Harbin Institute of Technology

Adaptive feedforward construction method for precision motion stage based on iterative learning control

Feedforward compensation strategy is becoming increasingly important on improving control performance of the modern ultra-precision motion stages since the motion stages behave more flexible dynamic characteristics increasingly. Among numerous feedforward compensation strategies,...

Research on the phase transition phenomena of water vapor in vacuum and cryogenic environments

Addressing the technical challenges in in-situ thermal extraction of lunar polar water ice, efficient gas-solid phase transition and collection of water vapor in a vacuum and cryogenic environment hold significant importance. To investigate the gas-solid phase transition of water...

Spray-Freezing-Engineered Cuttlebone Architectures Enable Multiscale Mechanical Reinforcement in Graphene–Cellulose Aerogels

Abstract Graphene–cellulose aerogels offer lightweight and multifunctional platforms, yet their limited mechanical robustness restricts practical deployment. Herein, we report a bioinspired strategy that integrates novel spray-freezing fabrication with a cuttlebone-mimetic wall–s...

Optimization and experimental study of thermal coring parameters for detecting lunar water ice

To address the challenges of in-situ lunar water-ice extraction—including limited extraction range, low efficiency, and high energy consumption—this study proposes a thermal drill-based water-ice extraction method utilizing induction heating. Using the Box-Behnken design, respons...

A novel electromagnetic cold crucible-based continuous melting- solidification process for high-purity and highly densified Ti alloy ingots

Titanium alloys are widely used in high-end fields such as aerospace and biomedical engineering due to their outstanding specific strength and excellent corrosion resistance. However, existing titanium alloy ingot preparation technologies generally suffer from high energy consump...

Cross-domain transferable few-shot learning for state-of-health estimation of lithium-ion batteries with physics-consistent neural network

Accurate estimation of the state-of-health (SOH) of lithium-ion batteries is crucial for ensuring safety and longevity in electric vehicles. Given the varied operating conditions, data-driven methods have emerged as the predominant approach for SOH estimation due to their model-f...

Mode-Dependent Differential-Algebraic Kinematic Modeling of a Four-Wheel Wall-Climbing Robot on Cylindrical Inner Surfaces

Multi-wheel wall-climbing robots operating on cylindrical inner surfaces are subject to configuration-dependent wheel-surface contacts and nonholonomic rolling constraints, making planar differential-drive or fixed-contact kinematic models insufficient when the active contact top...

Structure-Acoustic Coupling Analysis of Underwater Acoustic Radiation Characteristics of a Multiple Intersecting Spherical Shell Under Acoustic Excitation

The underwater acoustic radiation of deepwater submersibles has become a growing concern in both academic and industrial communities. This study investigates the structure-acoustic coupling characteristics of a novel deepwater pressure hull, idealized as a triple spherical shell....

Unified energy-flow framework for crack-induced modulation and multi-frequency damage identification in beams and plates

Cracks fundamentally alter the pathways and intensity of vibration energy transfer within load-bearing structures, making accurate modeling of their modulation effects essential for structural health monitoring and dynamic energy analysis. This study develops a unified energy-flo...

Interaction Engineering Enables Reconfigurable Flocking in Chemical Micromotors

ABSTRACT A flock of chemical micromotors is potentially useful for drug delivery and environmental sensing, but realizing this potential is often hindered by uncontrolled clustering due to phoresis/osmosis. Here, we decouple the propulsion and head‐to‐head repulsion in chemically...

A unified inverse kinematics framework for multi-offset 7-DOF manipulators based on analytical approximation and numerical correction

Inverse kinematics (IK) of multi-offset 7-DOF manipulators is challenging because structural offsets destroy geometric decoupling, making closed-form solutions difficult and reducing the efficiency and robustness of conventional numerical methods. This paper proposes a unified IK...

Simultaneous obstacle avoidance and trajectory tracking for multi-robot systems via acceleration-level motion planning

Considerable attention has been directed toward collision-free trajectory tracking in multi-robot systems, for which CBFs have been widely adopted as a safety-critical tool. However, existing CBF methods are constrained by their dependence on maximum braking estimation. Moreover,...

DPSM: Fine-Grained GPU Resource Management via Kernel Interception and TPC Control

Modern deep learning workloads are increasingly co-located on a single GPU to improve hardware utilization, yet existing MPS-based sharing mechanisms expose concurrency without providing QoS-aware control. Deadline-constrained training jobs can suffer severe slowdown when co-exec...

Microbial corrosion and mitigation of ductile iron pipes in drinking water distribution systems under alternating anoxic–aerobic conditions: Dynamic corrosion roles of functional bacteria

Microbiologically influenced corrosion (MIC) threatens the safety and durability of drinking water distribution systems (DWDS), while the effects of fluctuating redox conditions on microbial corrosion evolution remain unclear. In this study, an alternating anoxic–aerobic system w...

Adaptive Soft Robot for Complex Multiple Scenes: Navigating Pipelines, Valves, and Pressure Vessels

ABSTRACT Pipelines, valves, and pressure vessels (PVs) are vital components in nuclear, thermal power, and chemical systems, operating under high temperature and pressure over extended periods, leading to safety risks. Ensuring their safe operation requires regular inspections, w...

Interaction‐Matched Protonated Aminopyridine Additives for Highly Reversible Aqueous Zinc Metal Anodes and Zn–I 2 Batteries

ABSTRACT In aqueous zinc‐ion batteries, electrolyte additives stabilize Zn anodes through interfacial adsorption, suppressing corrosion and parasitic reactions while regulating Zn deposition. However, although enhanced zincophilicity and hydrophobicity improve interfacial protect...

MIMAS: An open-source microlens-array miniature microscope for accessible large-field cortical imaging in freely behaving mice

Large-scale cortical dynamics during natural behavior are difficult to measure because head-mounted imaging systems must balance field of view, spatial resolution, weight, and optical complexity. Existing wide-field miniature microscopes often rely on compound or custom-corrected...

Experimental investigation of wake and load modifications of a submerged horizontal cylinder by a wrap-around flexible appendage under wave–current conditions

The hydrodynamic effects of a wrap-around flexible appendage attached to a submerged horizontal cylinder were experimentally investigated under current, wave, and wave-current conditions using synchronized force measurements, particle image velocimetry, and image-based motion tra...

Binary-error compensation iteration for optimized Fourier single-pixel imaging

Fourier single-pixel imaging utilizing binary-speckles modulation offers significant advantages in high-speed acquisition; however, it is inherently constrained by quantization-induced image degradation. To address this challenge, we propose an optimized reconstruction method bas...

Latent versus sensible thermal storage for load-shifting energy management in medium-deep U-type geothermal heat pump systems: A comparative performance analysis

Thermal energy storage can enhance load shifting and extend heat-pump shutdown periods in medium-deep U-type borehole heat exchanger (MDUBHE) heating systems. However, latent and sensible thermal energy storage are commonly evaluated separately, and their differences in heat-supp...