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IEEE International Conference on Soft robotics (RoboSoft)

作者： Jialei Shi Sara-Adela Abad Arianna Menciassi Kaspar Althoefer Helge A. Wurdemann Department of Mechanical Engineering University College London UK Institute for Applied Sustainability Research Quito Ecuador BioRobotics Institute and with the Department of Excellence in Robotics & AI Scuola Superiore Sant’ Anna Pisa Italy Faculty of Science and Engineering Centre of Advanced Robotics @ Queen Mary (ARQ) Queen Mary University of London London UK

Fibre-reinforced soft robots are often considered in the design of fluid elastomer actuators, to counter ballooning and potential bursting when exposed to high levels of pressure. They also enhance deformation and navigation through confined spaces. These attributes are critical in applications such as minimally invasive surgical (MIS) procedures that use sub-12 mm diameter trocar ports. While soft robots with fully reinforced actuation chambers have not yet attained this level of miniaturisation, this paper outlines the fabrication and characterisation of miniaturised soft manipulators with reinforced actuation chambers on the sub-centimetre scale (i.e., less than 10 mm). Two robots are presented with diameters of 9.5 mm and 7.8 mm. They have four pneumatic actuation chambers per robotic segment, with a free central working lumen. Additionally, two robotic segments are serially connected to enhance dexterity and flexibility. This research advances the miniaturisation of soft manipulators with reinforced chambers and an inner free lumen, enhancing their use in applications within confined and unstructured environments.

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CT-MLO: Voxel-Based Multi-LiDAR Odometry Using Continuous-Time Kalman Filter

CT-MLO: Voxel-Based Multi-LiDAR Odometry Using Continuous-Ti...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Hongming Shen Zhenyu Wu Wei Wang Qiyang Lyu Huiqin Zhou Yeqing Zhu Centre for Advanced Robotics Technology Innovation (CARTIN) School of Electrical and Electronic Engineering Nanyang Technological University Singapore School of Computer Science & Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In recent years, LiDAR-based localization and mapping methods have achieved significant progress thanks to their reliable and real-time localization capability. However, single LiDAR odometry often faces hardware failures and degradation in practical scenarios, and the continuous-time measurement characteristic is constantly neglected by existing LiDAR odometry. This motivates us to develop a continuous-time Multi-LiDAR Odometry (MLO) method, namely CT-MLO, which can realize accurate and real-time state estimation using multi-LiDAR measurements through a continuous-time perspective. Due to the advantageous continuous-time formulation, each LiDAR point in a point stream can query the corresponding continuous-time trajectory within its time instants. Additionally, a decentralized multi-LiDAR synchronization scheme is devised to combine points from separate LiDARs into a single point cloud without the need for primary LiDAR assignment. With the detailed derivation of the analytic Jacobians for continuous-time LiDAR observation, the proposed method integrates synchronization, continuous-time estimation, and voxel map management within a Kalman filter framework, which can achieve real-time state estimation with only a few linear iterations. The effectiveness of the proposed method is demonstrated through various scenarios, including public datasets and real-world autonomous driving experiments. The results demonstrate that the proposed CT-MLO can achieve high-accuracy continuous-time state estimations in real-time and is demonstratively competitive compared to other State-of-the-Art (SOTA) methods.

关键词： Point cloud compression Location awareness Jacobian matrices Laser radar Accuracy Real-time systems Synchronization Odometry Kalman filters State estimation

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Contralateral Movement Constraint Based Gait Intervention Using a Powered Hip Exoskeleton 8

Contralateral Movement Constraint Based Gait Intervention Us...

