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Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

Nano-Micro Letters 2024年第2期16卷 450-483页

作者： Qianqian Wang Shihao Yang Li Zhang Jiangsu Key Laboratory for Design and Manufacture of Micro‑Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211189People’s Republic of China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China T Stone Robotics Institute The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Department of Surgery The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse *** are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to *** the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing *** review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment *** recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.

关键词： Micro/nanorobot Remote sensing Wireless control Self-propulsion Actuation at small scales

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Multidual Quaternions Based Dynamics Modelling for a Rigid-Flexible Coupling Spacecraft and Application 74

Multidual Quaternions Based Dynamics Modelling for a Rigid-F...

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74th International Astronautical Congress, IAC 2023

作者： Condurache, Daniel Pîslă, Adrian Dept. of Theoretical Mechanics "Gheorghe Asachi" Technical University of Iasi D. Mangeron Street No.59 Iasi700050 Romania Design Engineering and Robotics Department Technical University in Cluj-Napoca Memorandumului Street No 28 Cluj-Napoca400114 Romania

In this paper, we reveal a dual-algebra-based procedure to obtain exact expressions for the six degrees of freedom (6-DOF) relative orbital motion problem of two spacecraft. The result is achieved by purely analytical methods in the general topic of any Leader and Deputy motion, without singularities or implying any secular terms. Orthogonal dual tensors and dual quaternions play a crucial role, with the solution representation for describing the complete onboard solution of the 6-DOF orbital motion problem. The answer does not depend on the local-vertical-local-horizontal (LVLH) properties that are true in any reference frame of the Leader. A representation theorem is provided for the full-body initial value problem. Furthermore, the representation theorems for the rotation part and translation part of the relative orbital motion are obtained. Recently, on-orbit service, formation flying, rendezvous and docking, fuel modelling, and other close-distance operations have attracted increasing attention from researchers. Traditional control methods assume that the translation and rotation of spacecraft are decoupled, and spacecraft control adopts the serial control mode of alternate attitude and orbit control. As early as the 1960s, dual quaternions' position and attitude coupling characteristics were applied in space robotics and astrodynamics. As a result, the kinematics theory of dual and multi-dual quaternions has become increasingly complete. In computer vision, kinematics theory based on dual and multi-dual algebras has the advantages of low memory occupation, singularity-free, accurate interpolation, and has been widely used in animation production. In the field of dynamics and control, recent papers analysed the characteristics of the dual and multi-dual quaternion kinematics model. According to mission requirements, the configuration of attachments often needs to be symmetrical. This requires the establishment of system dynamics equations under any configuratio

关键词： dual algebra full body problem Lie algebra Lie group relative orbital motion rigid-flexible spacecraft

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A Voxel-Enabled Robotic Assistant for Omnidirectional Conveyance

A Voxel-Enabled Robotic Assistant for Omnidirectional Convey...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Michael Angelo Carvajal Katiso Mabulu Muneer Lalji James Flanagan Rui Luo Samuel Hibbard Tanav Chinthapatla Rohan Bettadpur Salah Bazzi Mark Zolotas Kristian Kloeckl Taşkın Padır Institute for Experiential Robotics Northeastern University Boston MA USA Department of Art + Design School of Architecture Northeastern University Electrical and Computer Engineering Northeastern University

