检索结果-内蒙古大学图书馆

Roadmap on soft robotics: multifunctionality, adaptability and growth without borders

Multifunctional Materials 2022年第3期5卷 032001-032001页

作者： Mazzolai, Barbara Mondini, Alessio Del Dottore, Emanuela Margheri, Laura Carpi, Federico Suzumori, Koichi Cianchetti, Matteo Speck, Thomas Smoukov, Stoyan K. Burgert, Ingo Keplinger, Tobias Siqueira, Gilberto De Freitas Vanneste, Felix Goury, Olivier Duriez, Christian Nanayakkara, Thrishantha Vanderborght, Bram Brancart, Joost Terryn, Seppe Rich, Steven I. Liu, Ruiyuan Fukuda, Kenjiro Someya, Takao Calisti, Marcello Laschi, Cecilia Sun, Wenguang Wang, Gang Wen, Li Baines, Robert Patiballa, Sree Kalyan Kramer-Bottiglio, Rebecca Rus, Daniela Fischer, Peer Simmel, Friedrich C Lendlein, Andreas Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia Italy Department of Industrial Engineering University of Florence Via di S. Marta 3 Florence50139 Italy Department of Mechanical Engineering Tokyo Institute of Technology Ookayama Meguro Tokyo152-8550 Japan The BioRobotics Institute Scuola Superiore Sant’Anna Pisa56025 Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa56025 Italy Plant Biomechanics Group & Botanic Garden and Cluster of Excellence livMatS @ FIT University of Freiburg Germany Active and Intelligent Materials Laboratory Queen Mary University of London LondonE1 4NS United Kingdom Wood Materials Science Institute for Building Materials ETH Zurich Zurich8093 Switzerland Cellulose and Wood Materials Laboratory Empa Swiss Federal Laboratories for Materials Science and Technology Dübendorf8600 Switzerland University of Lille Inria CNRS Centrale Lille UMR 9189 CRIStAL LilleF-59000 France Dyson School of Design Engineering Imperial College London United Kingdom Vrije Universiteit Brussel and imec Brussels Belgium Thin-Film Device Laboratory RIKEN 2-1 Hirosawa Saitama Wako351-0198 Japan Center for Emergent Matter Science RIKEN 2-1 Hirosawa Saitama Wako351-0198 Japan Electrical and Electronic Engineering and Information Systems The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan The BioRobotics Institute Scuola Superiore Sant’Anna Italy Lincoln Institute for Agri-food Technology University of Lincoln Lincoln United Kingdom Department of Mechanical Engineering National University of Singapore Singapore School of Mechanical Engineering and Automation Beihang University Beijing100191 China Department of Mechanical Engineering and Materials Science Yale University New HavenCT06511 United States CSAIL MIT Schwarzman College of Computing United States Max Planck Institute for Intelligent Systems Heisenbergstr. 3 Stuttgart70569 Germany Institute of Physical Chemistry

Soft robotics aims at creating systems with improved performance of movement and adaptability in unknown, challenging, environments and with higher level of safety during interactions with humans. This Roadmap on Soft robotics covers selected aspects for the design of soft robots significantly linked to the area of multifunctional materials, as these are considered a fundamental component in the design of soft robots for an improvement of their peculiar abilities, such as morphing, adaptivity and growth. The roadmap includes different approaches for components and systems design, bioinspired materials, methodologies for building soft robots, strategies for the implementation and control of their functionalities and behavior, and examples of soft-bodied systems showing abilities across different environments. For each covered topic, the author(s) describe the current status and research directions, current and future challenges, and perspective advances in science and technology to meet the challenges. © 2022 The Author(s). Published by IOP Publishing Ltd.

