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Swelling of Spherical Polyelectrolyte Gels

Chinese Journal of Polymer Science 2024年第9期42卷 1386-1392,I0009页

作者： Ming-Yu Duan Jia-Dong Chen Yi-Ming Liu Zhao-Feng Peng Guang Chen Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Polyelectrolyte(PE)gels,distinguished by their unique stimuli-responsive swelling behavior,serve as the basis of broad applications,such as artificial muscles and drug *** this work,we present a theoretical model to analyze the electrostatics and its contribution to the swelling behavior of PE gels in salt *** minimizing the free energy of PE gels,we obtain two distinct scaling regimes for the swelling ratio at equilibrium with respect to the salt *** compare our predictions for the swelling ratio with experimental measurements,which show excellent *** addition,we employ a finite element method to assess the applicability range of our theoretical model and *** anticipate that our model will also provide valuable insights into drug adsorption and release,deformation of red blood cells,4D printing and soft robotics,where the underlying mechanism of swelling remains enigmatic.

关键词： Gels Polyelectrolytes Swelling Stimuli-responsive Electrostatic interaction Cell model

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Disordered hyperuniformity and thermal transport in monolayer amorphous carbon

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Science China(Physics,Mechanics & Astronomy) 2025年第2期68卷 145-152页

作者： Nianjie Liang Yuxi Wang Bai Song Department of Energy and Resources Engineering Peking UniversityBeijing 100871China Department of Advanced Manufacturing and Robotics Peking UniversityBeijing 100871China

Disordered hyperuniformity(DHU)is a recently discovered novel state of amorphous systems characterized by strongly suppressed density fluctuations at large length scales as in crystalline materials,which offers great potential for achieving unusual mechanical,electronic,and photonic ***,despite the fundamental and technological importance of thermal transport in amorphous solids,the effect of DHU remains largely ***,we theoretically study thermal transport in a class of two-dimensional DHU materials—monolayer amorphous carbon(MAC).Beginning with a perfect graphene lattice,we continuously apply Stone-Wales transformations to generate a series of MAC models with varied degrees of disorder and defects,which are quantified through comprehensive structural analysis including the so-called hyperuniformity index(H),where a smaller H indicates a higher degree of ***,we conduct molecular dynamics simulations to obtain the thermal conductivity(κ).A significant correlation between the thermal transport behavior and degree of hyperuniformity is observed,with the room-temperatureκdecreasing from 26.3 to 5.3 W m^(-1)K^(-1)while H is tuned from 0.0004 to ***,two distinct transport regimes are identified,including a nearly-DHU regime at small H(<0.005)whereκdrops sharply and a non-DHU region at larger H whereκbecomes relatively ***-resolved analysis reveals longer lifetime and higher participation ratio for the heat carriers in nearly-DHU MAC,implying that the hidden long-range correlations could support extended modes that enhance *** work highlights the impact of DHU on the thermal properties of amorphous materials and represents a conceptual advancement that is worthy of future exploration.

关键词： disordered hyperuniformity thermal transport amorphous material two-dimensional monolayer amorphous carbon

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RGBlimp: Robotic Gliding Blimp - Design, Modeling, Development, and Aerodynamics Analysis

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IEEE robotics and Automation Letters 2023年第11期8卷 7273-7280页

作者： Cheng, Hao Sha, Zeyu Zhu, Yongjian Zhang, Feitian Peking University Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China

A miniature robotic blimp, as one type of lighter-than-air aerial vehicle, has attracted increasing attention in the science and engineering field for its long flight duration and safe aerial locomotion. While a variety of miniature robotic blimps have been developed over the past decade, most of them utilize the buoyant lift and neglect the aerodynamic lift in their design, thus leading to a mediocre aerodynamic performance, particularly in terms of aerodynamic efficiency and aerodynamic stability. This letter proposes a new design of miniature robotic blimp that combines desirable features of both a robotic blimp and a fixed-wing glider, named the Robotic Gliding Blimp, or RGBlimp. This robot, equipped with an envelope filled with helium and a pair of wings, uses an internal moving mass and a pair of propellers for its locomotion control. This letter presents the design, dynamic modeling, prototyping, and system identification of the RGBlimp. To the best of the authors' knowledge, this is the first effort to systematically design and develop such a miniature robotic blimp with moving mass control and hybrid lifts. Experimental results are presented to validate the design and the dynamic model of the RGBlimp. Analysis of the RGBlimp aerodynamics is conducted which confirms the performance improvement of the proposed RGBlimp in aerodynamic efficiency and flight stability. © 2016 IEEE.

关键词： Efficiency

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Expert-level protocol translation for self-driving labs 38

Expert-level protocol translation for self-driving labs

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Shi, Yu-Zhe Meng, Fanxu Hou, Haofei Bi, Zhangqian Xu, Qiao Ruan, Lecheng Wang, Qining Department of Advanced Manufacturing and Robotics College of Engineering Peking University China

Recent development in Artificial Intelligence (AI) models has propelled their application in scientific discovery, but the validation and exploration of these discoveries require subsequent empirical experimentation. The concept of self-driving laboratories promises to automate and thus boost the experimental process following AI-driven discoveries. However, the transition of experimental protocols, originally crafted for human comprehension, into formats interpretable by machines presents significant challenges, which, within the context of specific expert domain, encompass the necessity for structured as opposed to natural language, the imperative for explicit rather than tacit knowledge, and the preservation of causality and consistency throughout protocol steps. Presently, the task of protocol translation predominantly requires the manual and labor-intensive involvement of domain experts and information technology specialists, rendering the process time-intensive. To address these issues, we propose a framework that automates the protocol translation process through a three-stage workflow, which incrementally constructs Protocol Dependence Graphs (PDGs) that approach structured on the syntax level, completed on the semantics level, and linked on the execution level. Quantitative and qualitative evaluations have demonstrated its performance at par with that of human experts, underscoring its potential to significantly expedite and democratize the process of scientific discovery by elevating the automation capabilities within self-driving laboratories. © 2024 Neural information processing systems foundation. All rights reserved.

