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Inverse Origami Design Model for Soft Robotic Development

Soft robotics 2024年第1期11卷 131-139页

作者： Hu, Qiqiang Li, Junyang Tao, Jian Dong, Erbao Sun, Dong Department of Biomedical Engineering City University of Hong Kong Hong Kong Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei China Department of Electronic Engineering Ocean University of China Qingdao China CAS Key Laboratory of Mechanical Behavior and Design of Materials School of Engineering Science University of Science and Technology of China Hefei China Centre for Robotics and Automation Shenzhen Research Institute of City University of Hong Kong Shenzhen China

Origami provides an opportunity to construct a wide range of 3D functional structures by folding a flat sheet. It can be used to develop various soft functional robots by combining soft smart actuators. However, a simple and an effective model that can address the challenging problem of designing origami patterns to connect origami design with robotics is lacking, thereby greatly increasing the threshold of soft origami robots and hindering its development. This study proposes an easy-to-use inverse origami design model to generate the flat crease pattern from the desired folded shape automatically while simulating origami morphing by simply providing the shape parameters or 2D shape graphics. This method overcomes the difficulty of origami design and enables a close connection between origami and robotics. Through this method, various soft origami robots can be developed with low design complexity and time cost to achieve different functions, thereby promoting the development of soft origami robots. © 2024 Mary Ann Liebert Inc.. All rights reserved.

关键词： Robots

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RoboCup 2024 Adult-Sized Humanoid Champions Guide for Hardware, Vision, and Strategy

RoboCup 2024 Adult-Sized Humanoid Champions Guide for Hardw...

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27th RoboCup International Symposium, 2024

作者： Fernandez, Gabriel I. Liu, Yeting Togashi, Colin Gillespie, Kyle Zhu, Alvin Wang, Quanyou Wang, Yicheng Nam, Hyunwoo Wang, Shiqi Hou, Ruochen Zhu, Mingzhang Navghare, Aditya Xu, Alex Zhu, Taoyuanmin Sung Ahn, Min Flores Alvarez, Arturo Quan, Justin Hong, Ethan Hong, Dennis W. RoMeLa Robotics and Mechanisms Laboratory Department of Mechanical and Aerospace Engineering Geffen Academy at UCLA University of California Los AngelesCA90095 United States

ISBN: (纸本)9783031858581

Through the course of RoboCup 2024 our team scored 45 goals over 6 seated matches and, ultimately, unseated the longstanding reigning champions in our division with a victory of 6 goals to 1. In this paper we will focus on hardware, vision, and high-level decision making while briefly touching upon others. Our humanoid robot named Artemis is around 1.4 m tall, weighing over 35 kg. Artemis is designed to be lightweight featuring quasi-direct drive actuators with motor housings which serve as drive inputs to the next motor at the hips to save weight. For the tournament the foot was redesigned to allow for increased kicking accuracy, contact rate, and durability when stepped on. For vision we introduce several practical filters and an additional component termed proximity to address potential failure cases when an opponent or obstacle is very near. Finally, we discuss the strategies and overall planning architecture used during the tournament for high level decision making. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Anthropomorphic robots

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Exploring Eye-tracking based Biomarkers to Assess Cognitive Abilities in Autistic Children: A Feasibility Study

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IEEE Journal of Biomedical and Health Informatics 2025年第6期29卷 4401-4414页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 China Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Peng Cheng Laboratory Shenzhen518000 China

Cognitive assessment can reveal a person's cognitive processing and behavioral patterns, making it an indispensable component of autism intervention and prognosis. Existing machine-assisted cognitive assessment methods primarily focus on children's performance outcomes, overlooking distinctive behavioral models, particularly characteristics of eye movement behavior, which have been demonstrated as the most direct indicators of cognitive abilities. In this study, we explore eye-tracking biomarkers for assisting cognitive assessment through a series of meticulously designed multi-level human-computer interaction protocols, encompassing three cognitive abilities: pairing and categorization, emotion recognition, and social interaction. A platform embedded with an eye-tracking module has been developed to reliably collect and analyze eye movement data, even in the presence of unrestricted large head movements in children. Experimental results indicate that there are significant group differences between autism and typically developing children in the eye-tracking features of total fixation duration, response latency, time to first fixation, mean fixation duration, and visit count in the absence of significant intergroup differences in the Wechsler Preschool and Primary Scale of Intelligence (WPPSI) and Wechsler Intelligence Scale for Children (WISC) assessment results. In addition, certain eye movement features in each group are correlated with WPPSI/WISC scale scores, enabling clinical cognitive assessments within each group based on these eye movement features. This study suggests that using eye-tracking features as biomarkers to assist detailed cognitive assessments holds significant potential for the intervention and prognosis of autism. © 2013 IEEE.

