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Bio-inspired and programmable Marangoni motor for highly maneuverable and adaptable S-aquabots

eScience 2025年第3期5卷

作者： Zhou, Yexi Guan, Xiao Zhao, Dazhe Zhang, Kaijun Huang, YongAn Zhong, Junwen Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics University of Macau Macau SAR 999078 China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan 430074 China Flexible Electronics Research Center Huazhong University of Science and Technology Wuhan 430074 China

Mobility, environmental adaptability, and functionality are essential attributes of robots, but these become challenging for small-scale on-water robots, also referred to as S-aquabots. Herein, we propose a programmable Marangoni motor (PM-motor) to propel centimeter-scale S-aquabots with high maneuverability and adaptability. Lightweight, compact, flexible hybrid electronics are used to precisely release ethanol to achieve controllable propulsion, smart sensing, and wireless communication functions. The PM-motor utilizes the surface tension gradient generated by the ethanol, which is released from leaf-inspired veins and improves fuel efficiency by 3.5 times when compared with traditional Marangoni effect-propelled robots. As a result, the device's endurance is up to ∼226 s for a navigation distance of ∼5 m with just 1.2 mL ethanol. Benefiting from the leaf-like shape and negligible noise production, the S-aquabots can also blend well with their surroundings. Autonomous response capability is demonstrated by guiding an S-aquabot with laser spots to complete a butterfly-shaped trajectory. Equipped with a mini-camera or digital sensors, untethered S-aquabots deployed on an outdoor pool can capture real-time videos or monitor long-term environmental conditions. This work is beneficial for inspiring insightful design strategies to develop S-aquabots with high practical potential. © 2024 The Authors

关键词： Bio-inspired electronics Flexible electronics Maneuverability Marangoni effect Soft robots

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Periodic Motion Planning and control for Double Rotary Pendulum via Virtual Holonomic Constraints

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 291-298页

作者： Zeguo Wang Leonid B.Freidovich Honghua Zhang Beijing Institute of Control Engineering IEEE the Robotics and Control Laboratory (www.control.tfe.umu.se) Department of Applied Physics and ElectronicsUmea University

Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also mean some relation between state variables and could be used in the motion *** consider a double rotary pendulum, which has an underactuation degree 2. A novel periodic motion planning is presented based on an optimization search. A necessary condition for existence of the whole periodic trajectory is given because of the higher underactuation degree of the system. Moreover this condition is given to make virtual holonomic constraint(VHC) based control design feasible. Therefore, an initial guess for the optimization of planning a feasible periodic motion is based on this necessary condition. Then, VHCs are used for the system transformation and transverse linearization is used to design a static state feedback controller with periodic matrix function gain. The controller gain is found through another optimization procedure. The effectiveness of initial guess and performance of the closed-loop system are illustrated through numerical simulations.

关键词： Double rotary pendulum periodic motion planning under-actuated mechanical systems virtual holonomic constraint (VHC)

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A KNOWLEDGE-BASED APPROACH TO MODELING OF ROBOTIC ASSEMBLY CELLS

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ROBOTICA 1991年第1期9卷 31-42页

作者： KIM, DW LEE, BH KO, MS Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University Seoul 151–742 (Korea)

In this paper, an approach to modelling of a robotic assembly cell is proposed and a method for managing the cell operation is described using a knowledge base. Since the modelling structure is based on the concept of the state variable, the relationships between states are described by the state transition map (STM). The knowledge-bases for state transition and assembly job information are obtained from the STM and the assembly job tree (AJT), respectively. Using the knowledge-base, the system structure is discussed in relation to both managing the cell operation and evaluating the performances. Finally, a simulation algorithm is presented with the simulation results to show the significance of the proposed modelling approach.

关键词： MODELING ASSEMBLY CELLS robotics KNOWLEDGE-BASE STATE TRANSITION

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Portable System and User Interface for ECG and EMG Acquisition, Conditioning, and Parameters Extraction

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Procedia Computer Science 2025年 256卷 1216-1223页

作者： Luiz E. Luiz Wilson J. da Silva Salviano Soares Paulo Leitão João P. Teixeira Research Centre in Digitalization and Intelligent Robotics (CeDRI) Laboratório Associado para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC) Instituto Politécnico de Bragança 5300-253 Bragança Portugal Postgraduate Programme in Electrical Engineering and Industrial Informatics - CPGEI Federal Technological University of Paraná 80230-901 Curitíba Paraná Brazil Engineering Department School of Sciences and Technology University of Trás-os-Montes and Alto Douro (UTAD) Quinta de Prados 5000-801 Vila Real Portugal Institute of Electronics and Informatics Engineering of Aveiro (IEETA) University of Aveiro 3810-193 Aveiro Portugal Intelligent Systems Associate Laboratory (LASI) University of Aveiro 3810-193 Aveiro Portugal

Electrical signals from the human body are constantly the focus of research, searching for a better understanding of physiological events, discovering early signs of disease, and improving life quality. Developing devices that allow research beyond the usual requirements and allow easy adaptation regarding the system’s acquisition, conditioning, and processing parts could be a step toward better understanding some behaviours. Therefore, this work focused on designing a system that goes from the discrete components to a graphical interface, allowing user control of parameters to set the acquisition in a way that favours the specific signal of interest. The resulting system allows the user to change parameters regarding the analogue and digital filtering, sampling frequency and events detection, namely R-peaks, in the electrocardiogram, to estimate heart rate and its frequency fluctuation, and muscle contraction in electromyogram, to analyse contraction strength and muscle fatigue. The system also allows the data to be stored, aiming to generate datasets to further process the data in AI-based algorithms.

