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Joint International Conference of the 14th International Conference on Mechanisms and Mechanical Transmissions and 26th International Conference on robotics, MTM and robotics 2024

作者： Brad, Stelian Balog, Bogdan Florian, Vlad Deeb, Eyas Stan, Ovidiu Department Design Engineering and Robotics Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (纸本)9783031875366

The article explores how to resolve challenges in putting together electrical cabinets, particularly in managing wires and cables, with a focus on deformable linear objects (DLO). The study combines complex systems design techniques (CSDT) framework and the theory of inventive problem solving (TRIZ) in a structured way to handle and uncover creative ways to achieve desired results. The gripper model was derived from the methodology and by suggesting the reinforcement learning algorithm to enhance the route planning and further improving the adaptation of the electrical cabinet process for optimal assembly. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Grippers

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OFDM-structure based waveform designs for integrated sensing and communication

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Science China(Information Sciences) 2025年第5期68卷 267-284页

作者： Jiaqi LIU Ping YANG Ke JIANG Jiarong ZHAO Wei XIANG Jianping WEI Ruixiang DUAN Saviour ZAMMIT Tony Q.S.QUEK National Key Laboratory of Wireless Communications University of Electronic Science and Technology of China School of Computing Engineering and Mathematical Sciences La Trobe University Meituan Academy of Robotics Department of Communications and Computer Engineering University of Malta Information Systems Technology and Design Pillar Singapore University of Technology and Design

The future sixth-generation(6G) paradigm aims to seamlessly integrate communication and environmental sensing capabilities into a single radio signal, promising improved efficiency and cost-effectiveness through simultaneous data communications and environmental perception. At the core of this evolution, orthogonal frequency division multiplexing(OFDM) and its advanced waveforms emerge as pivotal for integrated sensing and communications(ISAC). This study introduces a concise and unified ISAC waveform design framework based on orthogonal multicarriers. This framework supports versatile applications of OFDM and its derivative waveforms within a generalized ISAC system, marking a significant leap in integrating communication and sensing capabilities. A distinguishing feature of this framework is its adaptability,allowing users to intelligently select modulation strategies based on their specific environmental needs. This adaptability optimizes performance across diverse scenarios. Central to our innovations is the proposal of discrete Fourier transformspread OFDM with index modulation(DFT-S-OFDM-IM). This framework is paired with newly proposed signal processing methods for single-input single-output and multiple-input multiple-output(MIMO) systems. Extensive evaluations highlight DFT-S-OFDM-IM's superiority, including dramatically reduced peak-to-average power ratios(PAPRs), competitive communication performance, and exceptional sensing capabilities, striking an elegant balance between communication capacity and environmental sensing precision.

关键词： DFT-S-OFDM-IM index modulation integrated sensing and communication OFDM

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Assessing the Business Continuity Risk in Technical Entrepreneurship Using the Altman Z-Score 24th

Assessing the Business Continuity Risk in Technical Entrepre...

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24th International Symposium for Production Research, ISPR 2024

作者： Chiribău-Vitlinger, Ștefania Dragomir, Diana Dragomir, Mihai Popescu, Sorin Department of Design Engineering and Robotics Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (纸本)9783031835827

Manufacturing companies in particular, and technical enterprises in general, face a considerable number of risks in starting up and ensuring the continuity of the business. Aspects related to technological developments, market changes and other external factors, together with the internal transformations and the organizational capability, can lead to difficulties in which companies must assess their position in being able to carry out their business model and be competitive. The current article presents a case study in Romania in which the situations of the companies has been analysed using the Altman Z-Score, a metric specifically developed to perform a large-scale evaluation of manufacturing companies based on their recorded market and financial performance. The case describes the situations in detail and uses publicly available data to carry out the calculations, after which it proposes various improvement and intervention measures to reduce the pressures on the studied companies and restore their viability in line with the concept of second-chance technical entrepreneurship. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Altman Z-score Business continuity Risk management Technical entrepreneurship

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Forearm-Driven Soft Prosthetic Hand designed for Children with the Ability to Execute Intricate and Skillful Motions

Forearm-Driven Soft Prosthetic Hand Designed for Children wi...