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8th IEEE International Conference on advanced robotics and Mechatronics, ICARM 2023

作者： Wang, Zilu Zhou, Zhihao Wang, Qining College of Engineering Peking University Beijing100871 China Institute for Artificial Intelligence Peking University Beijing100871 China Beijing Engineering Research Center of Intelligent Rehabilitation Engineering Beijing100871 China Department of Advanced Manufacturing and Robotics College of Engineering The Institute for Artificial Intelligence Peking University Beijing100871 China University of Health and Rehabilitation Sciences Qingdao266071 China National Key Laboratory of General Artificial Intelligence BIGAI Beijing100080 China

ISBN: (纸本)9798350300178

Hemiparetic gait patterns of stroke survivors has been widely focused on nowadays with various robot-assist gait intervention approaches. In this paper, we use a powered hip exoskeleton to provide resistance on one side of the wearer during walking and explored the variation of the other side of the lower limb in kinematics, ground reaction forces, and EMG signals. The preliminary results on healthy adults indicated that the difference in hip joint angles, EMG area under the curve, co-contraction index, and synergy weight were observed under the contra-lateral intervention. This study shows potentials that powered hip exoskeleton-induced non-hemiplegic side constraints may be a new rehabilitation way for stroke patients in the near future. © 2023 IEEE.

关键词： Patient rehabilitation

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Photonic structures in radiative cooling

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Light(Science & Applications) 2023年第7期12卷 1187-1215页

作者： Minjae Lee Gwansik Kim Yeongju Jung Kyung Rok Pyun Jinwoo Lee Byung-Wook Kim Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical EngineeringSeoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea Electronic Device Research Team Hyundai Motor Group37Cheoldobangmulgwan-roUiwang-siGyeonggi-do 16082South Korea E-drive Materials Research Team Hyundai Motor Group37Cheoldobangmulgwan-roUiwang-siGyeonggi-do 16082South Korea Department of Mechanical Robotics and Energy EngineeringDongguk University30 pildong-ro 1-gilJung-guSeoul 04620South Korea. Department of Civil Engineering and Engineering Mechanics Columbia UniversityNew YorkNY 10027USA. Institute of Advanced Machinery and Design(SNU-IAMD)/lnstitute of Engineering Research Seoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea

Radiative cooling is a passive cooling technology without any energy consumption,compared to conventional cooling technologies that require power sources and dump waste heat into the *** decades,many radiative cooling studies have been introduced but its applications are mostly restricted to nighttime use ***,the emergence of photonic technologies to achieves daytime radiative cooling overcome the performance *** example,broadband and selective emissions in mid-IR and high reflectance in the solar spectral range have already been *** review article discusses the fundamentals of thermodynamic heat transfer that motivates radiative *** photonic structures such as multilayer,periodical,random;derived from nature,and associated design procedures were thoroughly *** integration with new functionality significantly enhances the effciency of radiative cooling technologies such as colored,transparent,and switchable radiative cooling applications has been *** commercial applications such as reducing cooling loads in vehicles,increasing the power generation of solar cells,generating electricity,saving water,and personal thermal regulation are also ***,perspectives on radiative cooling and emerging issues with potential solution strategies are discussed.

关键词： radiative overcome transparent

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Tightly-Coupled LiDAR-IMU-Wheel Odometry with Online Calibration of a Kinematic Model for Skid-Steering Robots

arXiv

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arXiv 2024年

作者： Okawara, Taku Koide, Kenji Oishi, Shuji Yokozuka, Masashi Banno, Atsuhiko Uno, Kentaro Yoshida, Kazuya The Space Robotics Lab The Department of Aerospace Engineering Graduate School of Engineering Tohoku University Miyagi Sendai Japan The Department of Information Technology and Human Factors The National Institute of Advanced Industrial Science and Technology Ibaraki Tsukuba Japan

Tunnels and long corridors are challenging environments for LiDAR-based odometry estimation algorithms because a LiDAR point cloud should degenerate (i.e., point cloud matching cannot work properly) in such environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel odometry algorithm incorporating online calibration of a kinematic model for skid-steering robots. We propose a full linear wheel odometry factor, which not only serves as a motion constraint but also performs the online calibration of kinematic models. Despite the dynamically changing kinematic parameters (e.g., wheel radii changes caused by tire pressures) and terrain conditions, our method can address the model error via online calibration. Moreover, our method enables an accurate localization in cases of degenerated environments, such as long and straight corridors, by calibration while point cloud-based constraints sufficiently operate. Furthermore, we estimate the uncertainty (i.e., covariance matrix) of the wheel odometry online for creating a constraint with a reasonable statistical model even in rough terrains. The proposed method is validated through three experiments. The first indoor experiment shows that the proposed method is robust in severe degeneracy cases (long corridors) and changes in the wheel radii. The second outdoor experiment demonstrates that our method accurately estimates the sensor trajectory despite rough outdoor terrain thanks to online uncertainty estimation of wheel odometry. The third experiment shows the proposed online calibration enables robust odometry estimation in a condition that terrains change. Copyright © 2024, The Authors. All rights reserved.

关键词： Covariance matrix

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Virtual Prototyping of a Cable-Driven Compliant Robotic Wrist

Virtual Prototyping of a Cable-Driven Compliant Robotic Wris...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Mario Baggetta Gianluca Palli Claudio Melchiorri Giovanni Berselli Dept. of Mechanical Energy Management and Transportation Engineering University of Genova Italy Dept. of Electrical Electronic and Information Engineering "Guglielmo Marconi" University of Bologna Italy Advanced Robotics Department (ADVR) at the Italian Institute of Technology

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

This article details the virtual prototyping of a cable-actuated robotic wrist with two degrees of freedom (DOFs). These DOFs are achieved using two pairs of Cross Axis Flexural Pivot (CAFP) compliant transmission elements (CTEs), along with passive rolling contacts that guide deflection and protect the CTEs from *** a virtual prototype allows for testing the behavior of the prototype in various scenarios without the cost of building a physical model. This approach helps in selecting the appropriate actuation system for specific applications in advance. Moreover, a fast-operating virtual prototype enables the exploration of suitable control strategies and parameter adjustments without risking the physical prototype. Thus, having a computationally efficient model is *** study describes the creation of a quasi-real-time virtual prototype based on Finite Element Analysis (FEA) results. Simplifying the model by replacing flexible actuation cables with rigid counterparts, substituting CTEs with their reaction forces from deformation, and using constraints to mimic passive contacts and ensure correct component trajectories, along with implementing a friction estimation model based on Euler-Eytelwein’s formula, allowed to achieve a computational time reduced by 99.98%. Additionally, a multi-software control algorithm was integrated to fine-tune parameters and estimate the system’s response speed.

关键词： Wrist Deformable models Torque Computational modeling Prototypes Finite element analysis Trajectory Virtual prototyping Servomotors Testing

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Isotope engineering of Near-Field Radiative Thermal Diodes

SSRN

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SSRN 2023年

作者： Xie, Lanyi Song, Bai Department of Energy and Resources Engineering Peking University Beijing100871 China Department of Advanced Manufacturing and Robotics Peking University Beijing100871 China Beijing Innovation Center for Engineering Science and Advanced Technology Peking University Beijing100871 China

Guided by a rational design approach centering on the electromagnetic local density of states (LDOS), we explore the potential of isotopically engineering radiative thermal diodes for enhanced rectification with a focus on the near field. Based on fluctuational electrodynamics, we theoretically demonstrate that for thermal diodes pairing thin films of intrinsic silicon (i-Si) and the polar dielectric lithium hydride (LiX), the rectification ratio can increase by over six times with varying isotopic compositions. This is because by leveraging the isotope-induced shift and broadening of the surface phonon polaritons in LiX, more LDOS contrast provided by i-Si can be effectively converted into thermal rectification. Moreover, we show that such improvement is fairly robust, as evidenced by the prediction of over 20% rectification enhancement across a wide physical and geometric parameter space. Finally, inspired by insights from the i-Si-based thermal diodes, we propose general guidelines for implementing isotope engineering in the design of practical devices, which are further illustrated via representative diodes employing vanadium dioxide and silicon carbide as the active materials. Our work highlights the efficacy of isotopes in boosting the performance of radiative thermal diodes, which also holds promise for broader applications such as thermal transistors, thermal switches, and thermophotovoltaics. © 2023, The Authors. All rights reserved.

