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IEEE International Conference on robotics and Biomimetics

作者： Yang Yang Honghui Zhu Jia Liu Yingtian Li Jianshu Zhou Tao Ren Yi Ren School of Automation Nanjing University of Information Science and Technology Nanjing Jiangsu China Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong School of Mechanical and Electrical Engineering Chengdu University of Technology Chengdu China Advanced Manufacturing Lab Huawei Technologies Shenzhen China

ISBN: (纸本)9781665481106

In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and under-actuated design with simple structure and easy operation. The rotation of two servomotors is used to control the positions of the fingers, which provides the fingers with adjustable grasping modes and improves the adaptation of the gripper to objects with different shapes. A pressure sensor is integrated at the end of the finger to provide force feedback, which is used to detect the contact force when grasping the object and enables the gripper to provide the proper grasping force. The experimental section characterizes the bending of the soft robotic finger, and the gripper is integrated at the end of a collaborative robotic arm to demonstrate its adjustable grasping posture and force feedback function. The soft robotic gripper is expected to be used in a variety of scenarios, such as service robot, food industry or garbage sorting.

关键词： Service robots Shape Fingers Force feedback Force Grasping Soft robotics

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Fuzzy H∞Sliding Mode Control of Persistent Dwell-Time Switched Nonlinear Systems

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IEEE Transactions on Fuzzy Systems 2022年第12期30卷 5143-5151页

作者： Wang, Jing Wang, Haitao Yan, Huaicheng Wang, Yueying Shen, Hao Anhui University of Technology AnHui Province Key Laboratory of Special Heavy Load Robot The School of Electrical and Information Engineering Ma'anshan243032 China East China University of Science and Technology School of Information Science and Engineering Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education Shanghai200237 China Shanghai University School of Mechatronic Engineering and Automation Shanghai201620 China

In this article, the fuzzy H∞ sliding mode control problem for continuous-time switched nonlinear systems is investigated. The switching signal conforms to the persistent dwell-time switching mechanism. The first objective of this article is to construct a switched integral sliding surface that not only accommodates the switched nonlinear model, but ensures that the sliding mode dynamics are globally uniformly exponentially stable and have an H∞ performance by the equivalent controller derived from the sliding surface. Another aim is to integrate the switched sliding mode control law to force the system trajectories to the sliding surface in a finite amount of time. Then, on the basis of the Lyapunov function technique, the specific form of the sliding mode control law gains is given first, and later the finite-time reachability of the sliding surface is ensured. Finally, the validity of the proposed switched sliding mode control method is validated by a numerical example. © 1993-2012 IEEE.

关键词： Nonlinear systems

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Effect of the configuration and concentration of B-doping on the thermal properties and structural stability of graphene: A theoretical study

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Diamond and Related Materials 2025年 156卷

作者： Li, Dongbo Da, Liangguo Huang, Kaifeng Li, Dong Yu, Liang Wang, Haini Yu, Yaqi Wu, Long Tang, Yunqing School of Mechanical and Electrical Engineering Huainan Normal University Huainan232038 China Human-computer collaborative robot Joint Laboratory of Anhui Province Huainan232038 China School of Mechanical Engineering Shandong University Jinan250061 China State Key Laboratory of Advanced Equipment and Technology for Metal Forming Shandong University Jinan250061 China Key Laboratory of High Efficiency and Clean Mechanical Manufacture Ministry of Education Shandong University Jinan250061 China

The thermal properties and structural stability of B-doped graphene were investigated by employing density functional theory (DFT), ab initio molecular dynamics (AIMD), and molecular dynamics (MD) simulations, with a focus on the effects of doping configuration and concentration. DFT calculations indicate that B-doping reduces the cohesive energy of graphene, consequently diminishing its structural stability. Among the three B double-doping configurations, only the para configuration exhibits a phonon dispersion without imaginary frequencies, whereas both meta and ortho configurations show imaginary frequencies, indicating structural instability. The AIMD results further demonstrate that B-doped graphene preferentially undergoes cleavage at B[sbnd]B bonds, leading to decreased structural stability. MD results show that B-doping significantly reduces the thermal conductivity of graphene. At a doping concentration is 0.6 %, the thermal conductivity of meta and para configurations decreases to 48.08 % and 54.6 % of that of the pristine graphene, respectively. The results of phonon properties show that B-doping reduces the phonon participation rate and induces strong phonon localization at the B-doped site. These results and conclusions will provide valuable theoretical insights for the thermal design of graphene-based semiconductor devices. © 2025 Elsevier B.V.