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11th International Conference on Mechatronics and robotics engineering, ICMRE 2025

作者： Taniguchi, Hironari Yakami, Ren Morinaga, Kosuke Wakimoto, Shuichi Osaka Institute of Technology Department of Robotics and Design Osaka Japan Hiroshima International University Department of Rehabilitaion Higashi-Hiroshima Japan Okayama University Department of Systems Engineering Okayama Japan

ISBN: (纸本)9798331509293

The prosthetic hand we have developed is powered by air pressure, and its functionality is not impaired even when the finger joints are flexibly deformed. This makes it possible to grasp objects of various shapes, and it has the advantages of durability and high safety for the user and others. We have evaluated the performance of the developed prosthetic hand and conducting user tests using only the prosthetic hand. Of the 19 tasks performed, 14 were successfully completed. The user was able to achieve movements that were comparable to those of normal subjects in the task using grip strength grasping. The results of the user test confirmed several issues regarding the functionality of the prosthetic hand, but it was thought that it could sufficiently fulfill the purpose of assisting bimanual motion in an environment where children actually use the prosthetic hand. © 2025 IEEE.

关键词： prosthetic hand soft actuator soft robotics

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A Phase-change-material-based Variable Stiffness Sheath Inspired by a Multi-layer Wave Spring Structure for Flexible Upper Gastrointestinal Endoscopic Robots

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IEEE robotics and Automation Letters 2025年第6期10卷 6504-6511页

作者： Song, Dezhi Luo, Xiangyu Yu, Xiangyang Zhang, Bo Yang, Zhengbao Hu, Chengzhi Shi, Chaoyang Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Tianjin300072 China Tianjin Hospital of ITCWM Tianjin Nankai Hospital Department of Gastrointestinal Surgery Tianjin300100 China Waseda University Future Robotics Organization Tokyo1620044 Japan The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong Southern University of Science and Technology Department of Mechanical and Energy Engineering Shenzhen518055 China

Continuum robots in flexible gastrointestinal endoscopy require transitioning between flexible and rigid states. Phase-change-material-based variable stiffness (VS) methods exhibit a significant stiffness change ratio but are typically time-consuming. These materials are commonly fabricated as simple cylindrical or tubular structures and integrated with continuum joints, overlooking how the VS module's structural characteristics affect stiffness modulation and bending performance. To balance motion flexibility and operational stability, this work presents a stiffness-tunable sheath inspired by a multi-layer wave spring structure, fabricated utilizing thermoplastic material. A water-based active heating/cooling method is employed, wherein the circulation of hot/cold water through silicone tubes helically wrapped around the VS sheath enables rapid thermal regulation. Structural parameters selection of the VS sheath based on the orthogonal design method has been performed to enhance rigid-state stiffness and reduce maximum stress during 90° flexion in a flexible state. Experimental results showed the proposed VS sheath achieves a stiffness change ratio of up to 16.5 times within 30s. After being integrated with a continuum joint, the sheath demonstrates an average positioning error of 1.48mm within a ±90° bending range in a flexible state, without structural compromise or interference with the continuum joint's bending. In a rigid state, the proposed design can resist 400g external payload with a deflection of less than 6mm. The efficacy of this design has been validated through ex-vivo experiments on a porcine stomach. © 2016 IEEE.

关键词： Endoscopy

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A Comparison of Model-Free Controllers for Trajectory Tracking in a Plant-Inspired Soft Arm 13th

A Comparison of Model-Free Controllers for Trajectory Tracki...