关键词： Graphical User Interface Biosignals Printed Circuit Board EMG processing ECG processing

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Asynchronous Tag-based Physical-Layer Authentication in Wireless Communications

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IEEE Transactions on Wireless Communications 2025年

作者： Tan, Haijun Xu, Yuntao Du, Jiewei Xie, Ning Li, Hongbin Peng Cheng Laboratory Control and Network Foundation Laboratory Frontier Research Center Shenzhen518107 China Shenzhen University State Key Laboratory of Radio Frequency Heterogeneous Integration The Guangdong Key Laboratory of Intelligent Information Processing College of Electronics and Information Engineering Shenzhen518060 China Beijing Jiaotong University School of Electronic and Information Engineering Beijing100044 China National Innovation Center of High Speed Train Qingdao266111 China Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ07030 United States

Tag-based physical-layer authentication (PLA) has gained significant research interest due to its high security and low complexity compared to traditional upper-layer authentication mechanisms. However, conventional tag-based PLA schemes often require strict synchronization between the tag and the source message before transmission, which may limit their practicality and effectiveness. To address this limitation, we propose an asynchronous tag-based PLA scheme, where the tag and the source message are transmitted asynchronously with an intentional time delay introduced at the transmitter. The proposed scheme enhances both compatibility and security without compromising robustness. We provide a theoretical analysis of the proposed scheme, and derive closed-form expressions to characterize its performance. Furthermore, theoretical comparisons with existing methods yield insightful conclusions regarding the advantages of the proposed approach. The scheme is implemented and extensively evaluated through simulations, where the theoretical results exhibit strong agreement with the simulation outcomes, thereby validating its effectiveness. © 2025 IEEE.

关键词： asynchronous closed form intentional timing delay Physical-layer authentication tag-based

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Time-constrained detection of colored objects on raw Bayer data 5th

Time-constrained detection of colored objects on raw Bayer d...

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5th Eccomas Thematic Conference on Computational Vision and Medical Image Processing, VipIMAGE 2015

作者： Neves, António J. R. Trifan, Alina Azevedo, José Luís Department of Electronics and Telecommunications Engineering Intelligent Systems and Intelligent Robotics Laboratory Institute of Electronics and Informatics Engineering of Aveiro University of Aveiro Portugal

ISBN: (纸本)9781138029262

In most image processing applications, the raw data acquired by an image sensor passes through a demosaicing algorithm in order to obtain a full color image. The demosaicing step can take time and resources that are of great importance when developing real-time applications. Most of the times, this is done with single purpose of rendering the images into a viewable format for humans. However, most of nowadays sensors allow the retrieval of images in raw format and processing the data as is. In this paper we present a study on the direct usage of raw Bayer data for real-time color object detection, in the scenario of autonomous robot soccer. The experimental results that we provide prove that the efficiency of the chosen object detection algorithm is not lowered and that several improvements of the autonomous robotic vision system used in this study can be noted: the bandwidth needed to transmit the data between the digital camera and the PC is reduced, allowing, in some models, to increase the maximum frame rate. Moreover, a decrease in the delay between the perception and action of the autonomous robot was measured, when using raw image data for processing the environment. © 2016 Taylor & Francis Group, London.

关键词： Object detection

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Evolutionary Dynamics and Individual Heterogeneity in Multi-agent networking systems 35

Evolutionary Dynamics and Individual Heterogeneity in Multi-...

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第35届中国控制会议

作者： ZHANG Jianlei CHEN Zengqiang LIU Zhongxin ZHANG Chunyan Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control EngineeringNankai University

ISBN: (纸本)9781509009107

Cooperative behaviors lie at the basis of human societies,yet its evolutionary origin still remains a perplexing *** exists a large evolutionary game literature exploring effects of population structures on evolutionary outcomes,but in most cases structured population models only employ one game alone.A relevant question is covered in this study thus concerns the effect of game diversity occurring along the edges linking two players situated on the *** basic structure of our mechanism provides more than one type of games available for the *** our game setting,the game model is assumed as a fixed property of each edge and will remain unaltered through game *** preliminary initiatives,we only consider two typical games（Prisoner’s dilemma game and Snowdrift game）,and all possible mixtures between them controlled by a *** performed simulations and theoretical analysis help us observe the remarkable improvement on cooperation levels in suitable parameter regions when the population are simultaneously provided with more than one type of ***,network heterogeneity helps to bring into existence of cooperator clusters and thus favors the survival of cooperators.

