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Magnetic Turtle-Like Robot with Biomimetic Movements Through Programmable Magnetic-Assisted 3D Printing

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Small 2025年 e2412599页

作者： Zheng, Hanman Rao, Dingnan Sun, Haonan Li, Shishi Zhang, Chengqian Zhou, Fanghao Mao, Liyang Zhang, Hao Xie, Hui Li, Tiefeng The Center for X-Mechanics School of Aeronautics and Astronautics Zhejiang University Hangzhou310027 China Ocean College Zhejiang University Zhoushan316021 China The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China The State Key Laboratory of Robotics and Systems School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China

Animals can respond quickly to environmental stimuli and generate complex deformations. The locomotion modes of turtles vary with changing environments, which inspires the design of bionic robots. Existing turtle-like robots exhibit high movement efficiency and multi-terrain adaptability. However, challenges remain in improving the untethered designs, miniaturization, and response speed of these robots. Herein, a millimeter-scale turtle-like robot through programmable magnetic-assisted 3D printing is proposed. Hinge structures and magnetization distribution design are introduced to mimic the turtle joints. The magnetization distribution can be regulated through 3D printing. Considering that tortoises and sea turtles have different gaits, three magnetization distributions to achieve diagonal and synchronous gaits are designed. In the multi-terrain model, the robot exhibits maneuverability to crawl across sand, grass, gravel, and mountains. Specifically, the robot can climb over a stone wall that is 5.6 times its height and avoid obstacles. The robot is also capable of delivering cargo that weighs 1.2 times its weight along target trajectories. Furthermore, the different magnetization distribution designs enable robots to move separately within the same magnetic field. This independent actuation can be used for multi-robot collaboration. © 2025 Wiley-VCH GmbH.

关键词： Multipurpose robots

An Integral Sliding-Mode Parallel Control Approach for General Nonlinear systems via Piecewise Affine Linear Models

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arXiv 2021年

作者： Zhang, Chunyang Gao, Qing Deng, Yue Qiu, Jianbin School of Automation Science and Electrical Engineering Beihang University Beijing China Zhongguancun Laboratory Beijing China School of Astraunotics Beihang University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (ISMPC) approach is developed, where an uncertain piecewise affine system (PWA) is constructed to model a non-affine continuous-time nonlinear system equivalently on a compact region containing the origin. A piecewise sliding-mode parallel controller is designed to globally stabilize the PALM and, consequently, to semi-globally stabilize the original nonlinear system. The proposed scheme enjoys three favorable features: i) some restrictions on the system input channel are eliminated, thus the developed method is more relaxed compared with the published approaches;ii) it is convenient to be used to deal with both matched and unmatched uncertainties of the system;and (iii) the proposed piecewise parallel controller generates smooth control signals even around the boundaries between different subspaces, which makes the developed control strategy more implementable and reliable. Moreover, we provide discussions about the universality analysis of the developed control strategy for two kinds of typical nonlinear systems. Simulation results from two numerical examples further demonstrate the performance of the developed control approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth's Magnetic Field Generation Based on 2.4- Meter Square Helmholtz Coils

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Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth...

IEEE Symposium on Position Location and Navigation (PLANS)

作者： Jormpon Chaisakulsurin Shariff Manuthasna Tanawish Masri Thanayuth Panyalert Kritsada Palee Pakawat Prasit Patcharin Kamsing Peerapong Torteeka Thai Space Consortium Project National Astronomical Research Institute of Thailand (Public Organization) Chiang-Mai Thailand Center of Observatory Operation and Engineering National Astronomical Research Institute of Thailand (Public Organization) Chiang-Mai Thailand Faculty of Engineering Program in Robotics and Computational Intelligence Systems International Academy of Aviation Industry King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Aeronautical Engineering Air-Space Control Optimization and Management Laboratory International Academy of Aviation Industry King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

