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advanced Bionics 2025年第1期1卷 2-18页

作者： Haosen Yang Guowu Wei Lei Ren Lingyun Yan Darwin Caldwell Department of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterOxford RdManchester M139PLUK School of Science Engineering and EnvironmentUniversity of Salford43 CrescentSalford M54WTUK Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityNo.2699Qianjin RoadChangchun 130025China Department of Robotics Engineering School of Electrical and Electronic EngineeringShanghai Institute of Technology100 Haiquan RoadShanghai 200235China Department of Advanced Robotics Italian Institute of TechnologyVia Morego30Genova 16163Italy

This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic *** introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental *** actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle ***,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are *** demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic *** to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.

关键词： Artificial muscle Compact compliant actuator Series elastic actuator Biomimetic robots

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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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International Conference on Mechatronics (ICM)

作者： Kitti Suwanratchatamanee Hideyuki Sawada Shuji Hashimoto 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: (数字)9798331533892

ISBN: (纸本)9798331533908

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.

关键词： Strips Mechatronics Service robots Force Industrial robots Production facilities Robots Assembly

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Goal-Conditioned Reinforcement Learning Approach for Autonomous Parking in Complex Environments

Goal-Conditioned Reinforcement Learning Approach for Autonom...

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International Conference on Artificial Intelligence in Information and Communication (ICAIIC)

作者： Taeyoung Kim Taemin Kang Seungah Son Kuk Won Ko Dongsoo Har CCS Graduate School of Mobility Korea Advanced Institute of Science and Technology(KAIST) Daejeon Rep. of Korea The Robotics Program Korea Advanced Institute of Science and Technology(KAIST) Daejeon Rep. of Korea Department of Future Mobility Engineering Halla University Wonju Rep. of Korea

ISBN: (数字)9798331507022

ISBN: (纸本)9798331507039

In complex urban environments, autonomous vehicle parking is challenged by irregularly parked cars, static obstacles, and narrow spaces. Traditional parking methods are often limited to well-structured parking lots and fail to adapt to unstructured scenarios like alleyways with obstacles and randomly positioned vehicles. This paper addresses this limitation by applying goal-conditioned reinforcement learning to enable autonomous vehicles to park in congested environments based on specified target positions and orientations. A custom simulation environment is developed using Pygame to simulate parking scenarios across four progressive levels of difficulty, with obstacles to test adaptability. Three RL algorithms, SAC, HER, and an improved HER variant, are implemented to compare the performance in the simulation environment. Experimental results demonstrate that the proposed approach significantly improves parking success rates and trajectory efficiency in complex scenarios, contributing to robust, adaptable parking solutions for autonomous vehicles in real-world applications.

关键词： Training Space vehicles Three-dimensional displays Urban areas Reinforcement learning Trajectory Reliability Vehicle dynamics Autonomous vehicles Testing

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Mechatronic Design and Fabrication of Aerogenerator composed of Vertical Axis Wind Energy Station with Helical Blades

Mechatronic Design and Fabrication of Aerogenerator composed...

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IEEE Students' Conference on Electrical, Electronics and Computer Science (SCEECS)

作者： Adrian Nacarino Andre Rueda-Lopez Anderson La-Rosa Jose Cornejo Ricardo Palomares Professional School of Mechatronics Engineering Ricardo Palma University Lima Peru Universidad Tecnologica del Peru Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Ricardo Palma University Lima Peru

ISBN: (数字)9798331529833

ISBN: (纸本)9798331529840

An innovative research, supervised by the Research Group of advanced robotics and Mechatronics (GI-ROMA) and the Mechatronics engineering School at Ricardo Palma University, was conducted, which explored the development of a helical vertical axis wind energy station. The mechanical design of the helical vertical axis focused on determining the blade type to achieve a shear stress of τ=5*10 -10 , nearly negligible, to let a continuous air flow and obtain a desired voltage output of 5 V. The electrical and electronic design included developing a voltage rectification stage to obtain a regulated output of 5 V; subsequently, 6 V 4.5 Ah batteries were charged and connected in series, with a maximum voltage of 12.67 V, as determined experimentally, which was then connected to a voltage inverter which produced 220 V at 200 W, capable of powering appliances like a 5 W light bulb with a 78.50% efficiency.

关键词： Renewable energy sources Mechatronics Wind energy Blades Inverters Wind turbines Voltage control Sustainable development Stress Robots

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The A3C Algorithm With Eligibility Traces of Energy Management for Plug-In Hybrid Electric Vehicles

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IEEE Access 2025年 13卷 92507-92518页

作者： Dingyi Guo Guangyin Lei Huichao Zhao Fang Yang Qiang Zhang Shanghai Engineering Technology Research Center of SiC Power Device College of Intelligent Robotics and Advanced Manufacturing Fudan University Shanghai China Research Institute of Fudan University in Ningbo Ningbo China General Research and Development Institute China FAW Corporation Ltd. Changchun China

An energy management system is crucial for optimizing the performance and reducing fuel consumption of Plug-in Hybrid Electric Vehicles (PHEVs), which plays an important role in sustainable transportation. This paper presents a comprehensive study of the energy management problem for a selected PHEV, outlining key vehicle parameters such as battery state-of-charge (SOC), engine power, and energy consumption patterns. A mathematical formulation of the energy management problem is proposed to optimize fuel consumption while adhering to the vehicle’s operational constraints. The core of the paper focuses on the application of the Asynchronous Advantage Actor-Critic (A3C) algorithm to address this problem. To enhance the learning process, eligibility traces are introduced to refine the advantage function by weighting historical actions. This adjustment improves the decision-making process by making the action distribution more concentrated, which is crucial for optimizing fuel consumption. The proposed Asynchronous Advantage Actor-Critic Eligibility Traces (A3CET) algorithm incorporates these modifications and shows a significant improvement in fuel efficiency. During the training phase, it achieves 93.6% of the fuel optimality of the Dynamic Programming (DP) benchmark, and maintains 91.5% of DP’s performance during the testing phase. Moreover, A3CET reduces computation time by 62.5% compared to DP, and outperforms other EMSs in terms of both efficiency and real-time applicability.

关键词： Energy management Engines Batteries Reinforcement learning Prediction algorithms Motors Mechanical power transmission Heuristic algorithms Adaptation models Energy consumption

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A Novel Tactile Sensing Skin for Surface Perception

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IEEE Sensors Journal 2025年

作者： Das, Subham Thiyagarajan, Karthick Kodagoda, Sarath Krishnan, Athul Bhattacharjee, Mitradip Indian Institute of Science Education and Research Bhopal i-Labs Electrical Engineering and Computer Science Department Madhya Pradesh 462066 India Centre for Advanced Manufacturing Technology School of Engineering Design and Built Environment PenrithNSW2751 Australia UTS Robotics Institute University of Technology Sydney Australia SydneyNSW2007 Australia

Humans employ a fusion of pressure and temperature signals to perceive tactile stimuli. While replicating the complexity of human tactile sensing poses challenges, advancements in artificial tactile sensing skins play a crucial role in the progress of robotics and prosthetics. Here, we present a novel tactile sensing skin designed for the perception of diverse surfaces. It utilizes a microstructured porous tactile sensor, exhibiting notable sensitivity at 21.5 kPa-1 under low-pressure conditions and 2.5 kPa-1 in high-pressure scenarios. The sensor also boasts an impressively low detection limit of 2.5 Pa, allowing for discernment of subtle pressure variations. Simultaneously, we utilize a flexible temperature sensor exhibiting a sensitivity of 0.58 % ∘C-1 and swift response attributes to facilitate the detection of radiated heat from diverse surfaces. The incorporation of a multilayer perceptron algorithm into the developed glove-like system, equipped with tactile and temperature sensors, achieves 87% accuracy in classifying eleven distinct surfaces. © 2001-2012 IEEE.

关键词： Tactile sensors

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A Resource Optimization Approach Based on Deep Integration of Vision-Motion System for Sustainable Agriculture

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IEEE Transactions on Consumer Electronics 2025年

作者： Cheng, Minghao Zhou, Nan Bhatti, Mughair Aslam Li, Di Wang, Shiyong Alasiry, Areej Marzougui, Mehrez South China University of Technology School of Mechanical and Automotive Engineering Guangzhou510640 China Peng Cheng Laboratory Department of Strategic and Advanced Interdisciplinary Shenzhen518000 China Department of Robotics and AI Pakistan King Khalid University College of ComputerScience Abha61413 Saudi Arabia

The integration of vision and motion systems represents a critical phase in the intelligent transformation of consumer electronics aimed at enhancing productivity. However, owing to the operational modes and distributional characteristics inherent in existing systems, achieving large-scale, stable, and consistent agricultural applications on consumer electronics remains a significant challenge. To address this problem, this paper proposes a unified resource optimization approach for different configurations of agricultural consumer electronics to achieve deep integration of vision and motion systems. The optimization is mainly at two levels: on the one hand, we design a velocity observer for the vision-motion integrated system represented by the visual servoing system, which makes native changes to the characteristics of the visual servoing’s non-real-time instruction issuance. By converting long-time commands with uncertain period to short-time commands with certain period, the design difficulty of real-time trajectory planning of the real underlying motion controller is simplified. On the other hand, in image-based visual servoing (IBVS) system, the mixture parameter of the image Jacobian matrix also affect the control performance of the visual servoing system. For most IBVS-based agricultural applications, there is a lack of a systematic approach to ensure that the mixture parameter is adaptively and continuously varied. To solve this problem, this paper proposes a fuzzy logic-based method to adaptively adjust this parameter and ensure its continuity by introducing a suitable membership function. The experimental results of visual servoing based on the consumer electronics show that our proposed method can significantly improve the integrated vision-motion controllability, and can trade-off the convergence efficiency and feature retention constraints to effectively improve the overall efficiency of the system operation. © 1975-2011 IEEE.

