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arXiv 2024年

作者： Li, Dannuo Zhou, Xuanyi Xiong, Quan Yeow, Chen-Hua The Department of Biomedical Engineering and Advanced Robotics Centre National University of Singapore Singapore117583 Singapore The Department of Biomedical Engineering National University of Singapore Singapore117583 Singapore The Department of Biomedical Engineering and Advanced Robotics Centre National University of Singapore Singapore117583 Singapore The Department of Biomedical Engineering and Advanced Robotics Centre National University of Singapore Singapore117583 Singapore Computer Science & Artificial Intelligence Laboratory Massachusetts Institute of Technology 02139 United States

Soft pneumatic actuators with integrated strain-limiting layers have emerged as predominant components in the field of soft gripper technology for several decades. However, owing to their intrinsic strain-limiting layer design, these soft grippers possess a singular gripping functionality, rendering them incapable of adapting to diverse gripping tasks with different strategies. Based on our previous work, we introduce a novel soft gripper that offers variable stiffness, an adjustable gripping range, and multifunctionality. The MASH actuator-based soft gripper can expand its gripping range up to threefold compared to the original configuration and ensures secure grip by enhancing stiffness when handling heavy objects. Moreover, it supports multitasking gripping through specific gripping strategy control. Copyright © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Yasir Nawaz Muhammad Usman Qadir Muhammad Awais Khan Izhar Ul Haq Kamran Shah Tahir Khan Department of Mechatronics Advanced Robotics & Automation Lab University of Engineering and Technology Peshawar Pakistan

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area.

关键词： Meters Industries PI control Automation System performance Production Robustness

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Research on Attitude and Control of a Bionic Manta Robot

Research on Attitude and Control of a Bionic Manta Robot

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Yuntao Guan Aihu Jia Yongxi Liu Jianyang Liu Zheming Zhuang Jian S. Dai International Centre for Advanced Mechanisms and Robotics School of Mechanical Engineering Tianjin University Tianjin P R China School of Mechanical Engineering Tianjin University Tianjin P R China Mechanisms and Robotics Centre for Robotics Research Institute for Robotics Southern University of Science and Technology Shenzhen P R China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

The bionic manta robot intertwines two contemporary areas of interest: biomimetics and sub aquatic robotics. Drawing insights from a proposed bionic manta robot, this research analyzes the motion attitude of the robot and establishes the relevant parameters. In order to achieve the smooth gait switching of the robot, a CPG controller based on Hopf oscillator is applied in this paper, and the impact of different parameters on the robot motion is studied. Ultimately, the prototype of the robot is crafted and the motion attitude is validated through pool experiments, showcasing its impressive performance capabilities.

关键词： Robot motion Attitude control Biomimetics Biological system modeling Prototypes Switches Control systems

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Swarming magnetic photonic-crystal microrobots withon-the-fly visual pH detection and self-regulated drug delivery

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InfoMat 2023年第10期5卷 64-79页

作者： Zheng Yu Luolin Li Fangzhi Mou Shimin Yu Di Zhang Manyi Yang Qing Zhao Huiru Ma Wei Luo Tianlong Li Jianguo Guan State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering Wuhan University of TechnologyWuhanthe People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinthe People's Republic of China Wuhan Institute of Photochemistry and Technology Wuhanthe People's Republic of China

Swarming magnetic micro/nanorobots hold great promise for biomedical applications,but at present suffer from inferior capabilities to perceive and respond to chemical signals in local *** we demonstrate swarming magnetic photonic crystal microrobots(PC-bots)capable of sponta-neously performing on-the-fly visual pH detection and self regulated drug delivery by perceiving local pH *** magnetic PC-bots consist of pH-responsive hydrogel microspheres with encapsulated one-dimensional periodic assemblies of Fe3O4 *** programming extemnal rotating magnetic fields,they can self-organize into large swarms with much-enhanced collective velocity to actively find targets while shining bright“blinking”structural *** approaching the target with abnormal pH conditions(*** ulcerated superficial tumor lesion),the PC-bots can visualize local pH changes on the fly via pH-responsive structural colors,and realize self-regulated release of the loaded drugs by recognizing local *** work facilita tes the develop-ment of intelligent micro/nanorobots for active“motile-targeting”tumor diag-nosis and treatment.

关键词： collective behaviors drug delivery micro/nanorobots on-the-fly sensing responsivephotonic crystals

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Efficient-Net ASPP Deep Network for Malignant Ultrasound Breast Cancer Segmentation

Efficient-Net ASPP Deep Network for Malignant Ultrasound Bre...

