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A flat-foldable equiangular spiral folding pattern inspired by sunflowers for deployable structures

Chinese Journal of Aeronautics 2024年第6期37卷 425-438页

作者： Shuangqing YU Jinguo LIU Pengyuan ZHAO Yingying TANG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Flasher origami pattern has been widely utilized to improve the stowage efficiency of deployable ***,flasher origami cannot be folded fully flat,and they still have great potential for optimization in terms of storage volume and folding *** this paper,a flat foldable equiangular spiral folding pattern inspired by the sunflower disk is ***,a parametric design method for this equiangular spiral crease diagram is introduced in ***,a kinematic model of the equiangular spiral folding pattern is established based on the kinematic equivalence between rigid origami and spherical linkages.A simulation of the developed model demonstrates that the equiangular spiral folding pattern can be folded *** the folded ratio as an evaluation index,the calculated results and experiments show that the equiangular spiral crease pattern can yield fewer creases and improve stowage efficiency in comparison to flasher origami *** spiral folding pattern can save a considerable amount of space and provide a new approach to spatially deployable structures.

关键词： Flasher origami Sunflower-inspired Deployable structures Flat-foldability Equiangular spiral folding pattern

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Robotic telemanipulation with EMG-driven strategy-assisted shared control method

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Science China(Technological Sciences) 2024年第12期67卷 3812-3824页

作者： XIONG DeZhen FU Xin ZHANG DaoHui CHU YaQi ZHAO Yi Wen ZHAO XinGang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

The transfer of information between a human and a robot is of vital importance for robotic telemanipulation *** this paper,we propose a novel strategy-assisted shared control(SASC)scheme driven by electromyography(EMG)signals for robot ***,we develop an EMG decoding scheme to achieve reliable online performance,where ten features are extracted and selected and then classified by machine learning *** feature selection methods are compared to learn a compact representation from original feature ***,a vision-based module is designed for object detection and localization,which helps to grasp or release objects ***,online visual feedback of environmental states and audio feedback of EMG decoding results are used for better perception of environmental contexts.A platform integrated with a robot arm,an RGB-D camera,and a pneumatic sucker,among others,is developed to evaluate the proposed *** best accuracy of EMG recognition is 97.18%±10.61%,achieved by the support vector machine and features selected by recursive feature *** paradigms driven by a joystick or EMG are compared with SASC in a robotic telemanipulation *** performance shows that SASC reaches a successful rate of 100% with the least time of 61.97±9.89 *** completion times of SASC are only 67.78% and 55.71% of the two contrast methods,*** shows that the proposed scheme has the potential to replace classical methods with reliable performance and less time,which provides a novel solution for this field of study.

关键词： EMG shared control robotic telemanipulation vision autonomous

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Scientific issues and critical technologies in planetary defense

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Chinese Journal of Aeronautics 2024年第11期37卷 24-65页

作者： Qinkun CHENG Wei ZHANG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

In history,the Earth has encountered frequent and massive *** today,it is still a collided target for Potentially Hazardous Objects(PHOs),gradually making planetary defense a concerned and important research topic in the field of aerospace *** this background,this work clarifies and discusses some important scientific issues and various critical technologies of planetary ***,the current status of planetary defense research is ***,the classification and characteristics of PHOs are introduced,focusing on their potential impact on planetary defense and related scientific research *** the purpose of protecting the Earth and maintaining space safety,the monitoring and characterization,deflection,and mitigation of PHOs have basically occupied all the attention of planetary defense ***,the critical technologies in planetary defense are discussed from these three aspects,and are also compared and analyzed in *** on the current research progress in planetary defense,the challenges for planetary defense are discussed,and future development directions are also ***,a summary of the entire study is provided.

关键词： Small celestial body Potentially hazardous object(PHO) Near-Earth asteroid(NEA) Planetary defense technology Space robot

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Vision-based docking system for an aromatic-hydrocarbon-inspired reconfigurable robot

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Science China(Technological Sciences) 2024年第6期67卷 1798-1816页

作者： XING FangYi XU Cheng LIU JinGuo XUE ZhiHui State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang110158China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China

Aromatic hydrocarbons generally refer to compounds containing benzene *** types of isomers can be formed by replacing hydrogen atoms on the benzene *** this paper,an aromatic-hydrocarbon-inspired modular robot(AHIMR)is *** robot can be reassembled into different configurations suitable for various task requirements.A vision-based docking system is designed for the *** system primarily consists of two stages:a remote guidance stage and a precise docking *** the remote guidance stage,an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with *** the precise docking stage,the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to *** this process,a Kalman filter is used to reduce target occlusion and jitter *** addition,the docking system feasibility is verified via several simulation *** module docking accuracy is controlled within 0.01 m,which meets the reconfiguration task requirements of the *** the AHIMR submodule docking experiment,the active module accurately moves to the expected position with a docking success rate of 95%.