关键词： Diseases

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Hyperspectral Image Classification Using Custom Spectral Convolutional Neural Networks (CSCNNs) 14

Hyperspectral Image Classification Using Custom Spectral Con...

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14th International Conference on Information Science and Technology, ICIST 2024

作者： Rouamba, Stephanie Zhang, Nian Mahmoud, Wagdy Thompson, Lara Denis, Max Deksissa, Tolessa University of the District of Columbia Department of Electrical and Computer Engineering WashingtonDC United States University of the District of Columbia Department of Mechanical Engineering Biomedical Engineering Program WashingtonDC United States University of the District of Columbia Department of Mechanical Engineering WashingtonDC United States Water Resources Research Institute University of the District of Columbia WashingtonDC United States

ISBN: (纸本)9798350353334

Custom spectral convolutional neural networks (CSCNNs) combine the strengths of convolutional neural networks with specialized spectral processing, resulting in improved classification accuracy by effectively capturing subtle variations in hyperspectral data. This paper proposes a CSCNNs based approach to classify hyperspectral images. The proposed method leverages the high-dimensional spectral data inherent in hyperspectral images, employing convolutional layers specifically designed to capture spectral-spatial features. By reducing dimensionality through principal component analysis and creating image patches, the model is trained to recognize complex patterns across different spectral bands. In addition, a comprehensive analysis of CSCNN performance is carried out, focusing on its architecture, key features, and benefits in computational efficiency and spectral representation. Experimental results on datasets such as Salinas-A, Pavia University (Pavia-U), and Indian Pines demonstrate that the CSCNN model surpasses traditional methods, achieving higher classification accuracy and more robust performance metrics like overall accuracy (OA), average accuracy (AA), and Kappa coefficient. The proposed model achieved an overall accuracy (OA) of 98.2%, 96.7%, and 92.5% for the Salinas-A, Pavia-U, and Indian Pines datasets, respectively. The model's average accuracy (AA) was 97.5%, 95.4%, and 89.8% for the same datasets. Furthermore, the model attained Kappa coefficients of 97.7%, 95.2%, and 89.1% for Salinas-A, Pavia-U, and Indian Pines, respectively. © 2024 IEEE.

关键词： Convolutional neural networks

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic Systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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Acoustic Reflector-Integrated Encapsulation for Needle-Aligned Ultrasound-Guided PCNL Access

Acoustic Reflector-Integrated Encapsulation for Needle-Align...

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2023 IEEE International Ultrasonics Symposium, IUS 2023

作者： Palisetti, Abhinav King, Alexander Priestner, Cabot Yi, Haohao Tang, Yichuan Murakami, Ryo Zhang, Haichong K. Worcester Polytechnic Institute Biomedical Engineering Department WorcesterMA United States Worcester Polytechnic Institute Mechanical Engineering Department WorcesterMA United States Worcester Polytechnic Institute Robotics Engineering Department WorcesterMA United States

ISBN: (纸本)9798350346459

Percutaneous Nephrolithotomy (PCNL) is a procedure to remove kidney stones by needle insertion into the kidney followed by dilation of the needle path for surgical tools to enter and stones to be removed. Current techniques for needle insertion either do not visualize the needle entry point into tissue, or require careful hand-hand coordination to visualize the needle. This research aims to develop a stable system to visualize the entire needle insertion path during ultrasound-guided PCNL. A novel method, designed by Tang et al. (2022), implemented two parallel acoustic reflectors to reflect ultrasound into the patient, and a needle inserted through a gap between the reflectors. Results showed the ability to visualize the needle path at any needle pitch angle, and, most importantly, the ability to visualize the needle from its insertion point to the target. In this current research, a modular design was created that allowed any probe to fit into the system by altering just three components. Several structural modifications were made to make the system waterproof, allowing the fluid material that housed the reflectors to be replaced with a fluid with better sound transmission. An algorithm was created to allow better needle tip and needle path visualization by analyzing raw image data. Custom acoustic impedance-matched materials were used to allow better sound transmission and better image quality. Through multiple tests and a mathematical model, the team developed an optimal combination of materials that produced the best image quality, determined through Contrast to Noise Ratio (CNR), Signal to Noise Ratio (SNR), and Full-Width Half-Maximum (FWHM). © 2023 IEEE.

关键词： Signal to noise ratio

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A Passive Recursive Newton Euler Algorithm and Its Application to Inverse Dynamics under Passivity-based Controller

A Passive Recursive Newton Euler Algorithm and Its Applicati...