关键词： Temperature distribution

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Motion generation interface of ROS to PODO software framework for wheeled humanoid robot

arXiv

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arXiv 2020年

作者： Lee, Moonyoung Heo, Yujin Cho, Saihim Park, Hyunsub Oh, Jun-Ho Humanoid Robot Research Center Department of Mechanical Engineering Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon34141 Korea Republic of

This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close integration of high-level perception and low-level control is required. However, many available open-source perception modules are developed in ROS, which operates on Linux OS that don't guarantee RT performance. This can lead to non-deterministic responses and stability problems that can adversely affect robot control. As a result, many robotic systems devote RTOS for low-level motion control. Similarly, the humanoid robot platform developed at KAIST, Hubo, utilizes a custom real-time software framework called PODO. Although PODO provides easy interface for motion generation, it lacks interface to high-level frameworks such as ROS. As such, we present a new motion generation interface between ROS and PODO that enables users to generate motion trajectories through standard ROS messages while leveraging a real-time motion controller. With the proposed communication interface, we demonstrate series of manipulator tasks on the actual wheeled humanoid platform, M-Hubo. The overall communication interface responsiveness was at most 27 milliseconds. Copyright © 2020, The Authors. All rights reserved.

关键词： Anthropomorphic robots

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Bio-Inspired Pupal-Mode Actuator with Ultra-Crossing Capability for Soft robots

Bio-Inspired Pupal-Mode Actuator with Ultra-Crossing Capabil...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhenxing Wang Xiao He Yuhang Zhang Cheng Zhang Lei Sun Zhidong Wang Shun Xu Hao Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Minimally Invasive Surgical Robot Shenyang China Department of Thoracic Surgery The First Affiliated Hospital of China Medical University Shenyang China University of Chinese Academy of Sciences Beijing China Department of Advanced Robotics Chiba Institute of Technology Narashino Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

robot-assisted Natural Orifice Translu-minal Endoscopic Surgery (NOTES) represents a paradigm shift in surgical practice, significantly mini-mizing patient morbidity. However, the variability of inner diameter and the inter-luminal crossing within the luminal tracts lead to challenge for effective robotic intervention. Inspired by the motion of the chrysalis during its transformation, we designed an innovative pupal-mode actuator for NOTES robots. Through the manipulation of its internal air chambers, this actuator is capable of replicating wriggle-like movements. Through experimental analysis, we have acquired the constitutive characteristics of this actuator. Subsequently, an innovative gastric endoscopy robot is developed base the actuator and tested in a phantom. The results of the task simulations substantiate that the pupal-mode actuator has the capability to reduce resistance and enhance the safety of the endoscopic intervention.

关键词： Actuators Surgery Pneumatic systems Soft robotics robot sensing systems Sensors Task analysis

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Construction of High-Contrast Hydrophobic-Hydrophilic Microfluidic Channels with Controlled Wettability on Pvdf Filter Paper Surface Using Maskless Microplasma Scanning

SSRN

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SSRN 2022年

作者： Wang, Tao Wang, Jiahao Lv, Li Wang, Shengquan Wang, Xin Yang, Weizhi Li, Meng Shi, Liping Anhui Province Key Laboratory of Special Heavy Load Robot Anhui University of Technology Ma'anshan243032 China School of Mechanical Engineering Anhui University of Technology Ma'anshan243032 China Key Laboratory of Green Fabrication and Surface Technology of Advanced Metal Materials Ministry of Education Anhui University of Technology Ma'anshan243032 China Anhui Province Engineering Laboratory of Intelligent Demolition Equipment Ma'anshan243032 China

Paper-based microfluidic analytical devices (μPADs) have attracted increasing interest due to their unique advantages. Localized hydrophilization on superhydrophobic paper surfaces to form the microfluidic channels and their wettability control are the key issues in μPADs preparation. This paper introduces a novel method to construct high-contrast hydrophobic-hydrophilic microfluidic channels on the surface of the Poly(vinylidene fluoride) (PVDF) filter paper by maskless microplasma writing. The hydrophilic performances and surface morphology of the channels were characterized by water contact angle (WCA) and scanning electron microscopy (SEM). Fourier transform infrared spectroscopy (FTIR) and X-ray photoelectron spectroscopy (XPS) were used to analyze their chemical compositions. The results showed that paper surface changed from hydrophobic to hydrophilic and its wettability can be controlled through plasma parameters adjustment. PVDF layer was gradually removed to expose root-like fibers, and the fluorine-containing groups on paper surface of the microchannels decreased with increasing microplasma treatment time, while the hydrophilic groups (e.g. –C=O) appeared and increased with longer treatment time. Finally, the mechanism of the microfluidic channels construction by microplasma was also discussed, and microfluidic channel with the pattern "H" were demonstrated and successfully constructed. This work shows great potential for simple, fast, environmental friendly and low-cost construction of μPADs. © 2022, The Authors. All rights reserved.