关键词： Collective Cooperation Evolutionary Game Theory Heterogeneity

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Image scanning techniques for speeded-up color object detection 5th

Image scanning techniques for speeded-up color object detect...

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5th Eccomas Thematic Conference on Computational Vision and Medical Image Processing, VipIMAGE 2015

作者： Trifan, Alina Neves, António J. R. Cunha, Bernardo Department of Electronics and Telecommunications Engineering Intelligent Systems and Intelligent Robotics Laboratory Institute of Electronics and Informatics Engineering of Aveiro University of Aveiro Portugal

ISBN: (纸本)9781138029262

Nowadays there are many computer vision algorithms dedicated to solve the problem of object detection, from many different perspectives. Many of these algorithms take a considerable processing time even for low resolution images. Research areas that are more concerned about real-time capabilities of a system, such as the case of robotics for example, are focusing on adapting the existing algorithms or developing new ones that cope with time constraints. Color object detection algorithms are often used in time-constrained application since the color of an object is an important clue for its detection. In addition, color segmentation algorithms have a smaller computational cost than generic object detection algorithms. Most of the color object detection algorithms include a step of image scanning in search of pixels of the color of interest. In this paper we present a study on the influence of an image scanning pattern while searching for pixels of a certain color versus the image resolution in the results of three color object detection algorithms. We present results comparing different scanning approaches versus different resolution images for color object detection algorithms based on blob formation, contours detection and region growing clustering. Our experiments show that using search lines for color segmentation, followed by blob formation provides faster and more accurate results. © 2016 Taylor & Francis Group, London.

关键词： Color

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Effect of conducting polymers on nitrogen-doped multiwalled carbon nanotube for the detection of chemical warfare agent simulant

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Microchemical Journal 2025年

作者： Sanjeeb Lama Hyeong Seon Choi Sujina Tamang Sivalingam Ramesh Hee-Chan Jang Young Jun Lee Joo-Hyung Kim Laboratory of Intelligent Devices and Thermal Control Department of Mechanical Engineering Inha University Incheon 22212 South Korea Department of Biological Science and Bioengineering Inha University Incheon 22212 South Korea Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul South Korea

Chemical warfare agents (CWAs) have inflicted significant harm to human lives, from World War I to present-day conflicts, including armed battles, terrorist incidents, and civil wars. To explore the possibility of early detection of CWAs to prevent loss of life, we developed various composite materials for sensing these agents using a hydrothermal process. The surface acoustic wave (SAW) sensor was employed as a detector for dimethyl methyl phosphonate (DMMP), a well-known simulant of the nerve agent sarin. Nitrogen doped multiwalled carbon nanotube (N-MWCNT) was used as a precursor, with polymers such as carboxymethyl cellulose (CMC), polyaniline (PANI), and polypyrrole (PPy) added to enhance sensitivity to DMMP concentrations ranging from 2 to 10 parts per million (ppm). The N-MWCNT@CMC composite demonstrated exceptional performance exhibiting frequency response (Δ f ) of ∼1212 Hz at a concentration of 10 ppm DMMP. The composite materials showed excellent sensitivity to DMMP with minimal effect of potential interferences during selectivity test. Specifically, the N-MWCNT@CMC showed excellent coefficients of determination ( R 2 ) of 0.990, with a limit of detection (LOD) of 1.33 ppm. In the relative humidity test from 30–70 %, the N-MWCNT@CMC exhibited the highest Δ f difference, measuring ∼137 Hz. However, it showed lowest Δ f difference of ∼16 % in temperature tests conducted from 25–75 °C. The Brunauer-Emmett-Teller (BET) results revealed that the addition of CMC to the N-MWCNT increased the pore size (adsorption = 36.9 nm, desorption = 40.0 nm) of the composite, which enhanced its sensitivity to DMMP during both adsorption and desorption. Based on these findings, it can be concluded that synthesized composites show potential as candidates for detecting the nerve agent sarin.

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Evolutionary Games with Different Time Scales of Strategy Updating 29

Evolutionary Games with Different Time Scales of Strategy Up...

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第29届中国控制与决策会议

作者： Jianlei Zhang Yuying Zhu Chunyan Zhang Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781509046584

Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. Using agent-based evolutionary simulation in the framework of prisoner's dilemma game, we demonstrate the sustainability of cooperation and the emergence of different macro-effects, when equipping agents with non-uniform time scale preferences. We employ a spatial random regular grid to describe the social interactions among agents. We conclude that the cooperation level has a strong dependence on the population composition, and the suitable fraction of the fast-updating players in the system which is associated with the maximal cooperation frequency has been found out. Besides, the extent of the promotive effect of diversifying time scales is also closely related with the payoff adoption rules in strategy updating,especially when we invent a past history for each agent. Summing up the gained results, a general conclusion can be drawn, saying that the combination of these factors(e.g. time scales and memory) gives rise to rich dynamic behavior of the system.

关键词： Evolutionary Game Theory Complex Networks Evolution Dynamics

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