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Phase-transforming mechanical metamaterials with dynamically controllable shape-locking performance

National Science Review 2023年第9期10卷 270-285页

作者： Yiding Zhong Wei Tang Huxiu Xu Kecheng Qin Dong Yan Xujun Fan Yang Qu Zhaoyang Li Zhongdong Jiao Huayong Yang Jun Zou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University School of Mechanical Engineering Zhejiang University Institute of Process Equipment College of Energy EngineeringZhejiang University

Active mechanical metamaterials with customizable structures and deformations,active reversible deformation,dynamically controllable shape-lo cking performance and stretchability are highly suitable for applications in soft robotics and flexible electronics,yet it is challenging to integrate them due to their mutual ***,we introduce a class of phase-transforming mechanical metamaterials(PMMs) that integrate the above *** arranging basic actuating units according to the designed pattern configuration and positional relationship,PMMs can customize complex and diverse structures and ***-vapor phase transformation provides active reversible large deformation while a silicone matrix offers *** contained carbonyl iron powder endows PMMs with dynamically controllable shape-lo cking performance,thereby achieving magnetically assisted shape locking and energy storing in different working *** build a theoretical model and finite element simulation to guide the design process of PMMs,so as to develop a variety of PMMs with different functions suitable for different applications,such as a programmed PMM,reconfigurable antenna,soft lens,soft mechanical memory,biomimetic hand,biomime tic flytrap and self-contained soft *** are applicable to achieve various 2D deformations and 2D-to-3D deformations,and integrate multiple properties,including customizable structures and deformations,active reversible deformation,rapid reversible shape locking,adjustable energy storing and stretchability,which could open a new application avenue in soft robotics and flexible ele ctronics.

关键词： active mechanical metamaterials shape locking energy storage liquid–vapor phase transform soft robotics

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Establishment of Constraint Relation of Robot Dynamics Equation Based on Kinematic Influence Coefficients Method

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 450-456页

作者：徐亚茹李克鸿商新娜金晓明刘荣张建成 Beijing Engineering Research Center of Smart Mechanical Innovation Design Service Beijing Union UniversityBeijing 100027China College of Robotics Beijing Union UniversityBeijing 100020China Robotics Institute Beihang UniversityBeijing 100191China

Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly *** is difficult to establish the accurate dynamical model of industrial robots,which greatly hinders the realization of a stable,fast and accurate trajectory tracking ***,the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients ***,an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba *** problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is *** the SCARA robot as the research object,the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints.

关键词： industrial robot constraint relationship kinematic influence coefficients method Jacobian matrix Hessian matrix

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An evaluation method of contribution rate based on fuzzy Bayesian networks for equipment system-of-systems architecture

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Journal of systems engineering and Electronics 2023年第3期34卷 574-587页

作者： XU Renjie LIU Xin CUI Donghao XIE Jian GONG Lin School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China College of Systems Engineering National University of Defense TechnologyChangsha 410073China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing 314019China

The contribution rate of equipment system-of-systems architecture(ESoSA)is an important index to evaluate the equipment update,development,and architecture *** the traditional ESoSA contribution rate evaluation method does not make full use of the fuzzy information and uncertain information in the equipment system-of-systems(ESoS),and the Bayesian network is an effective tool to solve the uncertain information,a new ESoSA contribution rate evaluation method based on the fuzzy Bayesian network(FBN)is ***,based on the operation loop theory,an ESoSA is constructed considering three aspects:reconnaissance equipment,decision equipment,and strike ***,the fuzzy set theory is introduced to construct the FBN of ESoSA to deal with fuzzy information and uncertain ***,the fuzzy importance index of the root node of the FBN is used to calculate the contribution rate of the ESoSA,and the ESoSA contribution rate evaluation model based on the root node fuzzy importance is ***,the feasibility and rationality of this method are validated via an empirical case study of aviation *** with traditional methods,the evaluation method based on FBN takes various failure states of equipment into consideration,is free of acquiring accurate probability of traditional equipment failure,and models the uncertainty of the relationship between *** proposed method not only supplements and improves the ESoSA contribution rate assessment method,but also broadens the application scope of the Bayesian network.

关键词： equipment system-of-systems architecture(ESoSA) contribution rate evaluation fuzzy Bayesian network(FBN) fuzzy set theory

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Real-Time Geometric Joint Uncertainty Tracking for Surgical Automation on the dVRK System

Real-Time Geometric Joint Uncertainty Tracking for Surgical ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Li, Bin Lin, Hongbin Zhong, Fangxun Liu, Yunhui T Stone Robotics Institute The Chinese University of Hong Kong The Department of Mechanical and Automation Engineering Hong Kong

