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Disordered hyperuniformity and thermal transport in monolayer amorphous carbon

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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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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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

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IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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Force visualization system integrating moiré fringe with fiber optic plates to eliminate parallax error

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ROBOMECH Journal 2025年第1期12卷 1-12页

作者： Zuo, Jinrun Takaki, Takeshi Hiroshima University Smart Robotics Laboratory Graduate School of Advanced Science and Engineering 1-4-1 Kagamiyama Hiroshima Higashi-hiroshima739-8527 Japan

A mechanism for visualizing the magnitude of force is proposed. The mechanism displays the magnitude of the force to be measured as a stripe pattern or character of the principle of Moiré fringe. The structure of the visualization mechanism is extremely simple. The mechanism does not require strain gauges, amplifiers, cables, or other electrical elements. Although errors owing to hysteresis and parallax caused by structural issues have occurred in visualization devices developed to date, these problems have been resolved using a fiber optic plate and diffuse reflection. A method for acquiring the magnitude of force by photographing the mechanism with a camera and performing image processing to obtain a numerical value is also proposed. The performance of the improved force visualization mechanism was verified experimentally. It was demonstrated that the mechanism successfully displayed the appropriate characters corresponding to the magnitude of applied force, allowing the information to be captured as images. Furthermore, the sensor showed no observable hysteresis, while effectively eliminating parallax errors, using a fiber optic plate (FOP) and diffuse reflection. Compared to the acrylic optic plate (ALEC) method, force errors were significantly reduced at different rotation angles, with the FOP maintaining a force error around 0 N, while the ALEC method reached a force error of 24 N at a 30∘ rotation angle. © The Author(s) 2025.

关键词： Photointerpretation

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Application of generative AI technologies to engineering design 1

Application of generative AI technologies to engineering des...

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1st International Conference on Digital Sovereignty, ICDS 2024

作者： Byrne, Daniel Hargaden, Vincent Papakostas, Nikolaos Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Dublin Ireland I-Form Advanced Manufacturing Research Centre Ireland

This paper explores the application of artificial intelligence (AI) technologies in the engineering design domain. Two experiments were designed for examining the abilities of diverse generative AI platforms in engineering design applications. The first experiment tested the AI models' abilities to interpret design briefs, perform arithmetic calculations, and finally to provide instructions to design a part in two separate computer-aided design (CAD) platforms, thus gaining an insight into their perception of the functionality of the CAD platforms. The second experiment required the AI tools to design a headphone holder stand from scratch, further a be bing their capabilities in CAD, but also their abilities in product design. The experiments found that these technologies show great potential in the area of engineering design. While they are not yet near the level of a human engineer, they currently exhibit capabilities that may be useful in product concept generation and design proce bes. © 2025 The Author(s).

关键词： Product design

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On Space Asset Protection Against Non-Cooperative Pursuer Using Guard Satellite

On Space Asset Protection Against Non-Cooperative Pursuer Us...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Kim, Minchae Kim, Sung Jun Han, Dong-Woo Choi, Han-Lim Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejeon34141 Korea Republic of Department of Aerospace Engineering and KI for Robotics Korea Advanced Institute of Science and Technology Daejeon34141 Korea Republic of

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this paper, we reframed the Lady-Bandit-Guard problem from the perspective of the defender, focusing on strategies to protect the Lady from an approaching Bandit and simulating these strategies using the Kerbal Space Program (KSP) game engine. The problem is divided into two zones based on the distance between the Lady and the Bandit: the Warning Zone and the Dead Zone. In the Warning Zone, the Guard positions itself between the Lady and the Bandit to perform surveillance through formation flight, with a target point calculated in a newly defined coordinate system centered on the Bandit. In the Dead Zone, the target point shifts to the Bandit itself, enabling the Guard to intercept and prevent its approach. To execute these maneuvers, we applied the Receding Horizon Lambert Transfer algorithm and confirmed through KSP simulations that the Guard effectively executed appropriate maneuvers in each zone. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Guards (shields)

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A Novel Technology for Semiautomatic and Automatic Stem–Stake Coupling of Seedlings and Plants

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 254-262页

作者： Shirzi, Moteaal Asadi Kermani, Mehrdad R. Western University Advanced Robotics and Mechatronic Systems Laboratory Electrical and Computer Engineering Department LondonN6A 5B9 Canada Western University Department of Electrical and Computer Engineering LondonN6A 3K7 Canada Advanced Robotics and Mechatronic Systems Laboratory LondonN6A 5B9 Canada

This article introduces a novel mechatronic system for coupling the stems of seedlings and plants to wooden stakes or ropes, a crucial process for supporting them during growth, transportation, and fruiting in plant propagation facilities and greenhouses. The stem–stake coupling device utilizes interconnected mechanisms and an impedance control method to adjust motor torque and speed, shaping metallic wire into clips of various shapes and dimensions, effectively securing plant stems to stakes or ropes. In a robotic system, a claw-shaped arm mechanism, a stereo camera, and real-time vision techniques are integrated into the stem–stake coupling device to identify the optimal coupling point and automate the coupling task. This innovation addresses the labor-intensive task of manual coupling, offering a scalable solution for growers through handheld devices or fully automated robotic systems. In the context of increasing labor shortages and rising costs, the technology offers a sustainable and efficient alternative with significant potential to enhance operational efficiency in greenhouses and propagation facilities. © 2023 IEEE.

关键词： Seed

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