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2023 IEEE International Conference on Emerging Trends in engineering, Sciences and Technology, ICES and T 2023

作者： Azam, Komal M.A., Azam M.A., Qureshi K.B., Khan M.A., Azam College Women University The Government Sadiq Department of Computer Science Bahawalpur Pakistan The Islamia University of Bahawalpur The Faculty of Engineering Bahawalpur Pakistan Istituto Italiano di Tecnologia Department of Advanced Robotics Genoa Italy

ISBN: (纸本)9781665455602

Worldwide, breast cancer is one of the main causes of mortality among women. Only through early recognition of symptoms is it possible to limit the incidence of premature deaths. Utilizing standard deep-learning semantic segmentation, tumors are automatically segmented. It requires minimal human contact. The standard methods are less efficient and precise in accuracy. In this paper, we propose an Efficient-Net based Atrous Spatial Pyramid Pooling (Efficient-Net ASPP) model for efficient and improved segmentation. The proposed model is comprised of an EfficientNetV2B3 backbone with dilated convolutional, skip connection, max pooling, and an ASSP block. A publicly available Malignant Breast Cancer Ultrasound (MBCU) subset image dataset was investigated in our study. Several baseline segmentation methods were compared with our proposed method. The quantitative benchmark analysis shows the proposed model for segmenting MBCU images achieved 70% intersection over union (IOU) and a 62% score on the Dice Similarity Coefficient (DSC) metrics. The proposed network improves MBCU image segmentation by 14% on DSC and 18% on IOU when compared to baseline models. © 2023 IEEE.

关键词： Ultrasonics

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TibetanGoTinyNet:a lightweight U-Net style network for zero learning of Tibetan Go

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Frontiers of Information Technology & Electronic engineering 2024年第7期25卷 924-937页

作者： Xiali LI Yanyin ZHANG Licheng WU Yandong CHEN Junzhi YU Key Laboratory of Ethnic Language Intelligent Analysis and Security Governance Ministry of EducationMinzu University of ChinaBeijing 100081China School of Information Engineering Minzu University of ChinaBeijing 100081China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

The game of Tibetan Go faces the scarcity of expert knowledge and research ***,we study the zero learning model of Tibetan Go under limited computing power resources and propose a novel scaleinvariant U-Net style two-headed output lightweight network *** lightweight convolutional neural networks and capsule structure are applied to the encoder and decoder of TibetanGoTinyNet to reduce computational burden and achieve better feature extraction *** autonomous self-attention mechanisms are integrated into TibetanGoTinyNet to capture the Tibetan Go board’s spatial and global information and select important *** training data are generated entirely from self-play *** achieves 62%–78%winning rate against other four U-Net style models including Res-UNet,Res-UNet Attention,Ghost-UNet,and Ghost *** also achieves 75%winning rate in the ablation experiments on the attention mechanism with embedded positional *** model saves about 33%of the training time with 45%–50%winning rate for different Monte–Carlo tree search(MCTS)simulation counts when migrated from 9×9 to 11×11 *** for our model is available at https://***/paulzyy/TibetanGoTinyNet.

关键词： Zero learning Tibetan Go U-Net Self-attention mechanism Capsule network Monte-Carlo tree search

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Stable CoM Trajectory Generation for Biped Robots based on Heuristic Capture Point Tracking Approach

Stable CoM Trajectory Generation for Biped Robots based on H...

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IEEE Punecon

作者： Kumod K. Sharma Sunil Nimje S. E. Talole Center for Systems and Technologies for Advanced Robotics Research & Development Estt (Engrs) Pune India Department of Mechanical Engineering Defence Institute of Advanced Technology Pune India

ISBN: (数字)9798331527822

ISBN: (纸本)9798331527839

Biped locomotion is a complex phenomenon. As the bipedal robotic system possesses multiple degrees of freedom (DoF), the resulting dynamics is highly nonlinear and coupled. However for practical purposes, reduced and simplified dynamical models such as Linear Inverted Pendulum Model (LIPM) have been widely used for gait generation. In this work, an LIPM based Capture Point (CP) method has been worked out to achieve stable and robust walk for biped robot. An existing algorithm has been modified to avoid infeasibility of solution while generating the desired trajectories of Zero Moment Point (ZMP), CP and Center of Mass (CoM) for stable bipedal locomotion and the efficacy of the approach is validated through simulations. It is shown that the modification also offers an approach to adjust footprint up to a certain extent according to design requirements or terrain conditions.