ISBN: (纸本)9781665481090

Accurate control of surgical robotics under uncertainty is crucial for achieving surgical autonomy. This uncertainty arises from sensor or model inaccuracies in surgical platforms, e.g., dVRK system, where joint bias in positioning and complex transmission effects caused by backlash and cable stretch. Previous approaches usually rely on depth sensors or additional offline calibration steps, making them difficult to deploy in real-world laparoscopy surgeries. In this paper, we propose a real-time geometric approach for calibrating joint errors on-the-fly combined with geometric features. An efficient visual detector is employed to identify the shaft mask and wrist keypoints. Based on the extracted features, we introduce a geometric model to recover the shaft axis pose and determine the first two joints uncertainty. Additionally, we develop a geometric model for wrist joints in projection space, calibrating remaining joint uncertainty through spatial geometry and the analytical structure of dVRK platform. Experimental results in simulation show that our approach significantly reduces joint error from 15° to 0.02°, with end-effector pose accuracy improving from centimeter to sub-millimeter level. This greatly enhances the accuracy and success rate of surgical automation. We also demonstrate robust control performance in diverse surgical tasks, highlighting the effectiveness of our geometric model in achieving accurate control despite joint offsets. © 2024 IEEE.

关键词： End effectors

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Quantitative Analysis of Frictional Forces and their Impact on Drilling Efficiency in Aluminum Alloy Machining

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Journal of The Institution of Engineers (India): Series C 2024年第6期105卷 1591-1601页

作者： Patil, Adarsh Hebasur, Varun Iranna Mahale, Rayappa Tambrallimath, Vijay Divya, G.S. Nagraj, Banakara Kattimani, Prasanna C. School of Mechanical Engineering KLE Technological University Hubli580031 India Department of Automation and Robotics JSPMs Rajashri Shahu College of Engineering Pune India Department of Automobile Engineering Dayananda Sagar College of Engineering Bangalore560111 India Department of Mechanical Engineering Ballari Institute of Technology and Management Ballari India Department of Mechanical Engineering Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India

This study examines the intricate dynamics of friction and emphasizes how crucial it is to global energy use. Inspired by a 1493 discovery of Leonardo da Vinci, the study establishes the independence of friction force from contact area and highlights the significance of the friction coefficient as a load-related metric. The mechanical and chemical characteristics of aluminum alloys are discussed in this article along with an assessment of how well high-speed steel (HSS) drill bits work in drilling operations. Samples of aluminum are thoroughly analyzed for characteristics like yield stress, ultimate tensile strength, and elongation. The results show that aluminum makes up the majority of the sample, with trace elements like silicon and magnesium. At the same time, characteristics including Young’s modulus, thermal conductivity, and specific heat capacity are investigated for HSS drill bits, which are renowned for their durability and thermal resistance. To quantify thrust force and torque, experimental methods use a drill dynamometer built into a vertical drilling machine. Drill bits with different diameters (6 mm, 8 mm, and 12 mm) are evaluated at controlled feed rates and speeds. Accurate cutting force recording is ensured by real-time sensor data. The application of Finite Element Analysis (FEA) provides insights into how to optimize drilling processes for increased productivity and tool longevity by examining the stress distribution and deformation in drill bits under various operating situations. © The Institution of Engineers (India) 2024.

关键词： Trace elements

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Direct Ink Writing Method of Fractal Wearable Flexible Sensor Based on Conductive Graphene/Polydimethylsiloxane Ink

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 18-26页

作者： CHEN Junling GAO Feiyang ZHANG Liming ZHENG Xiongfei State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Mechanical Engineering Shenyang Ligong UniversityShenyang110159China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China

Flexible electronic technology has laid the foundation for complex human-computer interaction system,and has attracted great attention in the field of human motion detection and soft *** has received an extensive attention due to its excellent electrical conductivity;however,how to use it to fabricate wearable flexible sensors with complex structures remains *** this study,we studied the rheological behavior of graphene/polydimethylsiloxane ink and proposed an optimal graphene ratio,which makes the ink have an good printability and conductivity at the same ***,based on the theory of Peano fractal layout,we proposed a two-dimensional structure that can withstand multi-directional tension by replacing the traditional arris structure with the arc *** that,we manufactured circular arc fractal structure sensor by adjusting ink composition and printing structure through direct ink writing ***,we evaluated the detection performance and repeatability of the *** method provides a simple and effective solution for fabricating wearable flexible sensors and exhibits the potential to fabricate 3D complex flexible electronic devices.

关键词： direct ink writing conductive graphene ink wearable flexible sensor strain sensing fractal structure

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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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Journal of Bionic engineering 2024年第1期21卷 288-302页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China Shenzhen Academy of Aerospace Technology Shenzhen 518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou 730050China

Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.

