效性;在一般复合材料铺层中找到所有能量最小值的成功率高达 99%。此外,我们的方法还有助于反向设计可变预应变场,从而实现传统预应变层压板无法实现的生物启发式正高斯曲率。通过有限元分析和三维打印样品的验证,确认了最佳设计。Wang 博士、Arrieta 博士及其同事报告了一种开关隧道法,用于双稳态复合材料层压板的逆向设计。他们的优化方法解决了双稳态复合材料的高度非线性问题,并成功确定了与目标稳定形状相匹配的可变预应变场。
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引用次数: 0
Hybrid graphenic and iron oxide photocatalysts for the decomposition of synthetic chemicals 用于分解合成化学品的石墨烯和氧化铁混合光催化剂。
Pub Date : 2024-08-21 DOI: 10.1038/s44172-024-00267-4
Raphaell Moreira, Ehsan B. Esfahani, Fatemeh A. Zeidabadi, Pani Rostami, Martin Thuo, Madjid Mohseni, Earl J. Foster
Per- and polyfluoroalkyl substances (PFAS) are a group of synthetic chemicals that resist degradation, posing a significant environmental and health risk. Current methods for removing PFAS from water are often complex and costly. Here we report a simple, cost-effective method to synthesize an iron oxide/graphenic carbon (Fe/g-C) hybrid photocatalyst for PFAS degradation. This photocatalyst efficiently degrades perfluorooctanoic acid (PFOA), a common type of PFAS, achieving over 85% removal within 3 hours under ultraviolet light. The catalyst also maintains high degradation rates over extended periods, demonstrating its stability and potential for long-term use. This innovative approach offers a promising solution for addressing PFAS contamination in water, contributing to a cleaner and healthier environment. Moreira et al. developed an iron oxide/graphenic carbon hybrid photocatalyst for the decomposition of PFAS contaminants, under UV light. Their method offers a cheap and efficient alternative that achieves > 85% efficiency for PFOA decomposition under UV light.
全氟烷基和多氟烷基物质(PFAS)是一组耐降解的合成化学品,对环境和健康构成重大风险。目前从水中去除 PFAS 的方法通常既复杂又昂贵。在此,我们报告了一种用于降解 PFAS 的简单、经济高效的氧化铁/石墨烯碳(Fe/g-C)混合光催化剂的合成方法。这种光催化剂能高效降解常见的全氟辛酸(PFOA),在紫外线照射下 3 小时内去除率超过 85%。这种催化剂还能在较长时间内保持较高的降解率,显示了其稳定性和长期使用的潜力。这种创新方法为解决水中的全氟辛烷磺酸污染提供了一种前景广阔的解决方案,有助于创造更清洁、更健康的环境。
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引用次数: 0
GEMTELLIGENCE: Accelerating gemstone classification with deep learning 宝石知识:利用深度学习加速宝石分类。
Pub Date : 2024-08-20 DOI: 10.1038/s44172-024-00252-x
Tommaso Bendinelli, Luca Biggio, Daniel Nyfeler, Abhigyan Ghosh, Peter Tollan, Moritz Alexander Kirschmann, Olga Fink
The value of luxury goods, particularly investment-grade gemstones, is influenced by their origin and authenticity, often resulting in differences worth millions of dollars. Traditional methods for determining gemstone origin and detecting treatments involve subjective visual inspections and a range of advanced analytical techniques. However, these approaches can be time-consuming, prone to inconsistencies, and lack automation. Here, we propose GEMTELLIGENCE, a novel deep learning approach enabling streamlined and consistent origin determination of gemstone origin and detection of treatments. GEMTELLIGENCE leverages convolutional and attention-based neural networks that combine the multi-modal heterogeneous data collected from multiple instruments. The algorithm attains predictive performance comparable to expensive laser-ablation inductively-coupled-plasma mass-spectrometry analysis and expert visual examination, while using input data from relatively inexpensive analytical methods. Our methodology represents an advancement in gemstone analysis, greatly enhancing automation and robustness throughout the analytical process pipeline. Tommaso Bendinelli and colleagues developed a deep learning method that leverages data from different scanning and spectroscopy modalities to improve gemstone origin determination and treatment detection.