This paper proposes a Hardware-in-the-Loop sim-ulation (HiLs) tested via square Helmholtz coils as a relative magnetic field generator. In technical terms, the HiLs is an indispensable tool for engineering design during rapid proto-typing of attitude determination and control algorithms for the turning parameters that control the attitude of the satellite, since most of the satellite's mission relies on its attitude, making this system one of the most essential to the satellite's operation. More-over, performing controlled experiments with the parameters for developing adaptive control algorithms improves the overall efficiency of the satellite's kinematic system. The conceptual design of a proposed system architecture can be composed of the electrical currents of 2.4-meter square Helmholtz coils produced by a low-level microcontroller equipped with a DC-motor driver by a pulse-width modulation (PWM) signal through real-time connection to an orbit propagator using a high-level computer. This research focuses on the attitude dynamic of satellites through the interaction between the Earth's magnetic field (EMF) and the magnetotorque in the satellite. To apply this phenomenon, the intensity and the direction of the magnetic field must be identified through Biot-Savart's law. Along with the EMF, the reference position is calculated using the standard general perturbations satellite orbit model (SGP4), and the intensity is modeled based on coefficients from the 13 th edition of the International Geo-magnetic Reference Field (IGRF). Therefore, this paper presents a detailed development of a HiLs testbed for distributed attitude determination and control systems (hardware and software co-design, protocol, and control theory). Furthermore, it discusses a classic cooperative control case for the output of magnetic field intensity and direction, which was undertaken to explain the integrated simulation process and validate the effectiveness of the co-simulation tested to be

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Research on the method of path planning for slag-removing on the surface of zinc pot

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Research on the method of path planning for slag-removing on...

第33届中国控制与决策会议

作者： Kebo LI Ling XIONG Zhenzhou ZHANG Gang CHEN Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology

During the production process of cold-rolled hot-dip galvanizing,the slag on the surface of the zinc pot will affect the quality of the *** zinc slag is mostly collected manually or by robots at *** effect of manual salvage is unstable and the operation is *** robot cannot identify the location of the zinc slag and can only salvage it according to a fixed rule,resulting in low *** response to the above problems,a zinc pot slag path planning method based on the greedy algorithm is proposed in this *** zinc pot area is divided,the image processing method is used to identify and locate the zinc slag to be *** the priority of the zinc pot,the obstacle avoidance problem and the restriction of the weight limit of the slag-removing tool are proposed in combination with the process *** three salvage strategies based on the greedy algorithm,the shortest distance,the maximum weight,and the minimum weight are proposed *** results show that the greedy algorithm strategy based on the shortest distance performs best,consumes the least energy,and the algorithm runs for a shorter *** can significantly improve the efficiency of zinc pot slag removal,realize intelligent control of slag removal technology,and can be applied to the actual production of zinc pot slag removal.

关键词： Slag from zinc pot Intelligent control Greedy algorithm Path planning Shortest distance strategy

Surface topography of Ti 6Al 4V ELI after high power EDM 23

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Surface topography of Ti 6Al 4V ELI after high power EDM

23rd International Conference on Material Forming, ESAFORM 2020

作者： Karmiris-Obratański, Panagiotis Zagórski, Krzysztof Cieślik, Jacek Papazoglou, Emmanouil Lazaros Markopoulos, Angelos AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems al. Mickiewicza 30 Cracow30-059 Poland National Technical University of Athens School of Mechanical Engineering Laboratory of Manufacturing Technology Heroon Polytechniou 9 Athens15780 Greece

Titanium alloys find extensive applications in the modern aerospace and offshore industry, as well in the field of biomedical implants. Nevertheless, the titanium inherent thermo-physical properties (low thermal conductivity and high chemical reactivity) make it a hard to machine material. For the efficient machining of titanium alloys, non-conventional machining processes are employed. Electrical Discharge Machining (EDM) is a non-contact machining process, in which the material removal occurs through repetitive electrical sparks. The capabilities of machining any electrically conductive material, regardless of its thermo-physical and other properties, render it as one of the most widely used non-conventional machining processes. As titanium alloys are used in high-quality parts and products, the integrity and texture of the machined surface constitute an essential parameter. The current study presents an experimental investigation of the surface texture and integrity of Ti6Al4V ELI after its machining with high power EDM. Namely, a full-scale experiment has been carried out, for pulse currents up to 65A and pulse-on time up to 200 μs, using graphite electrode. The surface texture (ST) and integrity has been estimated in terms of arithmetic mean height (Sa), the maximum height of scale-limited surface (Sz), maximum peak height (Sp), maximum pit height (Sv) and skewness of the scale-limited surface (Ssk). Additionally, through microscopy observation, the surface topography and integrity have been estimated, distinguishing and characterizing the surface cracks and micro-cracks. For all the above mentioned ST parameters, an Analysis of Variance (ANOVA) test has been performed. © 2020 The Authors. Published by Elsevier Ltd.

关键词： Titanium alloys

Control of Smart Buildings and Utility-Scale Batteries Enabling 24/7 Carbon-Free Energy*

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Control of Smart Buildings and Utility-Scale Batteries Enabl...