关键词： Machine design

来源：评论

学校读者我要写书评

暂无评论

Gesture2Path: Imitation Learning for Gesture-aware Navigation

arXiv

引用

arXiv 2022年

作者： Cuan, Catie Lee, Edward Fisher, Emre Francis, Anthony Takayama, Leila Zhang, Tingnan Toshev, Alexander Pirk, Sören Department of Mechanical Engineering Stanford University Stanford94305 United States Everyday Robots 100 Mayfield Ave Palo AltoCA94043 United States Robotics at Google 1600 Amphitheatre Parkway Mountain ViewCA94304 United States Apple ML Research Apple Park 1 CupertinoCA95014 United States Adobe Research 345 Park Avenue San JoseCA95110-2704 United States

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial expressions when navigating around other people, especially in densely occupied spaces. Consequently, robots also need to be able to interpret gestures as part of solving social navigation tasks. To this end, we present Gesture2Path, a novel social navigation approach that combines image-based imitation learning with model-predictive control. Gestures are interpreted based on a neural network that operates on streams of images, while we use a state-of-the-art model predictive control algorithm to solve point-to-point navigation tasks. We deploy our method on real robots and showcase the effectiveness of our approach for the four gestures-navigation scenarios: left/right, follow me, and make a circle. Our experiments indicate that our method is able to successfully interpret complex human gestures and to use them as a signal to generate socially compliant trajectories for navigation tasks. We validated our method based on in-situ ratings of participants interacting with the robots. © 2022, CC BY-SA.

关键词： Model predictive control

来源：评论

学校读者我要写书评

暂无评论

Corrigendum to “Steering feel improvement by mathematical modeling of the electric power steering system”

引用

Mechatronics 2021年 79卷

作者： Jung Hyun Choi Kanghyun Nam Sehoon Oh Department of Robotics Engineering DGIST Daegu 42988 Republic of Korea School of Mechanical Engineering Yeungnam University Gyeongsan 38541 Republic of Korea

来源：评论

学校读者我要写书评

暂无评论

Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model

Passive Quadrupedal Gait Synchronization for Extra Robotic L...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Daniel J. Gonzalez H. Harry Asada Robotics Research Center in the Department of Electrical Engineering and Computer Science United States Military Academy West Point NY USA d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human's limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone.

关键词： Legged locomotion Wheels Synchronization Couplers Robot kinematics

来源：评论

学校读者我要写书评

暂无评论

Perovskite superlattices with efficient carrier dynamics

Research Square

引用

Research Square 2021年

作者： Xu, Sheng Lei, Yusheng Li, Yuheng Lu, Chengchangfeng Yan, Qizhang Gong, Huaxin Zhang, Song Zhou, Jiayun Zhang, Ruiqi Chen, Yimu Tsai, Hsinhan Gu, Yue Hu, Hongjie Lo, Yu-Hwa Nie, Wanyi Lee, Taeyoon Luo, Jian Yang, Kesong Jang, Kyung-In Department of Nanoengineering University of California San Diego La Jolla CA92093-0448 United States Department of Chemical Engineering Stanford University StanfordCA94305 United States Department of Electrical and Computer Engineering University of California San Diego La Jolla CA92093 United States Material Science and Engineering Program University of California San Diego La Jolla CA92093-0418 United States Los Alamos National Laboratory Los AlamosNM87545 United States School of Electrical and Electronic Engineering Yonsei University Seoul03722 Korea Republic of Department of Bio and Brain Engineering Korea Institute of Science and Technology Korea Republic of Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu42988 Korea Republic of Department of Bioengineering University of California San Diego La Jolla CA92093-0412 United States

Compared with their three-dimensional counterparts, low-dimensional metal halide perovskites with periodic inorganic/organic structures have shown promising stability and hysteresis-free electrical performance, which paves the way for next-generation optoelectronic devices. However, when integrated in devices, they have relatively limited efficiencies because devices usually require carrier transport through the film thickness direction. In conventionally grown single crystals, the carrier transport in the thickness direction is hindered by the insulating organic spacers. In addition, the strong quantum confinement from the organic spacers limits the generation and transport of free carriers. The carrier dynamics is further compromised by the presence of grain boundaries in polycrystals. Here, we report a low-dimensional metal halide perovskite superlattice with efficient carrier transport in three dimensions by epitaxial growth. Epitaxy on a slightly lattice-mismatched substrate compresses the organic spacers in the superlattice, which weakens the quantum confinement and further improves carrier dynamics. The performance of a low-dimensional perovskite superlattice solar cell has been certified under the quasi-steady state for the first time. Moreover, the device shows an unusually high open-circuit voltage, due to a unique intra-band exciton relaxation mechanism. © 2021, CC BY.

