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A Lightweight Flexible Semi-Cylindrical Valve for Seamless Integration in Soft Robots Based on the Giant Electrorheological Fluid

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SSRN

SSRN 2022年

作者： Huang, Tiantian Xu, Denan Zhang, Hang Bai, Ou Aravelli, Aparna Zhou, Xiaoxiao Han, Bin School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430070 China Human Cyber-Physical Systems Laboratory The Department of Electrical and Computer Engineering Florida International University Florida33174 United States Applied Research Center Florida International University Florida33174 United States Guangdong Intelligent Robotics Institute Dongguan523808 China

Complete compliance of soft robots is a trending research topic. One significant aspect is the control element. In the current work, a flexible electro-rheological (ER) valve development is chosen due to the advantage of its dynamic power density, convenient electronic control mode and no mechanical moving parts. These properties enable the ER valve to be miniaturized and easily integrated into a fluid-driven soft robot. However, the integration effect of the existing flexible ER valve configuration in soft robots is not ideal. In this study, a novel concentric semi-cylindrical flexible giant ER (GER) valve with a dual flowing direction is proposed for a soft robot to enable a larger deformation bending motion with multiple motion modes. The resulting valve has an overall volume of 50 mm 3 , a mass of 0.88 g, and a maximum controlling pressure of 84 kPa with a pressure change rate of 13.9, which is suitable for most soft robot applications. The pressure difference calculation method for the concentric semi-cylindrical GER valve is discussed. The effects of size, voltages, and flow rates on the valve’s static and dynamic performances, as well as the characteristics of the two pressure regulation modes, are investigated through simulations and experiments. The seamless integration and flexibility of the proposed valve are demonstrated by controlling a typical network actuator with six motion modes. Finally, a soft robot composed of two actuators is fabricated and realized the grasping of multiple everyday objects using different motion modes. © 2022, The Authors. All rights reserved.

关键词： Nanofluidics

Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

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ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

Adaptive Robust Invariant Extended Kalman filtering for Biped Robot*

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Adaptive Robust Invariant Extended Kalman filtering for Bipe...

IEEE International Conference on robotics and Biomimetics

作者： Chengzhi Gao Ye Xie Shiqiang Zhu Guanyu Huang Lingyu Kong Anhuan Xie Jason Gu Dan Zhang Jun Shao Haofu Qian Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Zhejiang University Hangzhou Zhejiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada B3H 4R2 York University North York Toronto M3J 1P3 Canada School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9781665481106

The precise estimation of system states is essential for the locomotion control of biped robots to maintain balance. Currently, the estimation of system states is either based on vision data that is susceptible to the environment, or fusing data from Inertial Measurement Unit (IMU) and the kinematic calculation. Invariant Extended Kalman Filtering (IEKF) is one of the most successful fusing algorithms to estimate system state. Generally, in IEKF, the noise covariance of system state is assumed to be known. However, the noise covariance of contact point for biped is not available since the ground-contact situation normally varies and not previously known. This paper presents a new fusing algorithm-Adaptive Robust Invariant Extended Kalman Filtering (ARIEKF) to adaptively adjust the noise parameter of contact point. The proposed algorithm applied the principle of robust estimation to resist outlier effects of state, and introduced an adaptive factor for the noise covariance of state to control its outlying disturbance influences. This paper firstly completed the full state estimation of biped robot using the theory of Lie groups and invariant observer. Then, the adaptive scale factor evaluated by three-segment approach was adopted to adjust the noise covariance of contact point. Finally, both IEKF and proposed ARIEKF are applied to our biped robot-Cosmos and the accuracy of two algorithms are compared. The mean square errors of the velocity of two algorithms were evaluated using the measurements from motion capture system. Experiments demonstrated that the mean square errors of the velocity are decreased 50 percent when compared with IEKF.

