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ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT

Chinese Journal of Mechanical engineering 2006年第2期19卷 181-186页

作者： LIU Jinguo WANG Yuechao MA Shugen LI Bin Robotics Laboratory Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016 China Department of Systems Engineering Ibaraki UniversityIbaraki 316-8511 Japan Robotics Laboratory Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 China

A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.

关键词： Reconfigurable modular robot Shape shifting robot Stability pyramid Tipover stability index Unstructured environment

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Fluorine Ions Assist Titanium-Based Perylene Diimide to Achieve Over 500h Photocatalytic Stability

SSRN

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SSRN 2025年

作者： Li, Junqiang Fang, Jiongchong Liang, Huiqiang Wei, Zhenghao Fang, Jun Qiu, Longbin Lu, Xinxin Yang, Fuyuan Zeng, Guosong Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China PetroChina Shenzhen New Energy Research Institute Co. Ltd. Shenzhen518055 China School of Vehicle and Mobility Tsinghua University Beijing100084 China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen518055 China

Photocatalytic water splitting using semiconductor catalysts for green hydrogen production is a critical step toward global carbon neutrality. However, the rapid decline in catalytic activity due to unstable molecular structure and photo-corrosion limits the practical application of many organic semiconductors. In this study, two titanium-coordinated perylene diimide catalysts (TiF-PDI and TiC-PDI) were synthesized via a wet chemical approach, demonstrating impressive hydrogen evolution reaction (HER) activities of 584 and 510 μmol·g−1·h−1 under near-atmospheric conditions,respectively, representing a 7-8-fold enhancement compared to H2PDI. Particularly, TiF-PDI retained ~80% of its initial catalytic activity after 500 hours of continuous illumination under room temperature and near atmospheric pressure, demonstrating the highest HER long-term stability of perylene-based semiconductors to date. The introduction of Ti4+ ions facilitated charge separation and transfer, while F- ions played a vital role in further enhancing system polarization, stabilizing photogenerated excitons, and mitigating Ti4+ ions leaching by intercalating into the molecular lattice. This cooperative regulation of dual ions improved both photocatalytic performance and durability. This work provides valuable insights into structural modification and charge stabilization in designing high-performance and long-lived photocatalysts for sustainable energy applications. © 2025, The Authors. All rights reserved.

关键词： Atmospheric corrosion

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic systems

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IFAC-PapersOnLine 2017年第1期50卷 5914-5919页

作者： Arbanas B. Boljuncic S. Petrovic T. Bogdan S. University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： decentralized systems distributed artificial intelligence Hierarchical decision making scheduling algorithms

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Poster abstract: EMD-DF - a data model and file format for energy disaggregation datasets 4

Poster abstract: EMD-DF - a data model and file format for e...

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4th ACM International Conference on systems for Energy-Efficient Built Environments, BuildSys 2017

作者： Pereira, Lucas Madeira Interactive Technologies Institute Laboratory of Robotics and Engineering Systems Funchal Portugal

ISBN: (纸本)9781450354769

In this paper we present the Energy Monitoring and Disaggregation Data Format (EMD-DF). EMD-DF is a data model, file format, and application programming interface that was created with the intention of providing a unique interface to create, manage and access energy disaggregation datasets. © 2017 Copyright held by the owner/author(s).

关键词： Application programming interfaces (API)

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Abstracting the Abstract: A Swarm Art Project 2017

Abstracting the Abstract: A Swarm Art Project

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8th International Conference on Digital Arts, ARTECH 2017

作者： Fernandes, Carlos M. LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Lisbon Portugal

ISBN: (纸本)9781450352734

关键词： Abstracting

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Scalable Fabrication of Uniform Fast-Response Humidity Field Sensing Array for Respiration Recognition and Contactless Human-Machine Interaction

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Advanced Functional Materials 2025年