关键词： Wetting

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System Design and Experimental Analysis of an All-environment Mobile robot

System Design and Experimental Analysis of an All-environmen...

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作者： Guo, Ziyi Zhu, Yiduo Wang, Meiling Li, Tao Zhao, Hanbin Xu, Linsen Ceccarelli, Marco University of Science and Technology of China Hefei230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes. © 2019, Springer Nature Switzerland AG.

关键词： Mobile robots

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LiTAMIN: LiDAR-based Tracking And Mapping by Stabilized ICP for Geometry Approximation with Normal Distributions

LiTAMIN: LiDAR-based Tracking And Mapping by Stabilized ICP ...

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2020 IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Masashi Yokozuka Kenji Koide Shuji Oishi Atsuhiko Banno Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Japan

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

This paper proposes a 3D LiDAR simultaneous localization and mapping (SLAM) method that improves accuracy, robustness, and computational efficiency for an iterative closest point (ICP) algorithm employing a locally approximated geometry with clusters of normal distributions. In comparison with previous normal distribution-based ICP methods, such as normal distribution transformation and generalized ICP, our ICP method is simply stabilized with normalization of the cost function by the Frobenius norm and a regularized covariance matrix. The previous methods are stabilized with principal component analysis, whose computational cost is higher than that of our method. Moreover, our SLAM method can reduce the effect of incorrect loop closure constraints. The experimental results show that our SLAM method has advantages over open source state-of-the-art methods, including LOAM, LeGO-LOAM, and hdl_graph_slam.

关键词： Geometry Visualization Simultaneous localization and mapping Three-dimensional displays Gaussian distribution Robustness Computational efficiency

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Context-Aware Network for Semi-Supervised Segmentation of 3d Left Atrium

SSRN

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SSRN 2022年

作者： Zhao, Chenji Xiang, Shun Cai, Zhaoxi Shen, Jun Li, Shuo Zhou, Shoujun Zhao, Di Su, Weihua Guo, Shijie Wang, Yuanquan Tianjin300401 China Department of Radiology Sun Yat-Sen Memorial Hospital Sun Yat-Sen University Guangzhou510120 China DIG of London Department of Medical Imaging Western University LondonN6A 4V2 Canada Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Institute of Computing Technology The Chinese Academy of Sciences Beijing100190 China Hebei Key Laboratory of Robot Perception and Human-Robot Interaction HeBUT Tianjin300401 China

Accurate, robust and automatic segmentation of the left atrium (LA) in magnetic resonance images (MRI) is of great significance for studying the LA structure and facilitating the diagnosis and treatment of atrial fibrillation. Semi-supervised learning has attracted great attention in medical image segmentation, since it alleviates the heavy burden of annotating training data. In this paper, we propose a context-aware network called CA-Net for semi-supervised LA segmentation from 3D MRI. In the proposed CA-Net, a Trans-V module is coined from both Transformers and V-Net, which is able to learn contextual information in 3D MRI. In the training processing, the discriminator with attention mechanisms is introduced to calculate an adversarial loss so that a large amount of unlabeled data can be utilized. Experimental results on the Atrial Segmentation Challenge dataset show that the contextual information is helpful to extract more accurate atrial structures, and the proposed CA-Net achieves better performance than some SOTA semi-supervised networks. © 2022, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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Research on Change Path Optimization for Complex Mechanical Products Considering upgrade Risk

Research on Change Path Optimization for Complex Mechanical ...

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2021 International Conference on Digital Society and Intelligent Systems, DSInS 2021

作者： Zhang, Qin Pan, Jinlong Chen, Hu Feng, Yixiong Hong, Zhaoxi Huzhou Vocatinal Technical College Key Laboratory of Robot System Integration and Intelligent Equipment of Huzhou Huzhou313000 China Shanghai Space Propulsion Technology Research Institute Shanghai201109 China Shanghai Institute of Special Equipment Inspection and Technical Research Shanghai200062 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Zhejiang University Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province Hangzhou310027 China

ISBN: (纸本)9781665406307

Affected by uncertain factors such as customer demand, product design process will face with varying degrees of upgrade risk. In order to response to change requirements and reduce the impact of component changes, change path optimization for complex products considering upgrade risk is proposed. The goal of this work is to optimize change paths with multi-objective programming. The optimization model is constructed with the goal of minimizing the change complexity, the minimizing change propagation intensity and minimizing the change time. The improved whale algorithm is proposed to solve the model. A set of non-dominated solutions is obtained which can guide decision makers to choose the appropriate scheme. Finally, a product change path optimization for an elevator is given to verify the effectiveness of the proposed method. © 2021 IEEE.

关键词： Multiobjective optimization

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