关键词： Measurement units Filtering Mean square error methods Resists Observers Motion capture Kalman filters

Dynamic models of spherical parallel robots for model-based control schemes

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arXiv 2021年

作者： Hassani, Ali Bataleblu, Abbas Khalilpour, S.A. Taghirad, Hamid D. Cardou, Philippe Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran Department of Mechanical Engineering Robotics Laboratory Laval University Quebec CityQCG1V 0A6 Canada

In this paper, derivation of different forms of dynamic formulation of spherical parallel robots (SPRs) is investigated. These formulations include the explicit dynamic forms, linear regressor, and Slotine-Li (SL) regressor, which are required for the design and implementation of the vast majority of model-based controllers and dynamic parameters identification schemes. To this end, the implicit dynamic of SPRs is first formulated using the principle of virtual work in task-space, and then by using an extension, their explicit dynamic formulation is derived. The dynamic equation is then analytically reformulated into linear and S-L regression form with respect to the inertial parameters, and by using the Gauss-Jordan procedure, it is reduced to a unique and closed-form structure. Finally, to illustrate the effectiveness of the proposed method, two different SPRs, namely, the ARAS-Diamond, and the 3-RRR, are examined as the case studies. The obtained results are verified by using the MSC-ADAMS® software, and are shared to interested audience for public access. © 2021, CC BY.

关键词： Spheres

PierGuard: A Planning Framework for Underwater Robotic Inspection of Coastal Piers

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arXiv 2025年

作者： Wang, Pengyu Lin, Hin Wang Li, Jialu Wang, Jiankun Shi, Ling Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong JJiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering The Chinese University of Hong Kong in Hong Kong Hong Kong Department of Electrical and Computer Engineering University of Alberta Canada

Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rapid path planning within complex environments. Sampling-based path planning methods, such as Rapidly-exploring Random Tree* (RRT*), have demonstrated notable performance in high-dimensional spaces. In recent years, researchers have begun designing various geometry-inspired heuristics and neural network-driven heuristics to further enhance the effectiveness of RRT*. However, the performance of these general path planning methods still requires improvement when applied to highly cluttered underwater environments. In this paper, we propose PierGuard, which combines the strengths of bidirectional search and neural network-driven heuristic regions. We design a specialized neural network to generate high-quality heuristic regions in cluttered maps, thereby improving the performance of the path planning. Through extensive simulation and real-world ocean field experiments, we demonstrate the effectiveness and efficiency of our proposed method compared with previous research. Our method achieves approximately 2.6 times the performance of the state-of-the-art geometric-based sampling method and nearly 4.9 times that of the state-of-the-art learning-based sampling method. Our results provide valuable insights for the automation of pier inspection and the enhancement of maritime safety. The updated experimental video is available in the supplementary materials. Copyright © 2025, The Authors. All rights reserved.

关键词： Motion planning

A DNA Based Colour Image Encryption Scheme Using A Convolutional Autoencoder

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arXiv 2022年

作者： Ahmed, Fawad Rehman, Muneeb Ur Ahmad, Jawad Khan, Muhammad Shahbaz Boulila, Wadii Srivastava, Gautam Lin, Jerry Chun-Wei Buchanan, William J. Department of Cyber Security Pakistan Navy Engineering College NUST Karachi75350 Pakistan Department of Electrical Engineering HITEC University Taxila Pakistan School of Computing Edinburgh Napier University Edinburgh United Kingdom Department of Electrical Engineering HITEC University Taxila47080 Pakistan Robotics and Internet-of-Things Laboratory Prince Sultan University Riyadh Saudi Arabia RIADI Laboratory University of Manouba Manouba Tunisia Math and Computer Science Brandon University Brandon Canada Research Centre for Interneural Computing China Medical University Taichung Taiwan Dept of Computer Science and Math Lebanese American University Beirut Lebanon Western Norway University of Applied Sciences Bergen Norway

With the advancement in technology, digital images can easily be transmitted and stored over the Internet. Encryption is used to avoid illegal interception of digital images. Encrypting large-sized colour images in their original dimension generally results in low encryption/decryption speed along with exerting a burden on the limited bandwidth of the transmission channel. To address the aforementioned issues, a new encryption scheme for colour images employing convolutional autoencoder, DNA and chaos is presented in this paper. The proposed scheme has two main modules, the dimensionality conversion module using the proposed convolutional autoencoder, and the encryption/decryption module using DNA and chaos. The dimension of the input colour image is first reduced from N × M × 3 toP × Q gray-scale image using the encoder. Encryption and decryption are then performed in the reduced dimension space. The decrypted gray-scale image is upsampled to obtain the original colour image having dimension N × M × 3. The training and validation accuracy of the proposed autoencoder is 97% and 95%, respectively. Once the autoencoder is trained, it can be used to reduce and subsequently increase the dimension of any arbitrary input colour image. The efficacy of the designed autoencoder has been demonstrated by the successful reconstruction of the compressed image into the original colour image with negligible perceptual distortion. The second major contribution presented in this paper is an image encryption scheme using DNA along with multiple chaotic sequences and substitution boxes. The security of the proposed image encryption algorithm has been gauged using several evaluation parameters, such as histogram of the cipher image, entropy, NPCR, UACI, key sensitivity, contrast, etc. The experimental results of the proposed scheme demonstrate its effectiveness to perform colour image encryption. © 2022, CC BY.