关键词： modular robot reconfiguration aromatic hydrocarbon autonomous docking visual identification

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Construction and manipulation of origami-inspired tubular structures with controlled mechanical buckling for collection and transportation of microspheres based on optically induced electrokinetics

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Science China(Technological Sciences) 2024年第9期67卷 2954-2964页

作者： YANG WenGuang WANG WenHao TENG XiangYu QIAO ZeZheng YU HaiBo School of Electromechanical and Automotive Engineering Yantai UniversityYantai 264005China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

The development of microengineered hydrogels has opened up unlimited possibilities for designing complex structures at the microscale. In this study, we constructed an origami-inspired tubular structure with controlled mechanical buckling based on optically induced electrokinetics(OEK). By inducing a stress gradient in the thickness, a tubular structure can be formed from a poly(ethylene glycol) diacrylate(PEGDA) hydrogel film of various shapes that have been custom fabricated. To achieve an ideal three-dimensional(3D) structure, the amplitude of the tubular structure can be controlled by adjusting the aspect ratios or polymerization time. Furthermore, the tubular structure can be manipulated for the collection and transportation of *** summary, we provide an effective method for designing 3D structures at the micro-nano scale. This forming method holds great potential for achieving various functions in tissue engineering, drug packaging, and transportation in the future.

关键词： origami-inspired tubular structures optically induced electrokinetics microfabrication mechanical buckling

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Model predictive control and replanning for magnetic microrobots in fluid environments

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Science China Technological Sciences 2025年第5期68卷 142-154页

作者： Junjian ZHOU Mengyue LI Na LI Huanyu ZHOU Xiaodong WANG Jingyi WANG Lianqing LIU Niandong JIAO State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences College of Information and Electrical Engineering Shenyang Agricultural University

Magnetic microrobots, given their unique characteristics, hold great potential in biomedical applications such as targeted therapy and microscale operations and are receiving widespread attention. Research on the autonomous navigation of magnetic microrobots is highly focused, as it is an essential prerequisite for achieving functions such as targeted delivery in medical settings. The success of autonomous navigation determines the level of intelligence and precision in the motion of magnetic microrobots. However, uncertainties stemming from environmental changes and time-varying disturbances in electromagnetic systems adversely affect the control accuracy of magnetic microrobots. Additionally, the random appearance of dynamic obstacles along expected trajectories challenges their autonomous navigation. In this study, we demonstrate a method for the exact autonomous navigation of magnetic microrobots in fluid environments, successfully avoiding dynamic obstacles that suddenly appear in predefined trajectories. Improved versions of the A*algorithm and dynamic window approach are integrated as path planners, that can generate smooth and collision-free trajectories that adhere to kinematic constraints in fluid environments with dynamic obstacles. A learning-based model predictive control strategy is employed, where radial basis function neural networks are used to effectively predict and compensate for fluid disturbances and inevitable errors introduced by electromagnetic system coupling, thereby ensuring the control accuracy of the magnetic microrobot in a flowing environment. Experiments in a constructed microfluidic environment validate the effectiveness of our navigation approach in motion control, autonomous navigation, and replanning, with an average error of less than 8% of the body length of the microrobot.

关键词： magnetic microrobot model predictive control path planning radial basis function neural network

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Collaborative Teaching with Attention Distillation for Multiple Cross-Domain Few-Shot Learning 14

Collaborative Teaching with Attention Distillation for Multi...

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14th IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems, CYBER 2024

作者： Shang, Zhenduo Liu, Xiyao Xie, Xing Han, Zhi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences The Institutes for Robotics and Intelligent Manufacturing The University of Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences The Institutes for Robotics and Intelligent Manufacturing State Key Laboratory of Robotics China

ISBN: (纸本)9798331506056

Multiple Cross-Domain Few-Shot Learning (MCD-FSL) aims to improve the generalization ability of the model across unseen domains by utilizing the diverse knowledge of different teacher networks. Knowledge transferring among multiple domains is complex and difficult due to significantly different data distributions. In current tasks, effectively utilizing knowledge from multiple domains to improve model generalization in an unseen domain remains challenging. Therefore, we propose Collaborative Teaching with Attention Distillation (CTAD-Net), exploring a collaborative strategy among multiple teacher networks of teachers to address this issue. Specifically, we introduce a weight allocation (WA) module and a deep fusion (DF) module for distilling knowledge from the teacher networks to a single student network. Additionally, our CTAD-Net combines attention mechanisms and employs both response-based and relation-based knowledge distillation to transfer more comprehensive and effective knowledge. The experimental results on four fine-grained datasets have demonstrated the effectiveness of our proposed CTAD-Net approach. © 2024 IEEE.