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Conventional bidirectional conveyance platforms use a flat translating belt or a series of spinning wheels or rollers to apply a shear force to payloads to move them. Wheel/roller-based conveyors in particular cannot double as a worktop when idle, do not support collision-free multi-object manipulation by default, and are not optimized to move objects that are either slippery or pliable—let alone both. This paper introduces a Voxel-Enabled Robotic Assistant (VERA), a network of intelligent table "partitions" whose topologically dynamic worktops enable omnidirectional conveyance; each partition is composed of a 2D array of "quadrants," axisymmetric modules that can be hot-swapped for maintenance or repairs; each quadrant contains a 2D array of "cells," unitary robotic submodules; each cell houses an independently controllable "voxel," the motorized rotary element that conveys an overhead object. The efficacy of a VERA prototype was determined by evaluating waypoint error as a range of payloads were maneuvered between trajectory waypoints. By conveying both pliable and rigid payloads having slippery textures, the faceted voxels outperformed those augmented to mimic the circular-profiled wheels/rollers of competitor systems. VERA also successfully performed collision-free multi-object planar manipulations planned by its pathfinding algorithm. In light of these results, VERA emerges as a promising material handling platform for use in "Future of Work" settings as the need for multi-purpose collaborative industrial robots continues to grow.

关键词： Visualization Translation Service robots Prototypes Wheels Trajectory Mobile robots Collision avoidance Robots Payloads

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Effect of Magnetic Moments Towards Swimming Behavior and Performance of the Soft Milli-Robots

Effect of Magnetic Moments Towards Swimming Behavior and Per...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Xiuzhen Tang Laliphat Manamanchaiyaporn Research Unit of Small-Scale Robotics Center of Excellence in Creative Engineering Design and Development Department of Mechanical Engineering Faculty of Engineering Thammasat School of Engineering Thammasat University Thailand

Remote controllability, real-time response, and small size are critically requirement of medical devices operated in blind, unstructured, and fluidic environments of biomedical regions. Untethered swimming soft milli-robots have been developed to fulfill treatment and therapy in such that region under magnetic navigation. The soft robot's motor-less mechanism with a high-DOF utilizes magnetic compliance of the deformable structure with a minimal control of oscillating magnetic field. Theoretically, magnetic property of the robots is defined by magnetic moments consisting of orientation and strength. Orientation can be programmed by magnetizing technique, and strength is defined by quantity of magnetic moments in the structure. Herein, this work investigates how orientation and quantity of magnetic moments affect swimming behavior and performance of the robots. The soft robots are designed into three distinguish types of magnetic property embedded in the deformable structure; the I-robot has non-uniform magnetic orientation and uniform magnetic strength, the II-robot has uniform magnetic orientation and non-uniform magnetic strength, and the III-robot has non-uniform magnetic orientation and non-uniform magnetic strength. The results interestingly report that each type of robot's property functions mechanism and benefits swimming performance differently under the same control parameters. The I-robot does not have any exceptional potential, but the II-robot can be operated at the higher control frequency even reaching the step-out point. The III-robot shows the greatest performance in swimming and maneuverability. These results are useful to design a swimming soft-robot capable of applying for various purposes, especially when the demand concerns non-harm, small-scale, soft-interface, and remote controllability.

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Vision-Based Object Sorting in Dynamic Environments using YOLO for RoboCup ARM Challenge 2023

Vision-Based Object Sorting in Dynamic Environments using YO...

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Conference on Information and Communication Technology (CICT)

作者： Yash Kumar Sahu Radhika Mittal Deep Patel Chayan Maiti M Sreekumar Department of Computer Science Centre for AI IoT and Robotics Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai India Department of Mechanical Engineering Centre for AI IoT and Robotics Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai India

In the intersection of Artificial Intelligence (AI) and robotics, autonomous object manipulation has emerged as a pivotal research domain, finding applications in sectors as diverse as manufacturing and healthcare. While significant strides have been made in object identification, trajectory planning, and manipulation tasks, these advancements often fall short in real-world, dynamic settings, revealing a critical research gap in algorithmic adaptability and computational efficiency. This paper addresses the gap by applying YOLOv4, a state-of-the-art object detection AI algorithm, within the context of the RoboCup Autonomous Robot Manipulation (ARM) Challenge—a competitive platform designed to simulate real-world complexities in autonomous systems. The research objectives are twofold: firstly, the performance of YOLOv4 in object detection and classification under dynamically changing conditions is rigorously evaluated, employing varied training strategies in both simulated and real-world scenarios. Secondly, the robustness and adaptability of the algorithm in object manipulation tasks are scrutinized and facilitated by the real-world dynamics inherent to the competition. Empirical results demonstrate the algorithm’s high accuracy, efficiency, and robustness in dynamic environments, substantiating its broader applicability in the development of autonomous systems.