关键词： DNA

Image super-resolution with an enhanced group convolutional neural network

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arXiv 2022年

作者： Tian, Chunwei Yuan, Yixuan Zhang, Shichao Lin, Chia-Wen Zuo, Wangmeng Zhang, David School of Software Northwestern Polytechnical University Shaanxi Xi’an710129 China National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology Shaanxi Xi’an710129 China Department of Electrical Engineering City University of Hong Kong Hong Kong School of Computer Science and Engineering Central South University Hunan Changsha410083 China Department of Electrical Engineering the Institute of Communications Engineering National Tsing Hua University Hsinchu Taiwan School of Computer Science and Technology Harbin Institute of Technology Heilongjiang Harbin150001 China Peng Cheng Laboratory Guangdong Shenzhen518055 China Guangdong Shenzhen518172 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

CNNs with strong learning abilities are widely chosen to resolve super-resolution problem. However, CNNs depend on deeper network architectures to improve performance of image super-resolution, which may increase computational cost in general. In this paper, we present an enhanced super-resolution group CNN (ESRGCNN) with a shallow architecture by fully fusing deep and wide channel features to extract more accurate low-frequency information in terms of correlations of different channels in single image super-resolution (SISR). Also, a signal enhancement operation in the ESRGCNN is useful to inherit more long-distance contextual information for resolving long-term dependency. An adaptive up-sampling operation is gathered into a CNN to obtain an image super-resolution model with low-resolution images of different sizes. Extensive experiments report that our ESRGCNN surpasses the state-of-the-arts in terms of SISR performance, complexity, execution speed, image quality evaluation and visual effect in SISR. Code is found at https://***/hellloxiaotian/ESRGCNN. Copyright © 2022, The Authors. All rights reserved.

关键词： Convolution

Exploration-RRT: A multi-objective path planning and exploration framework for unknown and unstructured environments

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arXiv 2021年

作者： Lindqvist, Björn Agha-Mohammadi, Ali-Akbar Nikolakopoulos, George The Robotics and Artificial Intelligence Team Department of Computer Electrical and Space Engineering Luleå University of Technology LuleåSE-97187 Sweden The Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109 United States

This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and path planning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been specifically designed for utilization in 3D exploration missions, with partially or completely unknown and unstructured environments. The novel proposed ERRT is based on a multi-objective optimization framework and it is able to take under consideration the potential information gain, the distance travelled, and the actuation costs, along trajectories to pseudo-random goals, generated from considering the on-board sensor model and the non-linear model of the utilized platform. In this article, the algorithmic pipeline of the ERRT will be established and the overall applicability and efficiency of the proposed scheme will be presented on an application with an Unmanned Aerial Vehicle (UAV) model, equipped with a 3D lidar, in a simulated operating environment, with the goal of exploring a completely unknown area as efficiently and quickly as possible. Copyright © 2021, The Authors. All rights reserved.

关键词： Motion planning

COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations

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arXiv 2021年

作者： Lindqvist, Björn Kanellakis, Christoforos Mansouri, Sina Sharif Agha-Mohammadi, Ali-Akbar Nikolakopoulos, George The Robotics and Artificial Intelligence Team Department of Computer Electrical and Space Engineering Luleå University of Technology LuleåSE-97187 Sweden Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109 United States

This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and-Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomously explore previously unknown areas while specific mission criteria are considered e.g. an object of interest is identified and localized, the remaining useful battery life, the overall desired exploration mission duration. The proposed architecture follows a low-complexity algorithmic design to facilitate fully on-board computations, including nonlinear control, state-estimation, navigation, exploration behavior and object localization capabilities. The framework is mainly structured around a reactive local avoidance planner, based on enhanced Potential Field concepts and using instantaneous 3D pointclouds, as well as a computationally efficient heading regulation technique, based on depth images from an instantaneous camera stream. Those techniques decouple the collision-free path generation from the dependency of a global map and are capable of handling imprecise localization occasions. Field experimental verification of the overall architecture is performed in relevant unknown Global Positioning System (GPS)-denied *** Codes I.2.9 Copyright © 2021, The Authors. All rights reserved.

关键词： Object recognition