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IEEE International Conference on robotics and Automation

作者： Rob B. N. Scharff Rens M. Doornbusch Xander L. Klootwijk Ajinkya A. Doshi Eugeni L. Doubrovski Jun Wu Jo M. P. Geraedts Charlie C. L. Wang The Department of Design Engineering Delft University of Technology Delft CE TU Delft Robotics Institute

This paper introduces a novel approach for sensing the bending deformation on soft robots by leveraging multicolor 3D printing. The measurement of deformation enables to complete the feedback loop of deformation control on soft actuators. The working principle of our approach is based on using compact color sensors to detect deformation that is visualized by the change of color ratios. Two novel designs are presented to generate color signals on 3D printed objects, which we call an external signal generator and an internal signal generator. Signal processing and calibration methods are developed to transform the raw RGB-data into a meaningful deformation metric. Our experimental tests taken on soft pneumatic actuators verify that color signals can be stably generated and captured to indicate the bending deformation. The results also demonstrate the usability of this sensing approach in deformation control.

关键词： Color Strain Actuators Robot sensing systems Signal generators Soft robotics

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Heat distribution in the deep drawing device components working by high temperatures 10

Heat distribution in the deep drawing device components work...

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10th International Conference Machine and Industrial design in Mechanical engineering, KOD 2018

作者： Tropp, M. Brumerčík, F. Šteininger, J. Weis, P. Glowacz, A. Univerzity of Žilina Faculty of Mechanical Engineering Department of Design and Mechanical Elements Univerzitná 1 Žilina010 26 Slovakia AGHUniversity of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. A. Mickiewicza 30 Kraków30-059 Poland

The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results. © 2018 Institute of Physics Publishing. All rights reserved.

关键词： Deep drawing

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A comprehensive review of select smart polymeric and gel actuators for soft mechatronics and robotics applications:fundamentals,freeform fabrication,and motion control

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International Journal of Smart and Nano Materials 2017年第4期8卷 144-213页

作者： James D.Carrico Tom Tyler Kam K.Leang Design AutomationRoboticsand Control(DARC)LaboratoryDepartment of Mechanical EngineeringUniversity of UtahSalt Lake CityUTUSA

Smart polymeric and gel actuators change shape or size in response to stimuli like electricity,heat,or *** smart polymeric-and gel-based actuators are compliant and well suited for development of soft mechatronic and robotic *** paper provides a thorough review of select smart polymeric and gel actuator materials where an automated and freeform fabrication process,like 3D printing,is exploited to create custom shaped monolithic *** particular,the advantages and limitations,examples of applications,manufacturing and fabrication techniques,and methods for actuator control are ***,a rigorous comparison and analysis of some of the advantages and limitations,as well as manufacturing processes,for these materials,are presented.

关键词： Smart polymeric actuators gel actuators soft mechatronics

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Robustness of DNA Strand Displacement Systems⋆⁎

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IFAC-PapersOnLine 2018年第33期51卷 32-37页

作者： Nakakuki, Takashi Imura, Jun-ichi Kawamata, Ibuki Murata, Satoshi Department of Systems Design and Informatics School of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu IizukaFukuoka820-8502 Japan Department of Mechanical and Environmental Informatics Tokyo Institute of Technology 2-12-1-W8-1 O-okayama Meguro-ku Tokyo152-8552 Japan Department of Robotics Graduate School of Engineering Tohoku University 6-6-1 Aoba Aramaki-Aza Aoba-Ward SendaiMiyagi980-8579 Japan

How to construct a reliable deoxyribonucleic acid (DNA) circuit is one of the most important issues in the field of molecular programming and computing. Such a circuit frequently suffers from various kinds of unintended binding reactions on account of a lower specificity of the molecular interaction emerging from base complementarity between DNA strands, which results in low reliability of the molecular circuit. In this study, we propose a method to quantitatively evaluate the robustness of a DNA circuit created by DNA strand displacement reactions. The highlight of our method is representing the circuit system contaminated by unintended reactions by a standard form of a disturbed nonlinear system and evaluating the robustness with the L2 gain by solving the Hamilton–Jacobi inequality. © 2018

关键词： Nucleic acids Differential equations DNA Electric network analysis Large scale systems Nonlinear equations Substitution reactions Binding reactions Circuit systems Dna strand displacements DNA strands Molecular circuits Molecular programming Nonlinear circuit Uncertainty

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Shape-Memory Polymers: Mechanically Robust and UV-Curable Shape-Memory Polymers for Digital Light Processing Based 4D Printing (Adv. Mater. 27/2021)

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Advanced Materials 2021年第27期33卷

