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arXiv 2021年

作者： Li, Diancheng Fan, Dongliang Zhu, Renjie Lei, Qiaozhi Liao, Yuxuan Yang, Xin Pan, Yang Wang, Zheng Wu, Yang Liu, Sicong Wang, Hongqiang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Shenzhen518055 China Shenzhen518055 China Guangzhou510642 China

Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g. enlarge working space and increase degrees of freedom. Towards this goal, we present origami-inspired soft pneumatic actuators (OSPAs) made from silicone. The prototype can output a rotation of more than one revolution (up to 435°), more significant than its counterparts. Its rotation ratio (=rotation angle/aspect ratio) is more than 136°, about twice the largest one in other literature. We describe the design and fabrication method, build the analytical model and simulation model, and analyze and optimize the parameters. Finally, we demonstrate the potentially extensive utility of the OSPAs through their integration into a gripper capable of simultaneously grasping and lifting fragile or flat objects, a versatile robot arm capable of picking and placing items at the right angle with the twisting actuators, and a soft snake robot capable of changing attitude and directions by torsion of the twisting actuators. © 2021, CC BY-NC-ND.

关键词： Degrees of freedom (mechanics)

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Automated Controller Placement for Software-Defined Networks to Resist DDoS Attacks

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Computers, Materials & Continua 2021年第9期68卷 3147-3165页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Lee Ching Kwang Rizaludin Kaspin Bhawani Shankar Chowdhry Rajkumar Buyya Satya Prasad Majumder Manoj Gupta Shuaib Memon Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation CentreCyberjaya63000SelangorMalaysia National Center of Robotics and Automation Mehran University of Engineering&TechnologyJamshoroPakistan Department of Computer Science and Engineering Hanyang UniversitySeoul04763South Korea School of Electrical and Electronic Engineering Nanyang Technological University639798Singapore Cloud Computing and Distributed Systems Laboratory The University of MelbourneMelbourneVIC 3053Australia Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology(BUET)Dhaka1205Bangladesh Department of Electronics and Communication Engineering JECRC UniversityVidhaniJaipur303905India Auckland Institute of Studies Mt AlbertAucklandNew Zealand

In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrated largely on factors such as reliability,latency,controller capacity,propagation delay,and energy ***,SDNs are vulnerable to distributed denial of service(DDoS)attacks that interfere with legitimate use of the *** ever-increasing frequency of DDoS attacks has made it necessary to consider them in network design,especially in critical applications such as military,health care,and financial services networks requiring high *** propose a mathematical model for planning the deployment of SDN smart backup controllers(SBCs)to preserve service in the presence of DDoS *** a number of input parameters,our model has two distinct ***,it determines the optimal number of primary controllers to place at specific locations or nodes under normal operating ***,it recommends an optimal number of smart backup controllers for use with different levels of DDoS *** goal of the model is to improve resistance to DDoS attacks while optimizing the overall cost based on the *** simulated results demonstrate that the model is useful in planning for SDN reliability in the presence of DDoS attacks while managing the overall cost.

关键词： SDN automated controller placement SBC ILP DDoS attack

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Rfid-based warehouse management system prototyping using a heterogeneous team of robots 23rd

Rfid-based warehouse management system prototyping using a h...

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23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

作者： Khazetdinov, Artur Aleksandrov, Andrey Zakiev, Aufar Magid, Evgeni Hsia, Kuo-Hsien Laboratory of Intelligent Robotic Systems Intelligent Robotics Department Higher Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlevskya street Kazan420008 Russia Department of Electrical Engineering National Yunlin University of Science and Technology Tainan City74448 Taiwan

ISBN: (纸本)9781916449046

Robotic warehouse management is a promising field of research with a high practical applicability. Typically, warehouses are strictly organized and controlled environments with a high potential for rapid robot deployments. To provide system robustness every robotic deployment should be tested in advance using simulations. Such virtual testing environment should correspond well with a real world warehouse environment and be consistent with international and national standards. In this paper, we present a warehouse Gazebo simulation that was constructed in accordance with Government Standards of Russian Federation and international standards. We implemented a simplified Radio Frequency IDentification (RFID) transmitter-receiver mechanism within the Gazebo simulator and tested it in a virtual warehouse environment using a heterogeneous team of TIAGo Base mobile robot and PX4-based UAV. Our constructed virtual warehouse environment and RFID mechanism models are open-source for academic community use. © CLAWAR Association Ltd.

