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arXiv 2024年

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

Accurate representation of procedures in restricted scenarios, such as non-standardized scientific experiments, requires precise depiction of constraints. Unfortunately, Domain-specific Language (DSL), as an effective tool to express constraints structurally, often requires case-by-case hand-crafting, necessitating customized, labor-intensive efforts. To overcome this challenge, we introduce the AutoDSL framework to automate DSL-based constraint design across various domains. Utilizing domain specified experimental protocol corpora, AutoDSL optimizes syntactic constraints and abstracts semantic constraints. Quantitative and qualitative analyses of the DSLs designed by AutoDSL across five distinct domains highlight its potential as an auxiliary module for language models, aiming to improve procedural planning and execution. © 2024, CC BY-NC-ND.

关键词： Semantics

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Application of generative AI technologies to engineering design

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Procedia CIRP 2025年 132卷 147-152页

作者： Daniel Byrne Vincent Hargaden Nikolaos Papakostas Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College 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 assessing 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 processes.

关键词： Computer-aided design Machine learning Conceptual design Product development

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

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

ISBN: (纸本)9798331531614

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. © 2025 IEEE.

关键词： Animation

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BIG-STEP: Better-Initialized State Estimator for Legged Robots with Fast and Robust Ground Segmentation 23

BIG-STEP: Better-Initialized State Estimator for Legged Robo...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Song, Seunggyu Yu, Byeongho Oh, Minho Myung, Hyun Kookmin University Department of Automotive Engineering Seoul02707 Korea Republic of School of Electrical Engineering KI-Robotics Korea Advanced Institute of Science and Technology Daejeon34141 Korea Republic of

ISBN: (纸本)9788993215274

Legged robots are crucial in various applications, from search and rescue operations to exploration missions in challenging terrain. Accurate estimation of the robot's state is paramount for achieving precise and reliable navigation. However, estimating the state of legged robots presents unique challenges due to inherent uncertainties, dynamics, and environmental interactions. We propose a novel state estimator for legged robots that leverages the ground plane to mitigate errors in the z-component of the state estimate especially. By exploiting the information provided by the effectively estimated ground plane, which serves as a reliable reference, the proposed estimator compensates for errors and enhances the accuracy of the estimated state. To validate the effectiveness of the proposed state estimator, real-world experiments are conducted on a legged robot platform. The results demonstrate significant improvements in state estimation accuracy, particularly in the z-component when compared with conventional state estimation methods. The proposed state estimator can potentially enhance the performance and autonomy of legged robots in various applications, including locomotion control, terrain mapping, and environment perception. Furthermore, its robustness and accuracy make it well-suited for scenarios where precise state estimation is crucial for safe and effective operation. © 2023 ICROS.

关键词： State estimation

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Supplemental Human-Machine Interface for Haptic Shared Control to Convey Sensor Reliability Information to an Operator of Underwater Vehicles

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IEEE Transactions on Haptics 2025年 PP卷 PP页

作者： Sato, Eito Orita, Yasuaki Sakagami, Norimitsu Wada, Takahiro Nara Institute of Science and Technology Human Robotics Laboratory Information Science and Engineering Graduate School of Science and Technology Ikoma Japan Ryukoku University Mechanical Engineering and Robotics Course Faculty of Advanced Science and Technology Faculty of Advanced Science and Technology Shiga Japan

In haptic shared control (HSC) for teleoperation, the human operator and autonomous system share control via torque on the input device. When a discrepancy exists between the human's maneuvering intent and the autonomous maneuver presentation, the human can apply additional force to the device to achieve the desired maneuvering. The required force level is generally predetermined during design and closely relates to the human workload. This study investigated scenarios where discrepancies between human and machine control occur frequently owing to unreliable sensor information. We propose a method to allow the operator to adjust the machine's assist level, facilitating smoother control transitions and proving useful when machine suggestions are unreliable. Conventional HSC systems generally lack sufficient information for operators to make informed decisions regarding adjusting assist levels, leading to delayed decisions and increased workloads. To address this, our research objective is to communicate sensor reliability to humans, thereby facilitating deciding the machine's assist level. We focused on the HSC of a remotely operated underwater vehicle (ROV) where the sensor system is prone to unreliable. Maneuvering experiments with an ROV simulation involving sixteen participants demonstrated the proposed method effectively communicates sensor reliability to operators and reduces mental demand compared to conventional methods. © 2025 IEEE.