European Control Conference (ECC)

作者： Faran A. Qureshi Jeff S. Shamma Robotics Intelligent Systems and Control (RISC) Laboratory Computer Electrical and Mathematical Sciences and Engineering (CEMSE) Division King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia University of Illinois at Urbana-Champaign USA

Wind power is a clean and sustainable source of electricity, but its intermittent nature creates challenges for its grid integration. Utility-scale batteries are a popular and effective solution to make wind power dispatchable, however, batteries are expensive and increase the overall cost of operation. In this paper, we propose utilizing the flexibility in the consumption of smart buildings to reduce the size of the utility-scale batteries needed for the dispatchability of wind energy. A method based on stochastic optimization is proposed to compute the dispatch plan required to participate in the day-ahead energy market. A stochastic model predictive controller is proposed for the control of the buildings and batteries to track the dispatch plan in real-time. Simulations are carried out with realistic building models and real weather, wind power production, and forecast data. Results demonstrate that utilizing the flexibility of building thermodynamics can significantly reduce the size (and usage) of the required battery for making the wind power production dispatchable.

关键词： Smart buildings Computational modeling Stochastic processes Production Wind power generation Predictive models Data models

Teaching young learners a foreign language via tangible and graphical user interfaces

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arXiv 2020年

作者： Michailidis, Heracles Michailidi, Eleni Tavoultzidou, Stavroula Fragulis, George F. Laboratory of Robotics Embedded and Integrated Systems Dept. of Electrical and Computer Engineering University of Western Macedonia Greece

The use of tangible interfaces in teaching has been proved more effective, user -friendly and helpful in collaborative learning departments, when compared to traditional teaching approaches. In particular, the tangible interface "Makey Makey"is a modern tool that enhances collaboration between pupils, with positive results in education, despite the limited research done on this interface so far. "Makey Makey" succeeds in motivating and engaging young learners in the learning process, showing better performance and scoring results. In addition, its use in teaching has been shown to benefit the learning process in every age learning *** development and use of such an innovative teaching/learning approach helps young learners perceive the educational process in a different way and assimilate new cognitive fields more effectively. Moreover, educators profit as well, as they can eliminate difficulties and teach more efficiently using examples based on their teaching approach, while enhancing young learners’ parallel skills as well. This study will confirm previous research results stating that assimilation of new concepts is easier with tangible interfaces than with graphical ones, as well as that young learners participating in the survey have shown significant progress in knowledge acquisition when compared to their prior knowledge. Copyright © 2020, The Authors. All rights reserved.

关键词： Learning systems

Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots

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arXiv 2023年

作者： Arm, Philip Waibel, Gabriel Preisig, Jan Tuna, Turcan Zhou, Ruyi Bickel, Valentin Ligeza, Gabriela Miki, Takahiro Kehl, Florian Kolvenbach, Hendrik Hutter, Marco Robotic Systems Lab ETH Zurich Zurich Switzerland State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Laboratory of Hydraulics Hydrology and Glaciology ETH Zurich Zurich Switzerland Center for Space and Habitability University of Bern Bern Switzerland Department of Environmental Sciences University of Basel Basel Switzerland University of Zurich Dübendorf Switzerland Center for Theoretical Astrophysics and Cosmology University of Zurich Zurich Switzerland Institute of Medical Engineering Space Biology Group Lucerne University of Applied Sciences and Art Hergiswil Switzerland

The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots’ inability to traverse steep slopes, unstructured terrain, and loose soil. Additionally, current single-robot approaches only allow a limited exploration speed and a single set of skills. Here, we present a team of legged robots with complementary skills for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and post-mission visualization, instance segmentation to highlight scientific targets, and scientific instruments for remote and in-situ investigation. Furthermore, we integrated a robotic arm on one of the robots to enable high-precision measurements. Legged robots can swiftly navigate representative terrains, such as granular slopes beyond 25 degrees, loose soil, and unstructured terrain, highlighting their advantages compared to wheeled rover systems. We successfully verified the approach in analog deployments at the BeyondGravity ExoMars rover testbed, in a quarry in Switzerland, and at the Space Resources Challenge in Luxembourg. Our results show that a team of legged robots with advanced locomotion, perception, and measurement skills, as well as task-level autonomy, can conduct successful, effective missions in a short time. Our approach enables the scientific exploration of planetary target sites that are currently out of human and robotic reach. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems