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  1. Free, publicly-accessible full text available January 1, 2023
  2. Free, publicly-accessible full text available January 1, 2023
  3. Abstract The resistance to oxidizing environments exhibited by some M n+1 AX n (MAX) phases stems from the formation of stable and protective oxide layers at high operating temperatures. The MAX phases are hexagonally arranged layered nitrides or carbides with general formula M n +1 AX n , n  = 1, 2, 3, where M is early transition elements, A is A block elements, and X is C/N. Previous attempts to model and assess oxide phase stability in these systems has been limited in scope due to higher computational costs. To address the issue, we developed a machine-learning driven high-throughput frameworkmore »for the fast assessment of phase stability and oxygen reactivity of 211 chemistry MAX phase M 2 AX. The proposed scheme combines a sure independence screening sparsifying operator-based machine-learning model in combination with grand-canonical linear programming to assess temperature-dependent Gibbs free energies, reaction products, and elemental chemical activity during the oxidation of MAX phases. The thermodynamic stability, and chemical activity of constituent elements of Ti 2 AlC with respect to oxygen were fully assessed to understand the high-temperature oxidation behavior. The predictions are in good agreement with oxidation experiments performed on Ti 2 AlC. We were also able to explain the metastability of Ti 2 SiC, which could not be synthesized experimentally due to higher stability of competing phases. For generality of the proposed approach, we discuss the oxidation mechanism of Cr 2 AlC. The insights of oxidation behavior will enable more efficient design and accelerated discovery of MAX phases with maintained performance in oxidizing environments at high temperatures.« less
    Free, publicly-accessible full text available December 1, 2022
  4. Free, publicly-accessible full text available October 4, 2022
  5. Compliant grasping is crucial for secure handling objects not only vary in shapes but also in mechanical properties. We propose a novel soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers conform to object shapes facilitating the handling of objects of different types, shapes, and sizes. Each soft gripper finger has a length constraining mechanism (an articulable rigid backbone) and is powered by pneumatic muscle actuators. We derive the kinematic model of the gripper and use an empirical approach to simultaneously map input pressures to stiffness controlmore »and bending deformation of fingers. We use these mappings to demonstrate decoupled stiffness and shape (bending) control of various grasping configurations. We conduct tests to quantify the grip quality when holding objects as the gripper changes orientation, the ability to maintain the grip as the gripper is subjected to translational and rotational movements, and the external force perturbations required to release the object from the gripper under various stiffness and shape (bending) settings. The results validate the proposed gripper’s performance and show how the decoupled stiffness and shape control can improve the grasping quality in soft robotic grippers.« less
    Free, publicly-accessible full text available August 1, 2022
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