关键词： Visual servoing

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Design and Control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction

Design and Control of an Omnidirectional Aerial Robot with a...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Julien Mellet Andrea Berra Salvatore Marcellini Miguel Ángel Trujillo Soto Guillermo Heredia Fabio Ruggiero Vincenzo Lippiello Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Leonardo Innovation Labs Rome Italy GRVC Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Fully actuated aerial robots have shown superiority in Aerial Physical Interaction (APhI) in recent years. This work presents a minimal setup for aerial telemanipulation, improving accessibility to such technologies. The design and control of a 6-Degrees of Freedom (DoF) joystick with 4-DoF haptic feedback are detailed. It is the first haptic device with standard Remote Controller (RC) form factor for APhI. Miniaturizing the haptic device adds sense of touch to RC, enhancing physical awareness. The goal is to provide operators with an extra sense-beyond vision and sound-to support safe APhI. To the best of the authors' knowledge, this is the first 6- DoF aerial teleoperation system capable of decoupling single-axis input commands. The proposed robot hardware design reduces number of components, aiming for easier maintenance and improved force and thrust-to-weight ratios. Open-source physics-based simulation and successful early flight tests high-light the tool's promise for future APhI applications.

关键词： Translation Shape Autonomous aerial vehicles Robot sensing systems Hardware Stability analysis Software Haptic interfaces Maintenance Standards

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Quantitative study on energy distribution and mode conversion of ultrasonic guided waves interacting with stepped and tapered transition regions

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Applied Acoustics 2025年 236卷

作者： Tian, Yuan Yu, Ximing Guo, Yudong Zhao, Lin Liu, Menglong Guo, Haotian Zhang, Jifeng Zhou, Limin College of Aerospace and Civil Engineering Harbin Engineering University Harbin150001 China Wuhan Aviation Instrument Co. Ltd. Wuhan430074 China School of Robotics and Advanced Manufacturing Harbin Institute of Technology Shenzhen518055 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China

Ultrasonic guided waves (UGWs) are extensively used in structural health monitoring and nondestructive testing, particularly for complex structures such as lap joints, icing plates, and composite interfaces. This study comprehensively investigates the mode conversion, reflection, and transmission of UGWs both at the stepped and tapered transition region, where geometric discontinuity causes energy redistribution among various modes of reflected and transmitted UGWs. The Frequency Domain Finite Element method is employed to quantitatively analyse the mode energy distribution across a frequency range of 0 ∼ 3 MHz, with Mode S0 as the incident UGW. The results demonstrate that the energy distribution of transmitted UGW modes follows the phase velocity matching principle, whereas the reflected UGW energy exhibits no discernible pattern. Both the linearly and curvedly tapered transition regions improve the energy transmission efficiency by mitigating mode mismatches. Furthermore, increasing the length-to-thickness ratio of linearly tapered transition enhances the energy transmission, reaching over 99% at all frequencies when the ratio exceeds 5. The validation is conducted with the Time Domain Finite Element method and experiment. These findings provide valuable insights for optimizing the selection of UGWs, improving the accuracy and effectiveness of monitoring at stepped and tapered structures. © 2025 Elsevier Ltd

关键词： Guided electromagnetic wave propagation

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Flexible Sweat pH Sensors Based on TiO2-SnO2 Composite Films Prepared by Micro-arc Oxidation for Wearable Systems

SSRN

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SSRN 2025年

作者： Pan, Mingqiang Luo, Suhui Gao, Fei Ye, Jialu Yao, Jinchao Liu, Jizhu Ling, Mingxiang Wang, Yangjun Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou215123 China Jiangsu Provincial Key Labor Atory of Advanced Robotics Soochow University Suzhou215123 China DFH Satellite Co. Ltd. Beijing100094 China

This study presents a novel flexible pH sensor based on a dual-electrode configuration, which features a flexible titanium wire micro-arc oxidized electrode as the working electrode and a screen-printed Ag/AgCl reference electrode. The working electrode is coated with a TiO2-SnO2 composite film, which exhibits a highly porous and rugged surface morphology, enhancing the adsorption of electrochemically active species and improving the sensor sensitivity. The screen-printed Ag/AgCl reference electrode demonstrates excellent stability, reversibility, and electrochemical performance, offering a cost-effective alternative to traditional reference electrodes. The sensor exhibits a high sensitivity of 59.74 mV/pH over a wide pH range of 2.00 to 12.00, with a rapid response time of 1 second, low potential hysteresis, and negligible potential drift. Furthermore, the sensor demonstrates good repeatability, stability, and selectivity against common interfering ions, and shows minimal temperature dependence. Its performance remains consistent even after 100 cycles of 45° and 90° bending, highlighting its potential for integration into wearable devices. In a proof-of-concept experiment, the sensor successfully monitored sweat pH on human skin, with results comparable to those obtained using a commercial glass electrode. This study demonstrates the significant potential of the developed flexible pH sensor for wearable technology applications. © 2025, The Authors. All rights reserved.

关键词： Titanium dioxide

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