作者： Zhang, Zhicheng Li, Jianye Chen, Huizhi Wang, Hao Luo, Yibing Si, Ranzi Xie, Ruijie Tao, Kai Yang, Bo-Ru Zhang, Daohui Liu, Fei Huo, Fengwei Wu, Jin State Key Laboratory of Optoelectronic Materials and Technologies and the Guangdong Province Key Laboratory of Display Material and Technology School of Electronics and Information Technology Sun Yat-sen University Guangzhou510275 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Xiamen University Xiang'an Campus Xiang'an South Road Fujian Xiamen361102 China Dongguan Key Laboratory of Advanced Drug Delivery and Biosensing Research and Development School of Pharmacy and Dongguan Innovation Institute Guangdong Medical University Dongguan523808 China Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace School of Mechanical Engineering Northwestern Polytechnical University Xi'an710072 China State Key Laboratory of Transducer Technology Shanghai200050 China

In the wake of the COVID-19 pandemic, there is an increased demand for humidity sensors that can accurately detect targets without direct contact, driving advancements in contactless human-machine interaction (HMI) and non-invasive medical diagnostics. However, it is difficult for traditional individual sensors to accurately acquire humidity field information for reliable HMI. Here, an ionogel film-based flexible and fast-response humidity field sensing array is developed via a scalable, efficient, and modified spin-coating-based fabrication strategy for accurate detection of humidity distribution. By optimizing the structure and constitution of the hydrophobic ionogel films, the sensors display ultrafast response and recovery time (0.65/0.85 s), a broad detection range (11-98% RH), long-term stability (120 days), excellent repeatability, flexibility, and environmental tolerances. Thanks to the one-time scalable fabrication, the sensing units in the array exhibit superior uniformity, as the device-to-device deviation is reduced to one-ninth compared to traditional multi-batch fabrication methods. With the aid of machine learning algorithms, this humidity sensing array realizes not only the accurate identification of various subtle breath abnormalities (e.g., oral breathing, apnea, left and right nasal congestions) by conformally attaching to wearable masks, but also the precise contactless HMI applications (e.g., anti-interference gesture recognition and wireless control of intelligent executive terminals). © 2025 Wiley-VCH GmbH.

关键词： Humidity sensors

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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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ROBOT_S: An interactive robot simulation language

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robotics and Autonomous systems 1988年第3期4卷 245-256页

作者： O'Neill, S.R. Jamshidi, M. CAD Laboratory for Systems and Robotics Dept. of Electrical and Computer Engineering University of New Mexico AlbuquerqueNew Mexico87131 United States

While it may not be practical to realize a tentative robot design as an actual robot, there is no question of the practicality of a simulation, ROBOT_S is a program in which the foundation for a comprehensive simulation environment is laid. A graphical robot is created to which physical attributes may be assigned, and whose movement may be dictated by a user-installed dynamic model and control law. A simple robot command language has been developed, by which the manipulator may be commanded to move, during which simulation data of state variables is collected and graphed. © 1988

关键词： Computer simulation languages

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Autonomous docking and energy sharing between two types of robotic agents

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IFAC-PapersOnLine 2018年第29期51卷 406-411页

作者： Babi, Anja Mandi, Filip Vasiljevi, Goran Mikovi, Nikola Faculty of Electrical Engineering and Computing LABUST Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Unska 3 Zagreb Croatia

In order to achieve long-term autonomy after deployment, a method of energy sharing within a heterogeneous swarm of marine robots was devised and implemented. This paper describes hardware and software solutions as well as guidance and control algorithms developed with the goal of allowing powerful energy-rich overactuated surface platforms to approach, dock, and wirelessly recharge less mobile sensor-rich agents upon request using visual servoing. The basic image processing algorithm uses data acquired by the Microsoft Kinect sensor alternating between RGB and infra-red camera modes, depending on lighting conditions. The full search and docking procedure developed for long-term operation is described. The results of a series of experiments done both in an indoor testbed and in realistic outdoor conditions are discussed and some goals for future work are given. © 2018

关键词： Autonomous agents

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Ground condition sensing of a snake-like robot

Ground condition sensing of a snake-like robot

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IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Lu, Y Ma, SG Li, B Chen, L Robotics Laboratory Shenyang Institute of Automation CAS China Department of Systems Engineering Ibaraki University Japan

ISBN: (纸本)078037925X

Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot locomotion on different terrains simply, then point out the significance to sense the ground status that is the base of choosing different locomotion form on different ground. Last we use force sensors to distinguish the different ground status.

关键词： Robots

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