奢侈品的价值,尤其是投资级宝石的价值,受其原产地和真实性的影响,往往会产生价值数百万美元的差异。确定宝石原产地和检测处理方法的传统方法包括主观目测和一系列先进的分析技术。然而,这些方法耗时长,容易出现不一致的情况,而且缺乏自动化。在此,我们提出了 GEMTELLIGENCE,这是一种新颖的深度学习方法,能够简化和一致地确定宝石原产地和检测处理方法。GEMTELLIGENCE 利用基于卷积和注意力的神经网络,将从多种仪器收集到的多模态异构数据结合起来。该算法的预测性能可与昂贵的激光烧蚀电感耦合等离子体质谱分析法和专家目测法相媲美,同时使用的输入数据来自相对廉价的分析方法。我们的方法代表了宝石分析的进步,大大提高了整个分析流程管道的自动化和稳健性。
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引用次数: 0
The evolving experience of academic women in engineering 工程学领域女学者不断演变的经历。
Pub Date : 2024-08-20 DOI: 10.1038/s44172-024-00256-7
Srabanti Chowdhury, Kelly Woo, Nish Sinha
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引用次数: 0
Decentralized dynamic system for optimal power dispatch in wind farms based on node-dependence nature 基于节点依赖性的风电场优化电力调度分散动态系统
Pub Date : 2024-08-18 DOI: 10.1038/s44172-024-00258-5
Sheng Huang, Hanzhi Peng, Xiaohui Huang, Juan Wei, Chao Wei, Qiuwei Wu, Wei Zhang, Yinpeng Qu
Meeting the power demand from the transmission system operator is an important objective for power dispatch, which introduces a power supply-demand equality constraint coupling all the wind turbines among the wind farm into the optimization problem. For a large-scale wind farm, processing the global equality constraint in a centralized or distributed framework is time-consuming and computationally complex. Here we considered the fast and localized execution issue of the power optimal dispatch problems. A completely decentralized dynamic system was designed to optimize power flow while satisfying the electricity supply constraints. A voltage optimization problem with the global power constraints was decoupled into local wind turbine controllers based on the node-dependence nature, which is an inherent characteristic of wind farms and was fitted to the power sensitivity matrix in this paper. The local optimization problem was solved iteratively using the gradient projection method, and the system converged linearly to the equilibrium point. The simulations for the case studies performed in Simulink demonstrate that the proposed method achieves a near-global optimal performance using only local measurements. Sheng Huang, Xiaohui Huang and colleagues propose a methodology for the optimal power dispatch from the wind farms. Their method relies on local data only and allows iterative convergence.
满足输电系统运营商的电力需求是电力调度的一个重要目标,这就在优化问题中引入了风电场中所有风力涡轮机的电力供需平衡约束。对于大型风电场而言,在集中式或分布式框架下处理全局平等约束既耗时又计算复杂。在此,我们考虑了电力优化调度问题的快速本地化执行问题。我们设计了一个完全分散的动态系统,在满足电力供应约束的同时优化电力流。根据风力发电场固有的节点依赖性,将具有全局功率约束的电压优化问题解耦为本地风力涡轮机控制器,并在本文中与功率灵敏度矩阵相匹配。利用梯度投影法对局部优化问题进行迭代求解,系统线性收敛到平衡点。在 Simulink 中进行的案例研究仿真表明,所提出的方法仅使用局部测量就能实现接近全局的最优性能。Sheng Huang、Xiaohui Huang 及其同事提出了一种风电场最优电力调度方法。他们的方法仅依赖于局部数据,并允许迭代收敛。
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引用次数: 0
Filter cable design with defected conductor transmission structures 带缺陷导体传输结构的滤波电缆设计
Pub Date : 2024-08-16 DOI: 10.1038/s44172-024-00262-9
Han Yunan, Cuilian Jiang, Shuangqing Xiong, Zhaohan Liu
Electrical cables, as the industry’s blood vessels and nervous system, require evolving distributed filtering for complex electromagnetic environment adaptability. This article introduces a filter cable design featuring an insulated cylinder coated with a defected conductor transmission structure (DCTS). The DCTS, with a well-designed etched pattern, functions as a boundary condition for transmitting specific frequency electromagnetic waves, similar to a lumped filter circuit. To validate this method, a low-pass filter cable is proposed with six-slot-ring defected structures, utilizing polytetrafluoroethylene as the inner dielectric, encased within a flexible printed circuit board (FPCB)-manufactured DCTS. The proposed cable, with precise dimensions (2.4 mm diameter, 340 mm length), demonstrates minimal insertion loss ( < 0.38 dB below 6 GHz) in the passband and rejection exceeding 23 dB at 7.7-25 GHz in the stopband. Further enhancements achieve attenuation exceeding 50 dB in the stopband (7.1 GHz to 20 GHz). Compared to traditional cables, this filter cable addresses electromagnetic compatibility (EMC) by cutting off the interference coupling path. Yunan Han et al. present a filter cable design which can apply filtering throughout the cable’s length. The defected conductor transmission structures serve as a boundary condition for transmitted waves to achieve similar performance to a lumped filter circuit.