关键词： Episode cognition Reinforcement learning Hippocampus Robot navigation

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Parameter Design of Digital P-PI Controller for Motor Positioning systems Using Limited Pole Placement Method 50

Parameter Design of Digital P-PI Controller for Motor Positi...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Urakawa, Yoshiyuki Sirichai, Ngamlamai Robotics Department Advanced Engineering Faculty Nippon Institute of Technology Saitama Japan Mechanical System Engineering Major Graduated School Nippon Institute of Technology Saitama Japan

ISBN: (纸本)9781665464543

Positioning systems with motors are widely used in industrial use. Many production systems, mechatronics systems or industrial robots use high speed and high precision positioning systems with motors. Generally, the controllers of the positioning systems are proportional-to-proportional-integral (P-PI) controllers. They are often used because they have small overshoots and easy to tune. However, it needs fine-tunings to make settling motions smooth. There may be two reasons why the fine-tunings are needed for P-PI controllers. One is the pole assignment constraint of P-PI controller. Three poles of the P-PI control systems for motor positioning cannot be assigned freely. One of the three poles always stay at a slow position. Another reason is the digital delay when the P-PI controllers are applied to the practical systems. The digital system with the delay becomes vibrational because of the phase delay of the calculation time. It makes the overshoot of the trajectory. In this paper, the influences and solutions of the pole assignment constraint and the digital delay are shown. The pole assignment constraint limits the performance of the closed loop. The feedforward controller is shown to be the solution of this constraint. The digital delay makes the overshoot, but it can be corrected by the limited pole placement (LPP) method proposed by the author. It enables accurate pole-zero assignment without overshoots under the conditions of the digital delay. © 2024 IEEE.

关键词： Industrial robots

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Soft wearable flexible bioelectronics integrated with an anklefoot exoskeleton for estimation of metabolic costs and physical effort

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npj Flexible Electronics 2023年第1期7卷 535-544页

作者： Jihoon Kim Prakyath Kantharaju Hoon Yi Michael Jacobson Hyungkeun Jeong Hojoong Kim Jinwoo Lee Jared Matthews Nathan Zavanelli Hyeonseok Kim Heejin Jeong Myunghee Kim Woon-Hong Yeo IEN Center for Human-Centric Interfaces and Engineering and George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Department of Mechanical and Industrial Engineering the University of Illinois at ChicagoChicagoIL 60607USA Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoulRepublic of Korea Human Systems Engineering The Polytechnic SchoolIra A.Fulton Schools of EngineeringArizona State UniversityMesaAZ 85212USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Robotics and Intelligent Machines Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for MaterialsNeural Engineering CenterGeorgia Institute of TechnologyAtlantaGA 30332USA

Activities and physical effort have been commonly estimated using a metabolic rate through indirect calorimetry to capture breath *** physical effort represents the work hardness used to optimize wearable robotic ***,personalization and rapid optimization of the effort are *** respirometry is the gold standard for estimating metabolic costs,this method requires a heavy,bulky,and rigid system,limiting the system’s field ***,this paper reports a soft,flexible bioelectronic system that integrates a wearable ankle-foot exoskeleton,used to estimate metabolic costs and physical effort,demonstrating the potential for real-time wearable robot adjustments based on *** from a set of activities,including walking,running,and squatting with the biopatch and exoskeleton,determines the relationship between metabolic costs and heart rate variability root mean square of successive differences(HRV-RMSSD)(R=−0.758).Collectively,the exoskeleton-integrated wearable system shows potential to develop a field-deployable exoskeleton platform that can measure wireless real-time physiological signals.

关键词： skeleton wear estimation

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Soft-bionic-fishtail structured triboelectric nanogenerator driven by flow-induced vibration for low-velocity water flow energy harvesting

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Nano Research 2023年第1期16卷 466-472页

作者： Sheng Zhang Zhaoxu Jing Xinxian Wang Mingkang Zhu Xin Yu Jianyang Zhu Tinghai Cheng Hongwei Zhao Zhong Lin Wang Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of SciencesBeijing 101400China School of Nanoscience and Technology University of Chinese Academy of SciencesBeijing 100049China Institute of Robotics and Intelligent Systems Wuhan University of Science and TechnologyWuhan 430081China School of Materials Science and Engineering Georgia Institute of TechnologyAtlantaGeorgia30332-0245USA School of Mechanical and Aerospace Engineering Jilin UniversityChangchun 130022China

To adapt to the low-velocity water flow closely related to human life,the natural energy can be efficiently harvested and used to power monitoring ***,a triboelectric soft fishtail(TE-SFT)driven by flow-induced vibration(FIV)effect is proposed based on the soft material synthesis ***,inspired by the fishtail fin,a bluff body with the cross-section of fishtail-shaped is designed,and has a preferable vortex effect by fluid *** power generation part,the triboelectric nanogenerator(TENG)is designed to act as an inertial pendulum structure by geometric *** the FIV effect,the TESFT driven by fishtail-shaped bluff body swings like a fish in the water and then brings the inertial pendulum to acquire the oscillation for harvesting energy from low-velocity water *** TE-SFT attains an open-circuit voltage(VOC)of 200 V to 313 V at the flow velocities of 0.24 to 0.89 m/***,after 30 days of water immersion,the VOC of TE-SFT retains 96.81%.In demonstration,the TE-SFT is applied to power the temperature and humidity sensor through harvesting water flow *** work also provides a way for self-powered system based on the TENG and soft bionic fish in water environment.

关键词： low-velocity water flow flow-induced vibration soft fishtail triboelectric nanogenerator energy harvesting

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