摘要：Introduction 3D bioprinting offers a unique biofabrication platform that allows the generation of functional tissue constructs in a spatially/geometrically controlled and automated manner using a 3 D printer and *** serves as the carrier medium that provides the ideal physico-mechanical characteristics for printability,shape fidelity,and support;and a biological microenvironment for the living cells prior to,during.

摘要：Hovering ability is one of the most desired features in Flapping-Wing Micro Air Vehicles （FW-MAVs）. This paper presents a hybrid design of flapping wing and fixed wing, which combines two flapping wings and two fixed wings to take advantage of the double wing clap-and-fling effect for high thrust production, and utilizes the fixed wings as the stabilizing surfaces for inherently stable hovering flight. Force measurement shows that the effect of wing clap-and-fling significantly enhances the cycle-averaged vertical thrust up to 44.82% at 12.4 Hz. The effect of ventral wing clap-and-fling due to presence of fixed wings produces about 11% increase of thrust-to-power ratio, and the insect-inspired FW-MAV can produce enough cycle-averaged vertical thrust of 14.76 g for lift-offat 10 Hz, and 24 g at maximum frequency of 12.4 Hz. Power measurement indicates that the power consumed for aerodynamic forces and wing inertia, and power loss due to gearbox friction and mechanism inertia was about 80% and 20% of the total input power, respectively. The proposed insect-inspired FW-MAV could endure three-minute flight, and demonstrate a good flight performance in terms of vertical take-off, hovering, and control with an onboard 3.7 V-70 mAh LiPo battery and control system.

摘要：In this paper, modeling, locomotion generation, motion library design and path planning for a real prototype of an Anguilliform robotic fish are presented. The robotic fish consists of four links and three joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints and hydrodynamic forces, Lagrangian formulation is used to obtain the dynamic model of the fish. Using this model, three major locomotion patterns of Anguilliform fish, including forward locomotion, backward locomotion and turning locomotion are investigated. It is found that the fish exhibits different locomotion patterns by giving different reference joint angles, such as adding reversed phase difference, or adding deflections to the original reference angles. The results are validated by both simulations and experiments. Furthermore, the relations among the speed of the fish, angular frequency, undulation amplitude, phase difference, as well as the relationship between the turning radius and deflection angle are investigated. These relations provide an elaborated motion library that can be used for motion planning of the robotic fish.

摘要：In this paper, control design is investigated for hard disk drives in mobile applications with unknown external arbitrarily fast time-varying disturbances. The disturbances can be estimated with exponential accuracy using the proposed disturbance observer based on a series of integral filters. The position error signal will converge to zero with the proposed control technique for systems subjected to the unknown disturbances. The effectiveness of the proposed method is demonstrated by extensive simulation studies.

摘要：With the recent advancement in nanotechnology,nanoparticles(NPs)offer an ample variety of smart functions than conventional materials in various *** compared to larger particles,NPs possess unique characteristics and excellent abilities,such as low toxicity,chemical stability,surface functionality,and *** advantageous properties allow them to be widely utilized in many applications,including biomedical applications,energy applications,IT applications,and industrial *** order to fulfill the increasing demands of NP applications,existing NP synthesis methods need to be improved based on the requirements of different applications to further their usage.A comprehensive understanding of the relationships between synthesis parameters and properties of NPs can help us better fine-tune them with designed properties and minimal *** review paper will discuss the commonly used synthesis methods of functionalized NPs,as well as future directions and challenges to develop various synthesis methods further.

摘要：In this paper, we present a full scheme for the cooperative control of multiple unmanned aerial vehicle （UAV） helicopters. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the UAVs following certain trajectories. More specifically, the leader is commanded to fly on some predefined trajectories, and each follower is controlled to maintain its position in formation using the measurement of its inertial position and the information of the leader position and velocity, obtained through a wireless modem. More specifications are made for multiple UAV formation flight. In order to avoid possible collisions of UAV helicopters in the actual formation flight test, a collision avoidance scheme based on some predefined alert zones and protected zones is employed. Simulations and experimental results are presented to verify our design.