电缆作为工业的血管和神经系统,需要不断发展的分布式滤波,以适应复杂的电磁环境。本文介绍了一种滤波电缆设计,其特点是在绝缘圆筒上涂覆有缺陷导体传输结构(DCTS)。DCTS 具有精心设计的蚀刻图案,可作为传输特定频率电磁波的边界条件,与块状滤波电路类似。为了验证这种方法,我们提出了一种具有六槽环形缺陷结构的低通滤波器电缆,利用聚四氟乙烯作为内电介质,封装在柔性印刷电路板(FPCB)制造的 DCTS 内。拟议的电缆尺寸精确(直径 2.4 毫米,长度 340 毫米),在通带内的插入损耗极小(6 千兆赫以下为 0.38 分贝),在 7.7-25 千兆赫的阻带内抑制超过 23 分贝。进一步增强后,在阻带(7.1 GHz 至 20 GHz)的衰减超过 50 dB。与传统电缆相比,这种滤波电缆通过切断干扰耦合路径,解决了电磁兼容性(EMC)问题。Yunan Han 等人提出了一种滤波电缆设计,可在整个电缆长度范围内进行滤波。有缺陷的导体传输结构可作为传输波的边界条件,从而实现与块状滤波电路类似的性能。
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引用次数: 0
Superalloys fracture process inference based on overlap analysis of 3D models 基于三维模型重叠分析的超级合金断裂过程推断。
Pub Date : 2024-08-06 DOI: 10.1038/s44172-024-00257-6
Xuecheng Zhang, Guanghao Guo, Zixin Li, Wenchao Meng, Yuefei Zhang, Qing Ye, Jin Wang, Shibo He, Xinbao Zhao, Jiming Chen, Ze Zhang
Superalloy materials exhibit susceptibility to fracture failures stemming from the influence of thermomechanical factors. To comprehensively understand the fracture mechanisms, material properties, root causes of failure, and the subsequent optimization of alloys, a detailed analysis of the internal fracture process and the morphological traits of the fracture surface is imperative. Traditional analysis of fracture surfaces solely relies on 2D images, thus lacking crucial 3D information. Although in situ experiments can capture the fracture process, their effectiveness is confined to the specimen’s surface, precluding insight into internal changes. Here we introduce an integrated framework encompassing the process of 3D reconstruction of fracture surfaces, aiming to enhance the visual information obtained with micron-level accuracy, visual intuitiveness and sense of depth. Additionally, this framework also facilitates the scrutiny and inference of internal fracture processes. These results demonstrate that under specific service conditions, material deformation fracture probably stems from a combination of surface cracking and internal cracking rather than exclusively one or the other. Overall, our description and analysis of internally initiated cracking due to defects within the specimens can be beneficial in guiding future alloy design and optimization efforts. Xuecheng Zhang, Guanghao Guo and colleagues present a characterization method for analyzing metallurgical fracture processes that addresses the limitations of conventional 2D imaging acquisition by providing a comprehensive visual depiction of fracture surfaces in 3D space. The method involves in situ tensile testing of IN718 alloy specimens at different temperatures, capturing real-time changes in morphology using high-resolution electron microscopy imaging, and reconstructing 3D models of the fracture surfaces.
