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Genetic Algorithm-based Optimal Design Strategy of a Continuum Surgical Manipulator
Haodong Wang,Zhijiang Du,Zhiyuan Yan,Yongzhuo Gao 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.10
A novel wire-driven continuum surgical robot for laryngeal surgery is presented. The surgical robot is composed of a power transmission interface, a continuum manipulator, a surgical forceps and motors. The motion of the surgical robot is obtained by causing a controlled deformation in the continuum manipulator, which is the core part of the surgical robot. Therefore, the structural design optimization problem of continuum manipulators is solved in this paper. Based on the structure of the continuum manipulator, optimization objectives which include loadcarrying capacity and secondary deformation are established. The non-dominant sorting genetic algorithm with elite strategy (NSGA-II) is adopted for multi-objective optimization. An experimental prototype is constructed based on the designed optimization results. The load-carrying and space-traversal capacity tests prove the effectiveness of the proposed optimization algorithm.
Design and Kinematic Modeling of a Notch Continuum Manipulator for Laryngeal Surgery
Haodong Wang,Xiaolong Wang,Wenlong Yang,Zhijiang Du 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.11
A notch continuum manipulator with a large cavity is presented. The continuum manipulator which is designed for laryngeal surgery is composed of guidewire discs and a Nitinol skeleton. The deformation of the continuum manipulator is superimposed by the flexible units, therefore its posture and driving force are coupled. Based on the small deformation cantilever beam theory, the mechanical model from the microscopic to the macroscopic is used to establish the mapping from the driving space to the joint space. The manipulator is assumed to be a multi-joint series robot. Based on the mechanical model, the mapping from the joint space to the Cartesian space is established by the Denavit-Hartenberg (D-H) method. The kinematics is established from the driving space to the Cartesian space. The proposed kinematic model is verified by a prototype. The experimental results show the validity of the model.
Jiawen Xu,Haodong Hong,Zhenyu Wang,Xinhu Sun,Yen Wei,Yu Liu 한국정밀공학회 2024 International Journal of Precision Engineering and Vol.11 No.2
Microfluidic devices are critical in lab-on-chip, drug delivery, flexible sensors, etc. However, a formidable challenge remains in fabricating microfluidic channels with complex shapes during design and verification. Herein, we present a facile approach for manufacturing polystyrene (PS) templates by in-suit combining microscale electrohydrodynamic (EHD) printing and mesoscale direct ink writing (DIW). The desired multiscale filament width from 20 μm to > 1 mm could be obtained through appropriate voltage and pressure with continuous printing. The further process parameters for adjusting line width including deposition speed, auxiliary heating for DIW/EHD printing mode were investigated detailly. And we prove the stability and feasibility for producing microfluidics via the method by AFM, EDS and filling test. Based on the solubility of PS in the organic solvent, we can readily reconfigure the existing template by erasing and printing part of the patterns for better remanufacturing. Finally, the LM-filling PDMS microfluidic is experimented to demonstrate the future potential and advantage of the printing technology for fabricating the flexible microfluidic device.
Study on the performance of different discharging devices of a continuous production system
Zhenya Duan,Jie Wang,Shujie Sun,Wenchen Li,Haodong Zhang,Guoyue Qiao,Junmei Zhang,Jingtao Wang 한국화학공학회 2022 Korean Journal of Chemical Engineering Vol.39 No.4
Based on the developed continuous production system of sodium phenol carboxylation reaction, severaltypes of discharging devices are proposed, which are suitable for the case where the transported particles are not easyto maintain a stable state in the transported fluid. Numerical simulations of the gas-solid two-phase flow characteristicsand particle distribution were performed with DPM, and the particle retention ratio and fluid loss degree were proposedto investigate the performance of the discharging devices. The results of simulations and industrial experimentsshowed that a guide plate installed in the “B” discharging device can solve the accumulation problem, realize the efficientand continuous delivery of the particles, and maintain a uniform distribution of particles. This study can providea reference for the design of a gas-solid two-phase discharging device, and guide the industrial experimental operationand modification of continuous production systems for sodium phenol carboxylation.
Xuebo Liang,Xinjian Yuan,Haodong Wang,Xiuyang Li,Ci Li,Xueyu Pan 한국정밀공학회 2016 International Journal of Precision Engineering and Vol.17 No.12
Resistance spot welding of 22MnB5/HSLA350 and its weldability are investigated. From base material to the nugget, the microstructure of 22MnB5 side can be expressed as M/tempered M+ granular carbides/F+M/fine M/lath M, and on HSLA350 side, F+M/F+flocculent P+tempered M/F+flocculent P+M/F+M/lath M are observed. The heat-affected zone (HAZ) of 22MnB5 exhibits obvious softening region and strengthening region caused by the tempered M and quite fine M, respectively. The peak load of welded joints undergoes two stages of a dramatic increase and a subsequent decrease with increases in the welding current. The maximum value (13.82 kN) of peak load is achieved at a welding current of 8 kA. The failure modes involving interfacial failure (IF), pullout failure from the galvanized steel (PFG), pullout failure from boron steel and tearing of the galvanized steel (PFB-TG) and pullout failure from the boron steel (PFB) are discussed in detail.