摘要：In this paper,the modeling and control design of a biomimetic robotic fish is *** Anguilliform robotic fish consists of N links and N−1 joints,and the driving forces are the torques applied to the *** kinematic constraints,Lagrangian formulation is used to obtain the dynamics of the fish *** computed torque control method is applied first,which can provide satisfactory tracking responses for fish *** this robotic fish is essentially an underactuated system,the reference trajectories for the orientation of the N links are planned in such a way that,at a neighborhood of the equilibrium point,the tracking task of N angles can be achieved by using N−1 joint *** deal with parameter uncertainties that exist in the actual environment,sliding mode control is *** feasibility and complexity issues,a simplified sliding mode control algorithm is given.A four-link robotic fish is modeled and simulated,and the results validate the effectiveness of reference planning and the proposed controllers.

摘要：For human beings of different ages and physical abilities, the inherent balance control system is ubiquitous and active to prevent falling, especially in motion states. A hybridized electromagnetic-triboelectric nanogenerator (HETNG) is prepared to harvest biomechanical energy during human balance control processes and achieve significant monitoring functions. The HETNG is composed of a symmetrical pendulum structure and a cylinder magnet rolling inside. Four coils are divided into two groups which form into two electromagnetic generators (EMGs). Besides, two spatial electrodes attached to the inner wall constitute a freestanding mode triboelectric nanogenerator (TENG). With a rectification circuit, the HETNG presents a high output power with a peak value of 0.55 W at a load of 160 Ω. Along with human balance control processes during walking, the HETNG can harvest biomechanical energy at different positions on the trunk. Moreover, the HETNG applied in artificial limb has been preliminarily simulated with the positions on thigh and foot, for monitoring the actions of squat and stand up, and lifting the leg up and down. For the elder that walks slowly with a walking aid, the HETNG equipped on the walking aid can help to record the motions of forwarding and unexpected falling, which is useful for calling for help. This work shows the potential of biomechanical energy-driven HETNG for powering portable electronics and monitoring human motions, also shows significant concerns to people lacked action capability or disabled.

摘要：Real-time multi-media applications are increasingly mapped on modern embedded systems based on multiprocessor systems-on-chip （MPSoC）. Tasks of the applications need to be mapped on the MPSoC resources efficiently in order to satisity their performance constraints. Exploring all the possible mappings, i.e., tasks to resources combinations exhaustively may take days or weeks. Additionally, the exploration is performed at design-time, which cannot handle dynamism in applications and resources＇ status. A runtime mapping technique can cater for the dynamism but cannot guarantee for strict timing deadlines due to large computations involved at run-time. Thus, an approach performing feasible compute intensive exploration at design-time and using the explored results at run-time is required. This paper presents a solution in the same direction. Communicationaware design space exploration （CADSE） techniques have been proposed to explore different mapping options to be selected at run-time subject to desired performance and available MPSoC resources. Experiments show that the proposed techniques for exploration are faster over an exhaustive exploration and provides almost the same quality of results.

摘要：Drop-on-demand (DOD) bioprinting has been widely used in tissue engineering due to its highthroughput efficiency and cost effectiveness. However, this type of bioprinting involves challenges such as satellite generation, too-large droplet generation, and too-low droplet speed. These challenges reduce the stability and precision of DOD printing, disorder cell arrays, and hence generate further structural errors. In this paper, a multi-objective optimization (MOO) design method for DOD printing parameters through fully connected neural networks (FCNNs) is proposed in order to solve these challenges. The MOO problem comprises two objective functions: to develop the satellite formation model with FCNNs;and to decrease droplet diameter and increase droplet speed. A hybrid multi-subgradient descent bundle method with an adaptive learning rate algorithm (HMSGDBA), which combines the multisubgradient descent bundle (MSGDB) method with Adam algorithm, is introduced in order to search for the Pareto-optimal set for the MOO problem. The superiority of HMSGDBA is demonstrated through comparative studies with the MSGDB method. The experimental results show that a single droplet can be printed stably and the droplet speed can be increased from 0.88 to 2.08 m·s^-1 after optimization with the proposed method. The proposed method can improve both printing precision and stability, and is useful in realizing precise cell arrays and complex biological functions. Furthermore, it can be used to obtain guidelines for the setup of cell-printing experimental platforms.