超耐热合金材料易受热力学因素的影响而发生断裂失效。为了全面了解断裂机理、材料特性、失效根本原因以及合金的后续优化,必须对内部断裂过程和断裂表面的形态特征进行详细分析。传统的断裂表面分析仅依赖于二维图像,因此缺乏关键的三维信息。虽然原位实验可以捕捉断裂过程,但其效果仅限于试样表面,无法深入了解内部变化。在此,我们引入了一个包含断裂表面三维重建过程的集成框架,旨在提高所获得的视觉信息的微米级精度、视觉直观性和深度感。此外,该框架还有助于检查和推断内部断裂过程。这些结果表明,在特定的使用条件下,材料变形断裂可能源于表面开裂和内部开裂的结合,而非仅是其中之一。总之,我们对试样内部缺陷引起的内部开裂的描述和分析有助于指导未来的合金设计和优化工作。
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引用次数: 0
SRS-Net: a universal framework for solving stimulated Raman scattering in nonlinear fiber-optic systems by physics-informed deep learning SRS-Net:通过物理信息深度学习解决非线性光纤系统中受激拉曼散射问题的通用框架。
Pub Date : 2024-08-06 DOI: 10.1038/s44172-024-00253-w
Yuchen Song, Min Zhang, Xiaotian Jiang, Fan Zhang, Cheng Ju, Shanguo Huang, Alan Pak Tao Lau, Danshi Wang
As a crucial nonlinear phenomenon, stimulated Raman scattering (SRS) plays multifaceted roles involved in forward and inverse problems. In fibre-optic systems, these roles range from detrimental interference that impairs optical performance to beneficial effects that enables various devices such as Raman amplifier. To obtain solutions of SRS, various numerical methods customized for different scenarios have been proposed. However, these methods are time-consuming, low-efficiency, and experience-orientated, particularly in combined scenarios consisting of both forward and inverse problems. Inspired by physics-informed neural networks, we propose SRS-Net, which combines the efficient automatic differentiation and powerful representation ability of neural networks with the regularization of SRS physical laws, to obtain universal solutions for SRS of forward, inverse, and combined problems. We showcase the intuitive solving procedure and high-speed performance of SRS-Net through extensive simulations covering different scenarios. Additionally, we validate its capabilities in experiments involving the high-fidelity modelling of a wavelength division multiplexing system spanning the C + L-band with approximately 10 THz. The versatility of the SRS-Net framework extends beyond SRS, indicating its potential as a promising universal solution in other engineering problems with nonlinear dynamics governed by partial differential equations. Yuchen Song and colleagues develop a neural network-based framework for solving both forward and inverse problems of stimulated Raman scattering. This physics-informed framework called SRS-Net helps wideband power prediction, Raman pump optimization, and physical parameter identification in fibre optics.
作为一种重要的非线性现象,受激拉曼散射(SRS)在正向和反向问题中发挥着多方面的作用。在光纤系统中,这些作用既包括损害光学性能的有害干扰,也包括实现拉曼放大器等各种设备的有益效应。为了获得 SRS 的解决方案,人们提出了针对不同情况定制的各种数值方法。然而,这些方法耗时长、效率低,而且以经验为导向,特别是在由正向和反向问题组成的组合场景中。受物理信息神经网络的启发,我们提出了 SRS-Net,它将神经网络高效的自动微分和强大的表示能力与 SRS 物理定律的正则化相结合,从而获得正向、反向和组合问题的 SRS 通用解。我们通过大量涵盖不同场景的模拟,展示了 SRS-Net 直观的求解过程和高速性能。此外,我们还在实验中验证了 SRS-Net 的能力,实验涉及对波分复用系统进行高保真建模,该系统跨越 C + L 波段,频率约为 10 太赫兹。SRS-Net 框架的多功能性超出了 SRS 的范围,表明它有潜力成为其他工程问题的通用解决方案,解决由偏微分方程控制的非线性动态问题。
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引用次数: 0
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Communications engineering
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