关键词： Legged locomotion Simulation Heuristic algorithms Trajectory Nonlinear dynamical systems Robots

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A Fault Detection Method Based on Bearing Dynamics with Multi-frequency Sinusoidal Signal 41

A Fault Detection Method Based on Bearing Dynamics with Mult...

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第41届中国控制会议

作者： Xiaohong Li Zhicheng Li Zaiyue Yang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineeringand the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in UniversitiesSouthern University of Science and Technology Academy for Advanced Interdisciplinary Studies Southern University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Bearing is a common and important component in the industry,and it is crucial to detect and diagnose its working *** to the characteristic the motion process of the bearing that is a periodic nonlinear system with sinusoidal input,a bearing fault detection method based on the nonlinear system with multi-frequency sinusoidal input is *** the dynamics modeling of the motion for the bearing,it is found that its input and output have the characteristics of almost periodic *** the periodogram-based asymptotic local fault detection method,the fault detection problem is transformed into a hypothesis test problem,and a threshold is obtained by the given confidence and the degree of freedom of a specific frequency *** method can effectively and quickly monitor the early minor faults in strong noise *** realization and performance of this bearing detection method are illustrated by the simulated vibration signal of the bearing.

关键词： Bearing dynamics model fault detection sinusoidal signal statistical methods

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An Information Model with Voxelated Data from Computer Aided Systems and the Additive Manufacturing Workflow 15

An Information Model with Voxelated Data from Computer Aided...

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15th CIRP Conference on Intelligent Computation in Manufacturing engineering, ICME 2021

作者： Maguire, Conor George, Abraham Kelly, Matthew Egan, Darragh Dowling, Denis Papakostas, Nikolaos Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Ireland I-Form Advanced Manufacturing Research Centre School of Mechanical and Materials Engineering University College Dublin BelfieldDublin 4 Ireland

This paper discusses diverse data management approaches and proposes a comprehensive information model that is built from voxelated data from across the Additive Manufacturing and Computer Aided (AM - CAx) platforms workflow. The information model is developed using discretisation and data management techniques to provide a robust method of managing and structuring the product / process data throughout the AM - CAx domain. The result is a voxelated representation of the design, manufacturing, in-situ process data and quality control stages of an AM build within a single Hierarchical Data Format (HDF5) file. Demo files were developed for two different AM processes during this work. With further research and by applying statistical methods or machine learning techniques, it would then be possible to filter through and potentially predict the optimal process parameters required for an AM build. The comprehensive information model is designed to provide insight to track changes along the AM process flow. © 2022 The Author(s).

关键词： 3D printers

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Electrostatically Induced Multi-directional Vibro-impact Motions *

Electrostatically Induced Multi-directional Vibro-impact Mot...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Chuang Wu Xiaozheng Li Krishna Manaswi Digumarti Chongjing Cao Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institutes of Advanced Technology (SIAT) Chinese Academy of Sciences Shenzhen China QUT Centre for Robotics School of Electrical Engineering and Robotics Queensland University of Technology Brisbane Australia

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

The unique asymmetric vibration motions of vibro-impact devices make them valuable in robotics and various industrial applications. However, achieving bidirectional vibro-impact motions in multiple degrees of freedom (DoF) remains challenging due to the inherent restrictions in conventional rigid actuators and predefined designs. Emerging soft robotic technologies have enabled programmable change in stiffness between rigid and compliant states, and actuation in multiple DoFs with a single actuator. This paper presents a novel 2-DoF programmable vibro-impact device based on innovative soft robotic technologies of electroadhesive (EA) clutches as the variable-stiffness constraints and a 2-DoF dielectric elastomer actuator (DEA) as the multi-directional vibration motion generator. The developed vibro-impact EA-DEA is capable of generating vibro-impact motions in bi-direction and in 2-DoF via coordinative programming of the actuation voltages of the EA and DEA modules and by harnessing the asymmetric stiffness profile of the activated EA module. The performances of the variable-stiffness EA module, 2-DoF DEA module, and the programmable vibro-impact motions of the EA-DEA device are investigated experimentally in this work. A multi-directional vibrating platform for material conveying and a multi-directional crawling robot are presented to demonstrate the potential applications of the EA-DEA in industries and robotics.

关键词： Vibrations Performance evaluation Industries Electric potential Service robots Robot kinematics 2-DOF Soft robotics Programming Generators

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