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Editorial for the Special Issue on"Origami/Kirigami Structures and engineering Applications"

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Acta Mechanica Solida Sinica 2023年第4期36卷 477-478页

作者： Yihui Zhang Ke Liu Department of Engineering Mechanics Tsinghua UniversityBeijing 100084China Department Advanced Manufacturing and Robotics Peking UniversityBeijing 100871China

Origami and kirigami structures originate from the ancient art of paper folding and *** offer the opportunity to achieve superior performances and unusual function-alities brought by complex three-dimensional geometri... 详细信息

关键词： unusual function Issue

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Neural Network-Based Indirect Adaptive Force Control of a Two-Fingered Hand Exoskeleton Toward Robust Grasping Assistance

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3614-3629页

作者： Halder, Kaushik Roy, Arnab Felix Orlando, M. Indian Institute of Technology Roorkee Advanced Robotics Laboratory Department of Electrical Engineering Roorkee247667 India Indian Institute of Technology Roorkee Department of Electrical Engineering Roorkee247667 India

Grasping task is one of the crucial objectives in activities of daily living. However, elderly human subjects are facing significant challenges when attempting to perform grasping task. In this regard, a hand exoskeleton with a proper force control strategy is necessary to improve the performance of assistive technology. In this article, a lightweight, size-adjustable, underactuated, and force-controllable two-fingered exoskeleton prototype is developed for grasping assistance. A novel radial basis function network-based indirect adaptive force controller for robust grasping assistance is proposed along with the prototype design. We have conducted real-time grasping experiments on six elderly human subjects to verify the feasibility of the developed exoskeleton with a novel grasping force control strategy. Furthermore, we have performed force trajectory tracking experiment to validate the efficacy of the proposed force control scheme. Moreover, the robustness of the proposed grasping force control strategy has been validated through a disturbance rejection experiment. Extensive simulation and experimental studies with the developed kinematic model and feasibility tests involving elderly human subjects show that the newly developed hand exoskeleton with the proposed robust intelligent control strategy is efficient for object-grasping tasks aimed at the assistance of elderly human subjects. © 2025 IEEE.

关键词： Radial basis function networks

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A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications

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Journal of Bionic engineering 2025年第2期22卷 684-702页

作者： Debadrata Sarkar Amit Kumar Aman Arora Human Centered Robotics and Cybernetics Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia Advanced Design and Analysis Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia

This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.

关键词： Virtual reality and interfaces Tactile feedback Haptics and haptic interfaces Soft sensors and actuators

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A Data-driven Comparison of Resistive-Viscoelastic Models for a 3D-Printed Conductive Solid

A Data-driven Comparison of Resistive-Viscoelastic Models fo...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Mukherjee, Sourajit Takaki, Takeshi Hiroshima University Smart Robotics Lab Graduate School of Advanced Science and Engineering Hiroshima Japan

ISBN: (纸本)9798331531614

Conductive polymer composites with piezoresistive properties have found extensive use in force sensing applications, such as strain gauges. Polylactic acid filled with carbon black nano-fillers is one such easily available and inexpensive material. The piezoresistive properties of conductive polymers have been shown to share an equivalence with the linear viscoelastic relationship between stress and strain. In this study, we examine six progressively complex resistive-viscoelastic models based on this relationship. After empirically determining the model parameters, we compared their stress prediction outputs using resistance data as input, which had been recorded while subjecting a 3D-printed conductive solid to a compressive force. We observed the model performances for two cases: when model parameters are determined from the complete test cycle and when they are determined phase-wise. Phase-wise coefficients showed a much better prediction accuracy and it was also observed that simpler models gave a better performance than more complex models. © 2025 IEEE.

关键词： Conductive materials

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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of advanced Manufacturing Technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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Design of a Remote Controlled Puppet Robot Imitating a Manual Driven Puppet Using Deep Learning Pose Detection 12

Design of a Remote Controlled Puppet Robot Imitating a Manua...

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12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Hamzeh, Hamed Shahroozi, Kiarash Nabipour, Ahmad Kazemi, Parham Malek-Zahedi, Mohammad Hallajian, Mehdi Moradia, Hadi School of Electrical and Computer Engineering College of Engineering University of Tehran Advanced Robotics and Intelligent Systems Laboratory Iran

ISBN: (纸本)9798331529734

Traditional puppet manipulation systems often require human operators to be physically present in tight and cramped locations. This leads to challenges in the positioning and effective operation of puppets, particularly in the presence of children in educational settings. In this paper, we present the design, development, and integration of a cost-effective robotic system for remotely manipulating puppets in real-time. Additionally, the system integrates a YOLOv8 Pose Detection model, trained on a custom dataset with an accuracy of 91.4%, enabling real-time gesture recognition and allowing the robot to be controlled by imitating the motions of a manually operated puppet. The system demonstrates the potential for many applications, including interactive entertainment, teleoperation, and education. © 2024 IEEE.

关键词： Gesture recognition

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