关键词： Heat transfer

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Developing a Framework for Natural Human Movement Mimicry of Low-Dynamic Motions in Mobile-Based Humanoids

Developing a Framework for Natural Human Movement Mimicry of...

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IEEE/SICE International Symposium on System Integration

作者： Simon Gormuzov Yushi Wang Pinchu Yang Tamon Miyake Tetsuya Ogata Shigeki Sugano Graduate School of Creative Science and Engineering Waseda University Tokyo Japan Future Robotics Organization Waseda University Tokyo Japan Faculty of Science and Engineering Waseda University Tokyo Japan The National Institute of Advanced Science and Technology Tokyo Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

In this work, we propose a framework that facilitates natural whole-body movements for a mobile-based humanoid. The framework takes bipedal human motion animation as input. After re-targeting the motion to the robot rig, the joint space data is applied to a physics-enabled robot model for balance confirmation and then deployed one-shot to the real robot. This method is beneficial for: 1) mapping expressive and low-dynamic whole-body motions, such as walking, to mobile-based robots; and 2) serving as a basis for training more complex control policies for more dynamic motions. Experiments were conducted by deploying human walking animations to the robot, assessing its ability to mirror the movements, and evaluating the subjective feelings of humans observing the robot performing the motions generated by both the proposed method and the traditional method. The results indicated that the proposed method is effective for mimicking human movements and consistently delivered a better overall impression in the natural appearance of the motion, the human-like factor, and friendliness.

关键词： Legged locomotion Training Dynamics Humanoid robots System integration Aerospace electronics Animation Data models Mirrors

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On Reducing the Localisation Error of Modern Mobile Robotic Platforms

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Procedia CIRP 2022年 112卷 168-173页

作者： Jithin James Graham Clarke Robins Mathew Brian Mulkeen Nikolaos Papakostas School of Electrical & Electronic Engineering University College Dublin Ireland Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Ireland

From drug delivery in hospitals to transportation of goods in warehouses, mobile robotic platforms have a wide variety of applications in industry today. The integration of mobile platforms with a manipulator opens up the possibility of more practical applications. However, this also introduces a new problem regarding the localisation accuracy of the platform, which in turn affects the accuracy of the manipulation. This paper details a comparative study of different strategies for improving the accuracy of pick and place tasks using a mobile robotic platform with an integrated arm. These strategies include fine positioning, LiDAR feedback and vision system feedback.

关键词： Collaborative robot Error compensation Vision system Bioprocessing Environmental sampling

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High-Extinction Reconfigurable Mach-Zehnder Interferometer Based on Silicon Photonic MEMS

High-Extinction Reconfigurable Mach-Zehnder Interferometer B...

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Conference on Lasers and Electro-Optics Europe (CLEO EUROPE)

作者： Dong U. Kim Min G. Lim Dong J. Choi Young J. Park Man J. Her Myung S. Hong Youngjae Jeong Kyoungsik Yu Sangyoon Han Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Republic of Korea School of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

ISBN: (纸本)9798350345995

Mach-Zehnder interferometer (MZI) is one of the essential components of photonic integrated circuits (PICs), such as quantum applications and optical neural networks [1], [2]. These applications demand a high dynamic range between on and off state. However, due to the fabrication imperfection, their modulation extinction is limited. There are some approaches to achieve a high modulation extinction of MZI and basic concept is to use additional MZIs to compensate the optical power distribution error (splitter and combiner) [3], [4]. However, their modulation mechanisms are based on thermo-optic effect which consumes high electrical power. Also, the thermal crosstalk between the devices is the bottleneck for large-scale PICs. The micro-electro mechanical system (MEMS) based PIC is one of the solutions, and recently large-scale MEMS PICs have been reported [5]

关键词： Extinction ratios Interferometers Microelectromechanical systems Microoptoelectromechanical systems Modulation Optical neural systems

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