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Intelligent upper-limb exoskeleton integrated with soft bioelectronics and deep learning for intention-driven augmentation

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npj Flexible Electronics 2024年第1期8卷 856-868页

作者： Jinwoo Lee Kangkyu Kwon Ira Soltis Jared Matthews Yoon Jae Lee Hojoong Kim Lissette Romero Nathan Zavanelli Youngjin Kwon Shinjae Kwon Jimin Lee Yewon Na Sung Hoon Lee Ki Jun Yu Minoru Shinohara Frank L.Hammond Woon-Hong Yeo Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoul 04620Republic of Korea IEN Center for Wearable Intelligent Systems and Healthcare Institute for Electronics and NanotechnologyGeorgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Industrial Design Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Electronic Engineering Yonsei UniversitySeoul 03722Republic of Korea School of Biological Sciences Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Materials Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper ***,we introduce an intelligent upper-limb exoskeleton system that utilizes deep learning to predict human intention for strength *** embedded soft wearable sensors provide sensory feedback by collecting real-time muscle activities,which are simultaneously computed to determine the user’s intended *** deep learning predicts four upper-limb joint motions with an average accuracy of 96.2%at a 500–550 ms response rate,suggesting that the exoskeleton operates just by human *** addition,an array of soft pneumatics assists the intended movements by providing 897 newtons of force while generating a displacement of 87mm at *** intent-driven exoskeleton can reduce human muscle activities by 3.7 times on average compared to the unassisted exoskeleton.

关键词： skeleton learning utilize

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Photonic structures in radiative cooling

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Light(Science & Applications) 2023年第7期12卷 1187-1215页

作者： Minjae Lee Gwansik Kim Yeongju Jung Kyung Rok Pyun Jinwoo Lee Byung-Wook Kim Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical EngineeringSeoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea Electronic Device Research Team Hyundai Motor Group37Cheoldobangmulgwan-roUiwang-siGyeonggi-do 16082South Korea E-drive Materials Research Team Hyundai Motor Group37Cheoldobangmulgwan-roUiwang-siGyeonggi-do 16082South Korea Department of Mechanical Robotics and Energy EngineeringDongguk University30 pildong-ro 1-gilJung-guSeoul 04620South Korea. Department of Civil Engineering and Engineering Mechanics Columbia UniversityNew YorkNY 10027USA. Institute of Advanced Machinery and Design(SNU-IAMD)/lnstitute of Engineering Research Seoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea

Radiative cooling is a passive cooling technology without any energy consumption,compared to conventional cooling technologies that require power sources and dump waste heat into the *** decades,many radiative cooling studies have been introduced but its applications are mostly restricted to nighttime use ***,the emergence of photonic technologies to achieves daytime radiative cooling overcome the performance *** example,broadband and selective emissions in mid-IR and high reflectance in the solar spectral range have already been *** review article discusses the fundamentals of thermodynamic heat transfer that motivates radiative *** photonic structures such as multilayer,periodical,random;derived from nature,and associated design procedures were thoroughly *** integration with new functionality significantly enhances the effciency of radiative cooling technologies such as colored,transparent,and switchable radiative cooling applications has been *** commercial applications such as reducing cooling loads in vehicles,increasing the power generation of solar cells,generating electricity,saving water,and personal thermal regulation are also ***,perspectives on radiative cooling and emerging issues with potential solution strategies are discussed.

关键词： radiative overcome transparent

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Real-Time Performance Monitoring of a CNC Milling Machine using ROS 2 and AWS IoT Towards Industry 4.0

Real-Time Performance Monitoring of a CNC Milling Machine us...

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Eurocon

作者： Deep Patel Chayan Maiti Sreekumar Muthuswamy Department of Mechanical Engineering Centre for AI IoT and Robotics Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai India

The current trend of Industry 4.0 is bringing significant changes to manufacturing processes, with the Internet of Things (IoT) and Cyber-Physical Systems (CPS) becoming essential platforms for achieving high-quality products and throughput. This paper proposes a novel system design for the digital transformation of a CNC milling machine towards Industry 4.0, using a sensor network based on Robot Operating System 2 (ROS 2) connected to the Amazon Web Services (AWS) IoT platform. The system uses two sensors, an inductive proximity sensor (KD18-3008PA) for spindle speed monitoring and an infrared thermal sensor (MLX90614-DCC) for monitoring the tool bit temperature. Data from the sensors is collected using the ESP32-WROOM, which transmits the collected data to the Raspberry Pi 4 (RPi 4) running micro-ROS agents. The RPi 4 acts as an IoT gateway, publishing data to AWS IoT core, where it is stored and visualized using Amazon QuickSight. The proposed system enables real-time monitoring of the CNC milling machine's performance, facilitating predictive maintenance and improving efficiency. The results show that the proposed system design effectively achieves digital transformation and can be scalable and flexible, making it suitable for various applications and as a foundation for further research in Industry 4.0.

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A Bio-inspired Solution for Double Support Force Distribution in Humanoid Robot Locomotion

A Bio-inspired Solution for Double Support Force Distributio...

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IEEE-RAS International Conference on Humanoid Robots

作者： Francisco Javier Andrade Chavez Vidyasagar Rajendran Katja Mombaur CERC Human-Centred Robotics and Machine Intelligence of Department of Systems Design Engineering University of Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Institute of Technology (KIT) Institute of Anthropomatics and Robotics (IAR) Karlsruhe Germany

In locomotion, the likelihood of slipping or maintaining contact is determined by the forces applied in the environment. Therefore, it is crucial to find methods of keeping forces within friction constraints. In single support, the relationship between center of mass acceleration and forces is unique. However, in double support, it becomes a non-deterministic problem. It is often assumed that forces are distributed to minimize a certain effort criterion. An interesting alternative is to distribute the forces in a manner similar to how a human would, which could result in a more human-like gait for humanoid robots. With this in mind, we introduce the modified Twin Polynomial Method (mTPM) as a technique to accurately distribute double support forces in a human-like way. The relevant relationships used in this method are presented, and we compare its performance against the current state of the art in human gait analysis. The comparison is conducted across three different types of contacts with the environment: barefoot, socks, and shoes. We show how human data differs from a ‘typical’ robot walk and use the proposed method to generate a more human-like distribution for robots.

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The Effect of Coil Geometry and Winding Method on the Electromagnetic Launcher Performance 48

The Effect of Coil Geometry and Winding Method on the Electr...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Mohamed Abdo, Mohamed Magdy Fanni, Mohamed Miyashita, Tomoyuki Ahmed, Sabah Mohamed Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Ain Shams Univeristy Faculty of Engineering Engineering Physics and Mathematics Department Cairo Egypt Mansoura University Production Engineering and Mechanical Design Department Mansoura Egypt Waseda University School of Creative Science and Engineering Department of Modern Mechanical Engineering Tokyo Japan Assuit University Electrical Engineering Department Assuit71515 Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Electromagnetic launchers become spread in many applications. This type of launcher is used to accelerate a slug made of ferromagnetic material. Many researchers compete to enhance the performance of this type. The launcher consists of simple components such as a capacitor bank, electronic switches, launcher coil, and charging circuit. In this paper, the authors have physically built the launcher system and reinforced the launcher performance by changing the winding method and making the trigger coil in a conical shape to reduce the deceleration effect of the last half of the trigger, this modification has proven its superiority over the straight coil. © 2022 IEEE.

关键词： Electromagnetic launchers

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