作者： Biao Zhang Honggeng Li Jianxiang Cheng Haitao Ye Amir Hosein Sakhaei Chao Yuan Ping Rao Yuan-Fang Zhang Zhe Chen Rong Wang Xiangnan He Ji Liu Rui Xiao Shaoxing Qu Qi Ge Frontiers Science Center for Flexible Electronics (FSCFE) Xi'an Institute of Flexible Electronics (IFE) and Xi'an Institute of Biomedical Materials and Engineering (IBME) Northwestern Polytechnical University 127 West Youyi Road Xi'an 710072 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen 518055 China School of Engineering and Digital Arts University of Kent Canterbury Kent CT2 7NT UK State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University Xi'an 710049 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen 518055 China Digital Manufacturing and Design Centre Singapore University of Technology and Design Singapore 487372 Singapore State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering Mechanics Zhejiang University Hangzhou 310027 China

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Conceptual design and Kinematic Analysis of a Novel Open Field 3DOF Multi-Gripper Pot Seedlings Transplanting Robot

Conceptual Design and Kinematic Analysis of a Novel Open Fie...

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IEEE International Conference on Mechatronics and Automation

作者： Isaac Ndawula Samy F. M. Assal Department of Mechatronics and Robotics Engineering Egypt – Japan University of Science and Technology (EJUST) Egypt On leave: Department of Production Engineering and Mechanical Design Tanta University Egypt

Pot seedlings transplanting is an activity in horticulture and agricultural production industry. It involves the transfer of pot seedlings from seedlings try into growing media in a greenhouse or an open agricultural field for further growth. This activity is a labor intensive, time consuming and requires high accuracy and precision, thus there is a need for mechanized operation to meet the challenges. In the current state, the automated and robotic seedlings transplanters have low production capability and most of them are met to work in greenhouse. This paper focuses on the conceptual design, kinematic analysis and optimal dimensional synthesis of a novel 3DOF multi-gripper pot seedlings transplanting robot to be used in agricultural open field. The proposed robot is composed of two identical 2DOF translational parallel robots, 1DOF multi-gripper end-effector, conveyors and drives. During conceptual design phase, the speed, work efficiency and transplanting agronomical practices are taken into consideration. Some constraints are also taken into consideration during the dimensional synthesis of this parallel robot to obtain the robot dimensions. Furthermore, workspace analysis and trajectory planning are carried out. Simulation results indicate that the desired workspace lie within the reachable workspace of the manipulator and 6 seedlings per single transplanting cycle can be achieved in 1.8 sec.

关键词： Transplanting Robot Seedlings Transplanting Multi-Gripper Conceptual design

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The basic set of test problems for ODE system solvers

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IOP Conference Series: Materials Science and engineering 2019年第1期630卷

作者： Vladimir Manichev Dmitriy Zhuk Emiliy Feldman BMSTU Robotics and Complex Automation Department Computer Aided Design and Engineering 105005 Moscow Russia

Known mathematical packages, MATLAB, Maple, Mathematica, MathCAD and others may get wrong, often plausible, the result of numerical solution of ODE systems with low, given by default, the requirements for mathematical accuracy of the results of the numerical solution of ODE systems. Since ODE system parameters obtained usually experimental, with a low mathematical precision, so the requirements for the precision of the results of mathematical solutions of ODE systems is low (for example, in MATLAB package required precision is 0.001). The article offers a basic set of tests to assess the range of applicability of the relevant solvers. The basic set of test problems for ODE solvers systems include linear ODE systems with the known analytic solution and nonlinear systems with known graphics solution. Presented comparative results of solutions for proposed problems using MATLAB solvers and manzhuk program from a library of standard mathematical programs SADEL (Sets of Algebraic and Differential Equations solvers Library), which has been designed for reliable and accurate solving of systems of linear algebraic equations (LAE) and ODE systems. The results can be used in mathematical modeling of dynamic systems described by ODE systems.

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Aerial Robot Model based design and verification of the single and multi-agent inspection application development

arXiv

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arXiv 2018年

作者： Yamaguchi, Seiko P. Sakuma, Masaru Ueno, Takaki Karolonek, Filip Uhl, Tadeusz Ravankar, Ankit A. Emaru, Takanori Kobayashi, Yukinori Laboratory of Robotics & Dynamics Div. of Human Mechanical Systems and Design Graduate School Faculty of Engineering Hokkaido University Sapporo Japan Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as: inspection, surveillance or search and rescue applications in challenging and complex environments. Furthermore, aerial robotics application with multi-agent systems are anticipated to further extend its potential. However, one of the major difficulties in aerial robotics applications is the testing of the elaborated system within safety concerns, especially when multiple agents are simultaneously applied. Thus, virtual prototyping and simulation-based development can serve in development, assessment and improvement of the aerial robot applications. In this research, two examples of the specific applications are highlighted: harbor structure and facilities inspection with UAV, and development of autonomous positioning of multi-UAVs communication relaying system. In this research, virtual prototype was designed and further simulated in multi-body simulation (MBS) feigning the sensing and actuating equipment behaviors. Simultaneous simulation of the control and application system running with software in the loop (SITL) method is utilized to assess the designed hardware behavior with modular application nodes running in Robot Operating System. Furthermore, prepared simulation environment is assessed with multi-agent system, proposed in previous research with autonomous position control of communication relaying system. Application of the virtual prototype’s simulation environment enables further examination of the proposed system within comparison degree with postfield tests. In future work, the proposed simulation environment can be further applied for motion and vibration control of the UAV applications. The research aims to contribute through case assessment of the design process to safer, time and cost-efficient development and application design in the field of aerial robotics. Copyright © 2018, The Authors. All

关键词： Multi agent systems

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Editor-in-Chief

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IEEE Access 2024年 12卷 i-xi页

作者： Derek Abbott Sonia Aissa Anuradha Annaswamy Nirwan Ansari Jun Cai Kun-Shan Chen Yixin Chen J.-C. Chiao Ayman El-Baz Shaikh Fattah Hoay Gooi Maya Gokhale Chih-Lin Ⅰ Giuseppe Iannaccone Yumi Iwashita Bruce Jacob Abbas Jamalipour Bahram Javidi Weihua Jiang Okyay Kaynak Hulya Kirkici Germano Lambert-Torres Shengtao Li Michal Mrozowski Michele Nappi Dalma Novak Hugo Proença Yi Qian Zhihua Qu Susanto Rahardja Mehrdad Saif Ali Serpengüzel Peter H. Siegel Ashitey Trebi-Ollennu Daniela Tuninetti Ge Wang Keith A. Wear Andreas Weisshaar C. Patrick Yue Enrico Zio School of Electrical and Electronic Engineering University of Adelaide Adelaide SA Australia Institut National de la Recherche Scientifique (INRS) Québec City Canada Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Concordia University Montreal Canada Guilin University of Technology Guilin China Washington University St. Louis MO USA Southern Methodist University Dallas TX USA University of Louisville/Bioengineering Department Louisville KY USA Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh Nanyang Technological University Jurong West Singapore Lawrence Livermore National Laboratory Livermore CA USA China Mobile Research Institute Beijing China University of Pisa Pisa Italy NASA-JPL California Institute of Technology Pasadena CA USA Florida Polytechnic University Lakeland FL USA The University of Sydney Sydney NSW Australia University of Connecticut Storrs CT USA Nagaoka University of Technology Nagaoka Niigata Japan Department of Electrical and Electronic Engineering Boğaziçi University Istanbul Turkey University of South Alabama Mobile AL USA Gnarus Institute Itajuba Brazil Xi’an Jiaotong University Xi’an China Gdansk University of Technology Gdansk Poland University of Salerno Fisciano Italy Octane Wireless Hanover MD USA University of Beira Interior Covilhã Portugal Department of Electrical and Computer Engineering University of NebraskaLincoln Lincoln NE USA University of Central Florida Orlando Florida USA Singapore Institute of Technology 10 Dover Dr Singapore Infocomm Technology Cluster 10 Dover Dr Singapore University of Windsor Windsor Canada Department of Physics Koç University Istanbul Turkey California Institute of Technology (CalTech) Pasadena California USA NASA-JPL Mobility and Robotics Systems S

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design of a 4-Finger End-Effector for paprika harvesting

Design of a 4-Finger End-Effector for paprika harvesting

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sungwoo Cho Jong Pyo Jun Hie-yong Jeong Hyoung Il Son Hybrid Robotics Inc. Gwangju Korea Department of Robotics Design for Innovative Healthcare Osaka University Osaka Japna Department of Rural and Biosystems Engineering Chonnam National University Gwangju Korea

ISBN: (纸本)9781538670804;9788993215168

This study is part of research in the development of robots that can automatically harvest paprika in Protected Horticulture. We designed the mechanism of the end-effector which grasping the paprika and cutting the peduncle, and developed the control device. The end-effector has four fingers to grip, regardless of the size and shape of paprika, position. The end-effector also has a cutter to cut the peduncle of paprika and a blade disinfection system to prevent viruses during cutting. We will try to evaluate the performance through future experiments.

关键词： End effectors Blades Grippers Viruses (medical) Tools

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