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13th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2024

作者： Nazeer, Muhammad Sunny Ansari, Yasmin Tauqeer Falotico, Egidio Laschi, Cecilia Department of Mechanical Engineering College of Design and Engineering National University of Singapore Singapore Singapore Bioinspired Soft Robotics Lab Istituto Italiano di Tecnologia Genoa Italy The Biorobotics Institute Scuola Superiore Sant’Anna Pontedera Italy

ISBN: (纸本)9783031725968

The field of soft robotics is experiencing a transformative phase with the emergence of self-supporting modular soft robot arms, inspired by design principles drawn from climbing plants, which are gaining recognition as a rich source of bio-inspiration. The vision to deploy these systems in highly unstructured environments, qualifies the need to investigate model-free algorithms that facilitate motion capabilities based solely on data regarding system-environment interactions. This paper delves into the development of model-free controllers to enable tracking capabilities in these systems. While the trajectory tracking task is already recognized as challenging in the context of redundant continuum/soft arms, the difficulty is compounded when aiming to generate control policies solely from sequential feedback from the environment. The novelty of this work lies in the development of both learning-based and learning-free model-free computational frameworks to address this task. Both controllers are validated on a 9-DoF modular cable-driven plant-inspired soft arm for moving through multiple trajectories in 3D space. The comparison of these controllers holds significant insights to future directions for the practical applicability of these systems in real-world scenarios, and are promising to pave way for novel application scenarios. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Robotic arms

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Blockchain-Enabled Secure Offloading for VEC: A Multi-Agent Reinforcement Learning Approach

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IEEE Transactions on Dependable and Secure Computing 2025年第3期22卷 2978-2995页

作者： Lu, Xiaozhen Xiao, Liang Xiao, Yilin Xiong, Zehui Liu, Zhe Zhang, Yanyong Zhuang, Weihua Nanjing University of Aeronautics and Astronautics College of Computer Science and Technology Nanjing211106 China Xiamen University Department of Information and Communication Engineering Xiamen361005 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518172 China Singapore University of Technology and Design Pillar of Information Systems Technology and Design 487372 Singapore Zhejiang Lab Hangzhou310027 China University of Science and Technology of China School of Computer Science and Technology Hefei230026 China University of Waterloo Department of Electrical and Computer Engineering WaterlooONN2L 3G1 Canada

Vehicular edge computing (VEC) helps improve the task computational performance of vehicles on roads but has difficulty in defending against eavesdropping and selfish attacks simultaneously. In this paper, we design a reputation-based smart contract with blockchain and propose a multi-agent reinforcement learning (RL) based secure offloading scheme for VEC against both eavesdropping and selfish attacks. This scheme has a three-level hierarchical structure for each vehicle and uses the reputations obtained from the blockchain as the basis to optimize the edge node selection, offloading ratio, and power allocation, which aims to reduce the task computational latency, the vehicle energy consumption and eavesdropping rate. By using a punishment function based on the constraints, this scheme avoids exploring dangerous policies that can cause task failure or severe data leakage. A multi-agent deep RL-based secure offloading scheme is proposed for vehicles with sufficient resources, which evaluates the long-term risk rather than the punishment function to further improve the secure offloading performance. The regret bound is analyzedand the cumulative reward upper bound is provided. Simulation results verify the effectiveness of our schemes as compared with the benchmark. © 2004-2012 IEEE.

关键词： Computation offloading

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Reversible Stiffening of Biopolymeric Hybrid Networks by Dynamically Switching Cross-Links In Situ

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ACS Applied Materials and Interfaces 2025年第20期17卷 29276-29290页

作者： Reh, Jana T. Voigt, Sebastian Gareis, Leonard R. Gürer, Ufuk Sieber, Stephan A. Özkale, Berna Lieleg, Oliver School of Engineering and Design Department of Materials Engineering Technical University of Munich Boltzmannstraße 15 Garching85748 Germany Technical University of Munich Ernst-Otto-Fischer Straße 8 Garching85748 Germany Munich Institute of Biomedical Engineering Technical University of Munich Boltzmannstraße 11 Garching85748 Germany Ernst-Otto-Fischer-Str. 8 Garching85748 Germany Department of Electrical Engineering School of Computation Information and Technology Technical University of Munich Hans-Piloty-Straße 1 Garching85748 Germany Munich Institute of Robotics and Machine Intelligence Technical University of Munich Georg-Brauchle-Ring 60 Munich80992 Germany

