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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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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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Cryo-CACTI: Cryogenic-Aware CACTI for Cache Modeling down to 10K in Advanced 7nm FinFETs

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IEEE Transactions on Computers 2025年

作者： Ravipati, Divya Praneetha van Santen, Victor M. Parihar, Shivendra Singh Chauhan, Yogesh Singh Panda, Preeti Ranjan Amrouch, Hussam Indian Institute of Technology Delhi Department of Computer Science and Engineering New Delhi India Technical University of Munich TUM School of Computation Information and Technology Chair of AI Processor Design Munich Institute of Robotics and Machine Intelligence Germany Kanpur Nanolab Department of Electrical Engineering Uttar Pradesh India

Cryogenic circuits are currently employed in fields such as quantum computing, particle detectors, magnetic resonance imaging, and space applications. While cryogenic circuits are being researched, there is limited work on designing cryogenic caches at temperatures below 77K. Moreover, there is no tool to estimate the delay, power, and area of cryogenic caches at advanced technology nodes. Our research focuses on the development of cryogenic caches tailored for the 7nm technology node, operating at 10K. However, a key challenge is the lack of cryogenic measurement data, especially in recent technologies. Consequently, through conducting our own FinFET transistor measurements, we calibrate cryogenic transistor models at 10K. With the 7nm cryogenic transistor data, we model Cryo-CACTI for cryogenic caches (due to cache’s vital role in improving performance and their considerable share in area and power of the processor). Using Cryo-CACTI, our evaluation reveals considerable improvements in the energy efficiency (up to 99%) of cryogenic caches of larger sizes compared to the caches at room temperature (300K). Additionally, we explore alternative cache configurations at circuit-level to optimize cryogenic operation. Furthermore, we use Cryo-CACTI to explore the performance/energy consumption of cryogenic caches while simulating workloads such as SPEC CPU2017 and machine learning via neural networks. © 1968-2012 IEEE.

关键词： Combinatorial circuits

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QTER: QoS-Aware Three-Dimensional Efficient and Reliable Routing for LEO Satellite Networks

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IEEE Internet of Things Journal 2025年

作者： Zheng, Jinkai Luan, Tom H. Li, Guanjie Zhang, Yanfeng Yuan, Mingfeng Pan, Jianping Dongguan University of Technology School of Electrical Engineering and Intelligentization China Xi’an Jiaotong University China Xidian University School of Cyber Engineering China Singapore University of Technology and Design Information Systems Technology and Design Pillar Singapore University of Toronto Institute for Aerospace Studies University of Toronto Robotics Institute Canada University of Victoria Department of Computer Science Canada

Low Earth Orbit (LEO) satellite networks offer a promising approach for achieving global coverage and high-speed Internet access. However, the existing communication frameworks within these networks may result in low robustness and reliability. This paper introduces QTER, a novel and lightweight routing framework specifically designed for LEO networks, aimed at addressing these challenges. Our contributions are threefold. First, QTER establishes a cost-effective and reliable routing framework that accommodates a variety of applications with distinct Quality of Service (QoS) requirements. By enabling multi-path routing, the framework minimizes costs while ensuring end-to-end reliability, thus enhancing adaptability to diverse service demands. Second, we leverage the unique structural characteristics of LEO satellite networks by modeling the satellite constellation as a three-dimensional network, wherein higher-shell satellites serve as management satellite nodes (MSNs) to coordinate routing strategies among lower-shell satellites. This architecture significantly improves system efficiency and adaptability. Third, we propose a failure recovery mechanism that allows MSNs to relay packets when lower-orbit satellites are rendered unavailable due to environmental factors, thereby enhancing system robustness. Extensive simulations demonstrate that QTER exhibits resilience to node failures and dynamic network conditions, achieving reductions in average cost and delay by 59.4% and 38.9%, respectively, compared to baselines. © 2014 IEEE.

关键词： Resource allocation

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Deep Learning based Infrared Small Object Segmentation: Challenges and Future Directions

arXiv

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arXiv 2025年

作者： Yang, Zhengeng Yu, Hongshan Zhang, Jianjun Tang, Qiang Mian, Ajmal College of Engineering and Design Hunan Normal University Hunan Changsha410081 China School of Robotics Hunan University Hunan Changsha410082 China Department of Computer Science The University of Western Australia PerthWA6009 Australia

Infrared sensing is a core method for supporting unmanned systems, such as autonomous vehicles and drones. Recently, infrared sensors have been widely deployed on mobile and stationary platforms for detection and classification of objects from long distances and in wide field of views. Given its success in the vision image analysis domain, deep learning has also been applied for object recognition in infrared images. However, techniques that have proven successful in visible light perception face new challenges in the infrared domain. These challenges include extremely low signal-to-noise ratios in infrared images, very small and blurred objects of interest, and limited availability of labeled/unlabeled training data due to the specialized nature of infrared sensors. Numerous methods have been proposed in the literature for the detection and classification of small objects in infrared images achieving varied levels of success. There is a need for a survey paper that critically analyzes existing techniques in this domain, identifies unsolved challenges and provides future research directions. This paper fills the gap and offers a concise and insightful review of deep learning-based methods. It also identifies the challenges faced by existing infrared object segmentation methods and provides a structured review of existing infrared perception methods from the perspective of these challenges and highlights the motivations behind the various approaches. Finally, this review suggests promising future directions based on recent advancements within this domain. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantic Segmentation

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