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2025 IEEE International Conference on Simulation, Modeling, and programming for Autonomous Robots, SIMPAR 2025

作者： Kim, Jonghyeok Choi, Youngjin Park, Jonghoon Chung, Wan Kyun Postech Department of Mechanical Engineering Pohang37673 Korea Republic of Hanyang University Department of Robotics Ansan15588 Korea Republic of Neuromeka Seoul06023 Korea Republic of

ISBN: (纸本)9798331516857

This paper proposes a passivity-based Recursive Newton-Euler algorithm, abbreviated pRNE. The proposed pRNE algorithm solves the inverse dynamics under a passivity-based controller, which requires calculating the product term of the Coriolis matrix C(q, q) and the reference velocity qref, that is, C(q, q) qref. Two major parts are modified compared to the standard RNE algorithm: 1) matrix-vector factorization in single rigid body dynamics satisfying the skew-symmetric property, and 2) propagation for reference velocity and acceleration in recursive computation. Through simulation, the proposed pRNE algorithm combined with the passivity-based inverse dynamic controller (P-IDC) validates an accurate tracking performance under model uncertainty and disturbance compared to the standard inverse dynamic controller (IDC). © 2025 IEEE.

关键词： Matrix factorization

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A study on the feasibility of friction stir welding in joining dissimilar metals for SS400 and Ti-6Al-4V 9

A study on the feasibility of friction stir welding in joini...

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9th International Conference on Precision Machinery and Manufacturing Technology, ICPMMT 2024

作者： Hsieh, M.J. Chu, L.M. Chang, Y.P. Department of Power Mechanical Engineering National Taitung Junior College Taitung950303 Taiwan Interdisciplinary Program of Green and Information Technology National Taitung University Taitung95092 Taiwan Department of Mechanical Engineering Kun Shan University Tainan71000 Taiwan

This study designed friction stir multi-pass welding machine to conduct friction stir welding on carbon steel/titanium alloy clad sheets. The experimental process utilized the pin and pinless tools. The results demonstrate that the two dissimilar materials can be welded using the assembly-embedded rod pinless tool under the following welding conditions: a rotational speed of 1200 rpm, a downward force of 4 kN, a welding speed of 15 mm/min, and tool offset distances of 5 and 10 mm. Furthermore, this study investigated the microstructure and mechanical properties of the weld. In addition, the peak temperature measured at the joint interface exceeded the β phase transition temperature of the titanium alloy and surpassed 1000oC. The shear tensile test shows the weld's failure load was about 4300 N. The intermetallic compound at the welding interface has a microhardness value of approximately 400 Hv. According to the results of SEM observations and EDS composition element analysis, the elements of low carbon steel and titanium alloy at the interface of the clad sheet diffused and formed Fe-Ti intermetallic compounds. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Titanium alloys

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An interpretable deep learning approach for designing nanoporous silicon nitride membranes with tunable mechanical properties

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npj Computational Materials 2023年第1期9卷 1524-1533页

作者： Ali KShargh Niaz Abdolrahim Department of Mechanical Engineering University of RochesterRochesterNY 14627USA Materials Science program University of RochesterRochesterNY 14627USA Laboratory for Laser Energetics University of RochesterRochesterNY 14627USA

The high permeability and strong selectivity of nanoporous silicon nitride(NPN)membranes make them attractive in a broad range of *** their growing use,the strength of NPN membranes needs to be improved for further extending their biomedical *** this work,we implement a deep learning framework to design NPN membranes with improved or prescribed strength *** examine the predictions of our framework using physics-based *** results confirm that the proposed framework is not only able to predict the strength of NPN membranes with a wide range of microstructures,but also can design NPN membranes with prescribed or improved *** simulations further demonstrate that the microstructural heterogeneity that our framework suggests for the optimized design,lowers the stress concentration around the pores and leads to the strength improvement of NPN membranes as compared to conventional membranes with homogenous microstructures.

关键词： tunable prescribed strength

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Design of a Novel Modular Flux Switching Permanent Magnet Resolver

Design of a Novel Modular Flux Switching Permanent Magnet Re...

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2023 IEEE International Magnetic Conference - Short Papers, INTERMAG Short Papers 2023

作者： Mi, Wenyuan Yu, Jincheng Song, Zaixin Yang, Kuang Cai, Zheng Zhao, Hang School of Mechanical Engineering and Automation Shenzhen China The Hong Kong Polytechnic University Department of Industrial and Systems Engineering Hong Kong Robotics and Autonomous Systems Thrust Guangzhou China

ISBN: (纸本)9798350338362

Permanent magnet (PM) resolvers are highly employed with the ascent of the electric machine speed. In this digest, a novel modular flux switching PM (FSPM) resolver is designed based on the FSPM machine. By removing the stator yoke, the flux path in each tooth coil is fixed and the total harmonic distortion (THD) of the output voltage is reduced to only 0.37%. Moreover, the proposed 12/16 FSPM resolver can be adapted to fit different rotor poles under the same mechanical support with different modular units (e.g., 6/8 and 10/8 FSPM resolver). Therefore, it can be applied in electric machines with variable rotor pole pairs. © 2023 IEEE.

关键词： Permanent magnets

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