关键词： Remotely operated vehicles

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AllWeather-UsableWearable Dual Energy Harvester for Outdoor Sustainable Operation

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SusMat 2025年第1期5卷 159-170页

作者： Yeongju Jung Jiyong Ahn Ji-Seok Kim Junhyuk Bang Minwoo Kim Seongmin Jeong Jinwoo Lee Seonggeun Han Il-Kwon Oh Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical EngineeringSeoul National UniversitySeoulRepublic of Korea National Creative Research Initiative for Functionally Antagonistic Nano-Engineering Department of Mechanical EngineeringSchool of Mechanical and Aerospace EngineeringKorea Advanced Institute of Science and Technology(KAIST)DaejeonRepublic of Korea Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoulRepublic of Korea Device Solutions Research Samsung ElectronicsHwaseong-siRepublic of Korea Institute of Engineering Research/Institute of Advanced Machinery and Design(SNU-IAMD) Seoul National UniversitySeoulRepublic of Korea Interdisciplinary Program in Bioengineering Seoul National UniversitySeoulRepublic of Korea

Sustainable power sources for outdoor wearable electronics are essential for the continuous operation of wearable ***,the current lack of engineering design that can harvest energy regardless of weather conditions presents a significant *** this regard,this study introduces a wearable,breathable all-weather usable dual energy harvester(AWuDEH)that can seamlessly generate electrical energy regardless of weather *** this study,the AWuDEH integrated with the thermoelectric generator and the droplet-based electricity generator is *** AWuDEH,especially engineered with a bi-functional top substrate for radiative cooling and electrification,achieves sustainable energy harvesting outdoors,thereby addressing the conventional challenge associated with the necessity for separate energy harvesters tailored to outdoor usage contingent on weather *** device reaches a maximum power output of 14.6μW cm^(-2)under simulated sunny conditions and generates a much more enhanced thermoelectric power of 74.78μW cm^(-2)and a droplet-based electric power of 256.25 mW m^(-2)in rainy *** proof,this study developed self-powered wearable electronics capable of acquiring physiological signals in simulated outdoor *** study presents a promising advancement in wearable technology,offering a potent solution for sustainable energy harvesting independent of weather conditions.

关键词： all-weather usable droplet-based electricity generator hybrid architecture outdoor sustainable operation thermoelectric generator

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A Novel Quadruple Dispensing Heads Sticking Adhesive Tape Robot System and Its Applications

A Novel Quadruple Dispensing Heads Sticking Adhesive Tape Ro...

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2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Suwanratchatamanee, Kitti Sawada, Hideyuki Hashimoto, Shuji Robotics Research and Development Center GOLDEN ROBOT Co. Ltd. Rayong Thailand Grad. School of Advanced Science and Engineering WASEDA University Tokyo Japan WASEDA University Tokyo Japan

ISBN: (纸本)9798331533892

Industrial robots are increasingly being used to assist and replace workers in factories to address the global labor shortage in various applications. The use of robots can provide many benefits to the effective production and manufacturing. Taping is one of the robots' applications. However, current tape robots can only tape one strip at a time, which can be time-consuming in practice if multiple strips of tape are required at the same time for special workpieces. This paper presents a novel sticking adhesive tape robot system. As the object to be taped are four-line hot pipes to be attached on the outer shell of refrigerator, thus four strips of tape are required at the same time before assembly process. The proposed robot system contains the novel tooling called 'Quadruple Dispensing Heads'. This tooling was developed to tape four strips of tape to be applied simultaneously. This tooling can adjust the gap of tape strips from 80mm to 110mm. Moreover, the research objective is to produce a robot system that can apply tape with higher quality and faster than human workers, so that human workers can move on to more complicated tasks instead of performing repetitive, routine tasks that do not require such special skills and knowledge. As the result, our proposed system can achieve the four lines of *** length, through IS7N pushing force (when operate the air working pressure at ***) sticking taping task perfectly with 100% success rate of experiments in just 3 seconds and faster than human worker significantly. Since, human worker needs about 3 seconds per each I.5m taping line. Therefore, human needs approximately 12 seconds in total for four lines. Accordingly, our proposed robot system is faster than human worker in four times. © 2025 IEEE.

关键词： Industrial robots

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RL-based Shape Control of Rod-driven Soft Arms Using Strain Models

RL-based Shape Control of Rod-driven Soft Arms Using Strain ...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Peiyi Wang Yaxin Zeng Yuchen Sun Zhenwei Ni Muhammad Sunny Nazeer Cecilia Laschi Department of Mechanical Engineering and Advanced Robotics Centre National University of Singapore Singapore Singapore

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

The continuous shapes of soft continuum robots with infinite degrees of freedom have potential applications in unstructured environments. However, their nonlinear behavior and compliance make them difficult to model and control. In this study, we propose a shape control scheme for rod-driven soft continuum robots and train the policy by using the reinforcement learning (RL) algorithmic implementation in a simulation environment with an theoretical strain model. The trained policy performs continuous, entire shape control (with maximum distance less than 8 mm) as well as the simulation model. By substituting the tracked positions in real robot from the strain model, the proposed control scheme bridges the large sim2real gap and reduces the distance of controlled shape to the target by 50%, from 15.93 to 7.92 mm. Our method demonstrates an effective and feasible way to control the entire 3D shape and configuration of a soft arm.

关键词： Bridges Shape control Accuracy Three-dimensional displays Shape Soft robotics Robot sensing systems Continuum robots Collision avoidance Strain

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Suppression of thermal transport in bent boron arsenide nanoribbons

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Physical Review Applied 2024年第5期22卷 054019页

作者： Guanbo Jiao Shuo Qiao Jun Lyu Yi Tao Lin Yang Department of Advanced Manufacturing and Robotics College of Engineering School of Mechanical Engineering and Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments National Key Laboratory of Advanced Micro and Nano Manufacture Technology

Boron arsenide (BAs) has emerged as a strong contender for next-generation functional materials, boasting desirable attributes such as high thermal conductivity and ambipolar mobility. However, a critical yet underexplored challenge lies in understanding its heat conduction capabilities under inhomogeneous strain, which is pivotal across various functional devices and operational conditions. Here, through modeling thermal transport in bent BAs and Si nanoribbons, a striking difference is revealed. Namely, the BAs nanoribbons exhibit nearly twice the reduction in thermal conductivity compared with Si under identical bending conditions. This significant disparity is driven by two key factors: the pronounced effect of phonon-spectra broadening under strain and the inhomogeneous strain-induced narrowing of the acoustic and optical (ao) gap. Together, these factors relax the originally restricted phonon scattering phase space and fundamentally alter phonon scattering dynamics. Our findings not only offer a new perspective on how heat transfer can be dynamically modulated in BAs, but also provide crucial insights into enhancing thermal performance in BAs-based functional devices.

关键词： Anharmonic lattice dynamics Bending Heat transfer Phonons Strain Thermal conductivity Nanoribbon Molecular dynamics

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Aerodynamic Performance of Bio-inspired 3D Corrugated Wings Learned from the Ladybird BeetleHindwing

Aerodynamic Performance of Bio-inspired 3D Corrugated Wings ...

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2023 Annual IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023

作者： Liu, Chao Wang, Kejun Wang, Qian Soochow University School of Mechanical and Electric Engineering Suzhou215123 China Soochow University Jiangsu Provincial Key Laboratory of Advanced Robotics Suzhou215123 China

ISBN: (纸本)9798350344486

Beetle hindwings have two specific features: the deployable hindwing and corrugation wing. In the low Reynolds numbers environment, the corrugated wing structure of insect wings proves to be essential for improving *** order to explore further whether flexible corrugated structure has a significant effect on aerodynamic effects. Two 3D corrugated wing models (3D-CW models) were designed with rigid and flexible properties, respectively. In this paper, based on ANSYS Fluent, the fluid-structure interaction method is used to solve the Navier-Stokes equations numerically. At a series of angles of attack, the flexible wing has better aerodynamics at angles of attack larger than 10°;the deformed leading edge can induce a stronger Leading edge vortex (LEV) than found at the rigid wing. © 2023 IEEE.

关键词： Navier Stokes equations

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