关键词： Robots

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High-Precision 3D Printing by Deploying Expandable Microspheres

SSRN

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SSRN 2024年

作者： Xu, Yang Wang, Fucheng Zhang, Pei Lu, Chengbang Liu, Weixuan Guo, Yueying Ni, Zhipeng Wang, Jinqing Lu, Baoyang Lou, Qin Liang, Xiangyu Liu, Ji Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Metrology and Measurement Engineering China Jiliang University Hangzhou310018 China Agricultural Genomics Institute at Shenzhen Chinese Academy of Agricultural Sciences Shenzhen518120 China Institute of Bast Fiber Crops Center of Southern Economic Crops Chinese Academy of Agricultural Sciences Changsha410205 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen518055 China Yiwu Saiens Polymer Materials Co. Ltd Jinhua322099 China Jiangxi Key Lab of Flexible Electronics Flexible Electronics Innovation Institute Jiangxi Science & Technology Normal University Nanchang330013 China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China

Stereolithography-based 3D printing (3DP) technology is widely employed in various industries, including manufacturing, healthcare, energy, biomedical, art and other fields. However, the precision issues, such as dimensional shrinkage and structural warping, significantly hinder its wide applications. In this study, we present a straightforward, efficient yet general strategy to engineer the photosensitive resins with thermally expandable microspheres, thus enabling significant improvement in structural fidelity of the 3DP constructs. Our findings demonstrate that addition of expandable microspheres substantially mitigates the volume shrinkage below 3.98%, in comparison to over 10% for commercially-available photosensitive resins. An exceptionally high precision of 0.035% in dimensional deviation could be achieved, in comparison to over 0.1% for commercial one. Furthermore, due to the low filling ratio, the improvement in 3DP precision does not sacrifice the mechanical properties, thus it does not affect the applications where those photosensitive resins are originally targeting. Our method represents an effective strategy to improve the 3D printing resolution of photosensitive resins, thus opening new directions for high precision 3D printing technology. © 2024, The Authors. All rights reserved.

关键词： Shrinkage

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A Soft Gripper Driven by Bellow Actuators and Twist Actuators for Dexterous Grasping

A Soft Gripper Driven by Bellow Actuators and Twist Actuator...

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IEEE International Conference on robotics and Biomimetics

作者： Diancheng Li Liangmin Zhou Renjie Zhu Jintao Yin Zhengbai Liu Han Yuan Hongqiang Wang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Innovation and Entrepreneurship College Southern University of Science and Technology Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

ISBN: (纸本)9781665405362

Human hands are dexterous and capable of grasping objects of various shapes and manipulating the objects within the hands. Conventional soft grippers are able to grasp, but few can manipulate objects within the grippers. To fill this gap, this work designs a soft gripper with soft bellow actuators and soft twisting actuators, which can adaptively clutch objects and handle them in different postures in the gripper. Compared with the previous rigid grippers, this soft gripper possesses a higher adaption to complex shapes and fragile objects and greater reliability against a strong impact due to its compliance. We demonstrate its successful grasping on more than 15 daily items of different profiles and surface textures, rolling and picking up a piece of thin plastic film, and reversing the posture of a ball within the gripper. It has also survived brutal hammer attacks and robustly grabbed an object while experiencing strong impacts.