Ci Li,Xinjian Yuan,Kanglong Wu,Haodong Wang,Zhan Hu,Xueyu Pan 대한금속·재료학회 2017 METALS AND MATERIALS International Vol.23 No.3
Resistance spot welded joints in different configurations of DP600 and DC54D were investigated to elucidate thenugget formation process and mechanical properties of the resultant joints. Results show that, when the weldingtime was less than 4 cycles, the fusion zone (FZ) was not formed, but the heat-affected zone (HAZ) occurred with a“butterfly” shape. In 4 cycles, the FZ in dissimilar sheets occurred with an “abnormal butterfly” shape because of nuggetshift. When the welding time increased to 14 cycles, the FZ exhibited a “bread loaf” shape and the weld shifted to“dog bones.” The nugget can be divided into three regions, namely, FZ, HAZ1, and HAZ2, and the FZ consisted oflath martensite. The micro hardness of DP600 FZ was lower than that of HAZ because of the dilution of DC54D. The failure mode of B changed from interfacial failure to plug failure during the nugget formation process. The tensile-shear load of sound weld is 6.375, 6.016, and 19.131 kN.
Dissimilar Resistance Spot Welding of DP 600/A5052/DP 600 Triple Sheets
Ting Li,Xinjian Yuan,Zhan Hu,Kanglong Wu,Haodong Wang,Bangqiang Zhang 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.11
Triple sheets of DP 600/A5052 aluminum alloy/DP 600 steel were joined by means of resistance spot welding in this study. The experimental results showed that the microstructure of fusion zone was lath martensite for DP 600 and column crystals for A5052. Their grains coarsened with increasing distance away from the base metals. The interface zone between DP 600 and A5052 was composed of continuous Fe2Al5 intermetallic compound (IMC) layer and needle-like Fe4Al13 IMC. When welding time prolonged from 8 cycles to 17 cycles, the average length of Fe4Al13 phase adjacent to A5052 shortened from 2.3 μm to 0.89 μm, whereas the thickness of Fe2Al5 IMC layer near DP 600 widened from 1.59 μm to 2.59 μm. The tensile-shear load of DP 600/A5052/DP 600 joints reached a maximum value of 10.796 kN with 14 cycles welding time. Failure during tensile-shear testing occurred along DP 600/A5052 interfaces because Fe2Al5 and Fe4Al13 were brittle phases, but an amount of tearing area was found on the fracture surface.
Lee, Jae-Hoon,Terzaghi, William,Gusmaroli, Giuliana,Charron, Jean-Benoit F,Yoon, Hye-Jin,Chen, Haodong,He, Yizhou Joseph,Xiong, Yue,Deng, Xing Wang American Society of Plant Physiologists 2008 The Plant cell Vol.20 No.1
<P>A subset of WD40 proteins that contain a DWD motif (for DDB1 binding WD40) is reported to act as substrate receptors for DDB1-CUL4-ROC1 (for Damaged DNA Binding 1-Cullin 4-Regulator of Cullins 1) based E3 ubiquitin ligases in humans. Here, we report 85 Arabidopsis thaliana and 78 rice (Oryza sativa) proteins containing the conserved 16-amino acid DWD motif. We show by yeast two-hybrid and in vivo coimmunoprecipitation that 11 Arabidopsis DWD proteins directly interact with DDB1 and thus may serve as substrate receptors for the DDB1-CUL4 machinery. We further examine whether the DWD protein PRL1 (for Pleiotropic Regulatory Locus 1) may act as part of a CUL4-based E3 ligase. PRL1 directly interacts with DDB1, and prl1 and cul4cs mutants exhibited similar phenotypes, including altered responses to a variety of stimuli. Moreover, AKIN10 (for Arabidopsis SNF1 Kinase Homolog 10) was degraded more slowly in cell extracts of prl1 and cul4cs than in cell extracts of the wild type. Thus, both genetic and biochemical analyses support the conclusion that PRL1 is the substrate receptor of a CUL4-ROC1-DDB1-PRL1 E3 ligase involved in the degradation of AKIN10. This work adds a large new family to the current portfolio of plant E3 ubiquitin ligases.</P>