Achieving reversible stiffening of biopolymer networks in a controlled manner remains a challenging topic in materials science, especially when trying to assess the following changes in mechanical material properties in real time. To address these challenges, we here utilize a custom-made measurement setup that allows us to manipulate the cross-linking state of alginate-based hydrogels in situ while quantifying the achieved alterations in the viscoelastic response of the biopolymer networks. Interpolymer connections in the biopolymer networks are created by a combination of light-induced, covalent cross-links, ionic cross-links, and DNA-based cross-links, where the latter two can be successfully removed again by employing either chelating agents (e.g., ethylenediaminetetraacetic acid and citrate) or suitable displacement DNA strands. In part, this range of the different cross-linking options mentioned is inter alia made possible by incorporating the glycoprotein mucin into the alginate system, which also allows for a range of different starting (∼0.2-400 Pa), intermediate (∼25 Pa-1.6 kPa), and final stiffnesses (∼4 Pa-1.2 kPa) of the mixed hydrogel matrix. At the same time, the presence of mucins (1-4% (w/v)) in the biopolymer mixture enhances the properties of the cytocompatible hydrogel by improving its antibacterial characteristics. Such well-controllable alginate/mucin networks with dynamically switchable mechanical properties will likely find broad applications in cell cultivation studies or tissue engineering applications. © 2025 The Authors. Published by American Chemical Society.

关键词： Viscoelasticity

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Improving the damping capacity of NiTiHf alloys with nanoscale spherical Nb phases

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Journal of Materials Science and Technology 2025年 236卷 310-316页

作者： Zhang, Siwen Li, Quan Xu, Yan Wang, Meimei Huang, Guangfa Jin, Mingjiang Zhu, Yuntian Lu, Weijie State Key Laboratory of Metal Matrix Composites School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Materials Science and Engineering City University of Hong Kong Kowloon518172 Hong Kong Max Planck Institute for Sustainable Materials Düsseldorf40237 Germany Institute of Phase Transformation and Microstructure Design School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Co Ltd Shanghai200020 China

Shape memory alloys (SMAs) are well-suited for vibration and noise reduction due to their outstanding mechanical and damping properties. However, their damping capacity is limited due to low-temperature stabilized thermoelastic martensite and constrained twin migration. This work designs nanoscale Nb phases to enhance the damping capacity and maintain a wide working temperature range of NiTiHf-based SMAs. The NiTiHf/Nb alloys containing spherical Nb phases demonstrate a 125 % improvement in internal friction (IF) and remain stable up to 400 K. Alloys with spherical Nb phases exhibit relatively high intrinsic IF, which is mainly attibuted to the high migration ability of martensitic twin boundaries. High-resolution transmission electron microscopy images and IF spectra suggest spherical Nb phases provide additional dislocation damping effects and interface damping effects by inducing multiple types of dislocations near the multi-directional phase interfaces. These findings provide insights into the role of second-phase shape effect in damping properties and offer valuable guidance for designing ultra-high damping alloys. © 2025

关键词： Damping

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Forearm-Driven Soft Prosthetic Hand designed for Children with the Ability to Execute Intricate and Skillful Motions

Forearm-Driven Soft Prosthetic Hand Designed for Children wi...

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Mechatronics and robotics engineering (ICMRE), International Conference on

作者： Hironari Taniguchi Ren Yakami Kosuke Morinaga Shuichi Wakimoto Department of Robotics and Design Osaka Institute of Technology Osaka Japan Department of Rehabilitaion Hiroshima International University Higashi-Hiroshima Japan Department of Systems Engineering Okayama University Okayama Japan

ISBN: (数字)9798331509293

ISBN: (纸本)9798331509309

关键词： Wiring Pediatrics Actuators Shape Grasping Soft robotics Valves Safety Solenoids Prosthetic hand

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