关键词： Collaborative learning

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Design of a Robotic Rowboat 1

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Joint Mechanical Systems and robotics and RoManSy Symposium, MSR-RoManSy 2024

作者： Li, Jiaji McCarthy, J. Michael Robotics and Automation Laboratory University of Califronia IrvineCA92697 United States

ISBN: (数字)9783031606182

ISBN: (纸本)9783031606175

This paper presents the design of a minimally actuated robotic rowboat. A spherical four-bar mechanism is used to move an oar around the center of a sphere located at the oar lock. One servo-controlled actuator for each side provides the desired rowing motion to drive and steer the rowboat. The dimensions of the spherical four-bar linkage that achieves the desired trajectory for the oar blade are computed using the kinematic synthesis technique known as motion generation. This paper provides the linkage design equations for five task orientations and describes the digital and physical prototypes that implement this design into a robotic rowboat to demonstrate the operation of the oar linkages. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： robotics

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Enhancement of Pinching Grasping Robustness Using a Multi-Structure Soft Gripper

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Journal of Shanghai Jiaotong university(Science) 2023年第3期28卷 307-311页

作者：李林霖高飞扬郑雄飞张黎明李世杰王赫然 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

Recently, soft grippers have garnered considerable interest in various ﬁelds, such as medical rehabilitation, due to their high compliance. However, the traditional PneuNet only reliably grasps medium and largeobjects via enveloping grasping (EG), and cannot realize pinching grasping (PG) to stably grasp small and thinobjects as EG requires a large bending angle whereas PG requires a much smaller one. Therefore, we proposeda multi-structure soft gripper (MSSG) with only one vent per ﬁnger which combines the PneuNet in the proximal segment with the normal soft pneumatic actuator (NSPA) in the distal segment, allowing PG to be realizedwithout a loss in EG and enhancing the robustness of PG due to the height difference between the distal andproximal segments. Grasping was characterized on the basis of the stability (ﬁnger bending angle describes) androbustness (pull-out force describes), and the bending angle and pull-out force of MSSG were analyzed using theﬁnite element method. Furthermore, the grasping performance was validated using experiments, and the resultsdemonstrated that the MSSG with one vent per ﬁnger was able to realize PG without a loss in EG and effectivelyenhance the PG robustness.

关键词： soft robotic grasping multi-structure pinching grasping(PG) robustness

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Nanograting‑Based Dynamic Structural Colors Using Heterogeneous Materials

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Nano-Micro Letters 2025年第3期17卷 138-151页

作者： Jingang Wang Haibo Yu Jianchen Zheng Yuzhao Zhang Hongji Guo Ye Qiu Xiaoduo Wang Yongliang Yang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People’s Republic of China

Dynamic structuralcolors can change in response todifferent environmental *** ability remains effectiveeven when the size of the speciesresponsible for the structural coloris reduced to a few micrometers,providing a promising sensingmechanism for solving microenvironmentalsensing problems inmicro-robotics and ***, the lack of dynamicstructural colors that can encoderapidly, easily integrate, and accuratelyreflect changes in physical quantities hinders their use in microscale sensing applications. Herein, we present a 2.5-dimensionaldynamic structural color based on nanogratings of heterogeneous materials, which were obtained by interweaving a pH-responsive hydrogelwith an IP-L photoresist. Transverse gratings printed with pH-responsive hydrogels elongated the period of longitudinal grating in the swollenstate, resulting in pH-tuned structural colors at a 45° incidence. Moreover, the patterned encoding and array printing of dynamic structuralcolors were achieved using grayscale stripe images to accurately encode the periods and heights of the nanogrid structures. Overall, dynamicstructural color networks exhibit promising potential for applications in information encryption and in situ sensing for microfluidic chips.

关键词： Dynamic structural colors Four-dimensional printing pH-responsive Nanogrid Heterogeneous materials

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