关键词： Actuators Bellows Torque Shape Grasping End effectors Robustness

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Polarization-independent resonant lattice Kerker effect in phase-change metasurface

arXiv

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arXiv 2022年

作者： Xiong, Lei Luo, Xiaoqing Ding, Hongwei Lu, Yuanfu Li, Guangyuan School of Information Science and Engineering Yunnan University Kunming650500 China Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Siat Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China

Resonant lattice Kerker effect in periodic resonators is one of the most interesting generalizations of the Kerker effect that relates to various fascinating functionalities such as scattering management and Huygens metasurfaces. However, so far this effect has been shown to be sensitive to the incident polarization, restricting its applications. Here, we report, for the first time, polarization-independent resonant lattice Kerker effect in metasurfaces composed of periodic Ge2Se2Te5(GST) disks. For such a metasurface of square lattice, the spectrally overlap of the electric dipole and magnetic dipole surface lattice resonances can be realized by choosing an appropriate GST crystalline fraction regardless of the incident polarization. The operation wavelength and the required GST crystalline fraction can be conveniently tuned over large ranges since these parameters scale linearly with the disk size and the lattice period, greatly facilitating the design. Making use of the obtained resonant lattice Kerker effect, we realize a reconfigurable and polarization-independent lattice Huygens' metasurface with a dynamic phase modulation of close to 2π and high transmittance. This work will advance the engineering of the resonant lattice Kerker effect and promote its applications in phase modulation and wavefront control. Copyright © 2022, The Authors. All rights reserved.

关键词： Tellurium compounds

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Driving-Torque Self-Adjusted Triboelectric Nanogenerator for Effective Harvesting of Random Wind Energy

SSRN

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SSRN 2022年

作者： Wang, Yuqi Li, Xiang Yu, Xin Zhu, Jianyang Shen, Ping Wang, Zhong Lin Cheng, Tinghai Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of Sciences Beijing101400 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Internet of Things for Smart City Department of Civil and Environmental Engineering University of Macau Macao999078 China School of Materials Science and Engineering Georgia Institute of Technology AtlantaGA30332-0245 United States

Triboelectric nanogenerators (TENGs), as a new energy technology for distributed power, are used widely in the field of the natural environment energy harvesting. Because the natural energy is random and unstable, dynamic matching between TENGs driving-torque and natural environment energy is fundamental for improving the applications of TENGs. Therefore, a driving-torque self-adjusted triboelectric nanogenerator (SA-TENG) for effective harvesting of random wind energy is developed in this paper. When the external wind speed is unstable, the SA-TENG automatically self-adjusted its driving-torque to dynamically match the wind speed and obtain higher output power. Experiments showed that the SA-TENG can adjust its driving-torque in accordance to the wind speed ranging in 5.0–13.2 m/s, and that, the output peak power can reach 7.69 mW. Under the same conditions, in comparison with a normal TENG, the power growth rate and the highest energy conversion efficiency of the SA-TENG were boosted by more than 4.3 and 12.2 times, respectively;values that are also 3.2 and 6.5 times higher, respectively, than those of an electromagnetic generator. Additionally, the SA-TENG can supply power to sensors for monitoring environment, proving its feasibility as a distributed energy source. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

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Single image dehazing via combining the prior knowledge and CNNs

arXiv

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arXiv 2021年

作者： Li, Yuwen Zheng, Chaobing Wu, Shiqian Xu, Wangming Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China The Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan430081 China School of Mechanical & Electrical Engineering Nanchang Institute of Technology Nanchang330099 China

Aiming at the existing single image haze removal algorithms, which are based on prior knowledge and assumptions, subject to many limitations in practical applications, and could suffer from noise and halo amplification. An end-to-end system is proposed in this paper to reduce defects by combining the prior knowledge and deep learning method. The haze image is decomposed into the base layer and detail layers through a weighted guided image filter (WGIF) firstly, and the airlight is estimated from the base layer. Then, the base layer image is passed to the efficient deep convolutional network for estimating the transmission map. To restore object close to the camera completely without amplifying noise in sky or heavily hazy scene, an adaptive strategy is proposed based on the value of the transmission map. If the transmission map of a pixel is small, the base layer of the haze image is used to recover a haze-free image via atmospheric scattering model, finally. Otherwise, the haze image is used. Experiments show that the proposed method achieves superior performance over existing methods. © 2021, CC BY.

关键词： Convolutional neural networks

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Highly Efficient and Persistent Removal of Cd(II) in Aqueous Solution by Attapulgite-Loaded Amorphous Zero-Valent Iron

SSRN

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SSRN 2022年

作者： Lin, Zishen Liu, Fobang Zheng, Chunli Zhu, Aibin Li, Haijian Wang, Zhenxing He, Chi Department of Environmental Science and Engineering Xi’an Jiaotong University Xi’an710049 China Key Laboratory of Thermo-Fluid Science and Engineering School of Energy and Power Engineering Xi'an Jiaotong University Xi’an710049 China Institute of Robotics & Intelligent Systems Xi'an Jiaotong University Xi’an710049 China National Key Lab of Science and Technology on Combustion and Explosion Xi'an Modern Chemistry Research Institute Xi'An710065 China Environmental Protection Key Laboratory of Environmental Pollution Health Risk Assessment South China Institute of Environmental Sciences MEE Guangzhou510275 China

Amorphous zero-valent iron (AZVI) is a promising material for the treatment of heavy metal pollution due to its special crystal structure. However, little was known about their electron transport properties, and the issue of AZVI agglomeration effects was unresolved. In this study, AZVI and crystalline zero-valent iron (CZVI) were synthesized. AZVI had better electron-donating ability by in detail characterization with radial distribution function, electrochemical test, ultraviolet photo-electron spectroscopy and electronic density of states simulation. In order to alleviate the agglomeration effect of AZVI, AZVI was loaded onto attapulgite (ATP) to form ATP@AZVI composite. The results showed that when the initial concentration of Cd(II) was 30 mg/L with 30 min reaction time, the residual concentration of Cd(II) was only 0.08 mg/L, and the removal efficiency was improved by 275% compared to AZVI. The mechanism of Cd(II) removal was further investigated using XRD, XPS, and Raman spectroscopy. ATP@AZVI mainly reacted with Cd(II) through surface bound Fe(II), and then Cd(II) was removed from aqueous solution by *** was found ATP@AZVI was stable and its anti-oxidation ability was strong. After 12 months of aging in air, ATP@AZVI could still remove 86.4% of Cd(II) in 30 min. When the reaction time was extended to 100 min, the residual concentration of Cd(II) was 0.07 mg/L. Simultaneously, ATP@AZVI after 12 months of aging reacted with Cr(VI) wastewater for 90 min to meet with the emission standard (GB8978-1996, China). These findings suggested ATP@AZVI is an efficient adsorbent for heavy metal pollution control. © 2022, The Authors. All rights reserved.

关键词： Crystal structure

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Experimental Study on the Correlation of Cutting Head Vibrations and Kerf Characteristics during Abrasive Waterjet Cutting of Titanium Alloy

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Procedia CIRP 2021年 101卷 226-229页

作者： Panagiotis Karmiris-Obratański Nikolaos E. Karkalos Rafał Kudelski Emmanouil L. Papazoglou Angelos P. Markopoulos National Technical University of Athens School of Mechanical Engineering Laboratory of Manufacturing Technology Heroon Politechniou 9 15780 Athens Greece AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems al. Mickiewicza 30 30-059 Cracow Poland

Processing of hard-to-cut materials is always challenging, justifying the need of the adoption of efficient non-conventional cutting processes, such as Abrasive Waterjet (AWJ) cutting. In the present study, an experimental work on AWJ cutting of a titanium alloy is performed and analysis of the results is conducted in two steps; after the correlation between process parameters and slot depth and width is established, the correlation between cutting head vibrations and kerf characteristics is investigated, in order to determine whether it is possible to use vibration values for the monitoring of the outcome of the AWJ cutting process.

关键词： Abrasive Waterjet cutting kerf characteristics cutting head vibrations Ti-6Al-4V

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