关键词： Grain boundaries

来源：评论

学校读者我要写书评

暂无评论

Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body

Is That a Chair? Imagining Affordances Using Simulations of ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Hongtao Wu Deven Misra Gregory S. Chirikjian Laboratory for Computational Sensing and Robotics (LCSR) Johns Hopkins University Baltimore MD USA Physics Department Reed College Portland OR USA Department of Mechanical Engineering National University of Singapore Singapore

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical interactions with the object. In this paper, we propose a novel method to provide robots with an ability to imagine object affordances using physical simulations. The class of chair is chosen here as an initial category of objects to illustrate a more general paradigm. In our method, the robot "imagines" the affordance of an arbitrarily oriented object as a chair by simulating a physical sitting interaction between an articulated human body and the object. This object affordance reasoning is used as a cue for object classification (chair vs non-chair). Moreover, if an object is classified as a chair, the affordance reasoning can also predict the upright pose of the object which allows the sitting interaction to take place. We call this type of poses the functional pose. We demonstrate our method in chair classification on synthetic 3D CAD models. Although our method uses only 30 models for training, it outperforms appearance-based deep learning methods, which require a large amount of training data, when the upright orientation is not assumed to be known a priori. In addition, we showcase that the functional pose predictions of our method align well with human judgments on both synthetic models and real objects scanned by a depth camera.

关键词： Robots Solid modeling Cognition Physics Three-dimensional displays Data models Geometry

来源：评论

学校读者我要写书评

暂无评论

Spider chart based pictographic image comparison in walking speed estimation 2

Spider chart based pictographic image comparison in walking ...

引用

2nd International Conference on Advanced Computational and Communication Paradigms, ICACCP 2019

作者： Masum, Habib Chattopadhyay, Surajit Ray, Ranjit Bhaumik, Subhasis GKCIET Department of Mechanical Engineering Malda Malda W.B. India Robotics and Automation Group CSIR-CMERI Durgapur W.B. India Aerospace Engineering and Applied Mechanics Department IIEST Shibpur W.B. India

ISBN: (纸本)9781538679890

In this paper, spider chart based pictographic image comparison is suggested for determination of gait cycle time for walking speed estimation. Ground reaction force data and ankle's position information from human gait for different walking speed are collected during level walking on motorized treadmill. Accordingly, spider charts of those collected and digitized gait data are developed for different walking speed and changes in pictographic images are compared for characterization of the different gaits. A fusion technique namely, 'k out of n' redundant fusion technique is also applied for generating a fail-safe and robust estimation. The gait cycle time estimation technique is further validated by the time recorded during laboratory trials. © 2019 IEEE.

关键词： Biophysics

来源：评论

学校读者我要写书评

暂无评论

Kinematic Modelling and Structural Analysis of a Spherical Robot: BALL-E

引用

IOP Conference Series: Materials Science and engineering 2021年第1期1132卷

作者： Satwik Tholapu A P Sudheer M L Joy Mechatronics/Robotics Lab Department of Mechanical Engineering National Institute of Technology Calicut Kerala India-673601

This paper presents a spherical mobile robot which is capable of executing rolling and walking motions. The proposed robot can also transform into a quadruped based on the terrain conditions. The advantage of combining these motions in the robot is that it improves the collision recovery and manoeuvrability over multiple terrains. Various conceptual designs are developed, and concept scoring is carried out to find the best design. The kinematic analysis is presented for the chosen design using the Denavit-Hartenberg (D-H) method. The inverse kinematics is solved using MATLAB and the corresponding robot configurations are plotted. The structural analysis of the robot is also completed using ANSYS Workbench.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Evaluation of mechanical properties, biodegradability and bioactivity of forsteritediopside scaffolds coated by polycaprolacton fumarate

Evaluation of mechanical properties, biodegradability and bi...

引用

Materials Science and Technology 2019, MS and T 2019

作者： Sadeghzade, Sorour Emadi, Rahmatollah Tavangarian, Fariborz Materials research Group Department of Materials engineering Isfahan University of Technology Isfahan84156-83111 Iran Mechanical Engineering Program School of Science Engineering and Technology Pennsylvania State University HarrisburgPA17057 United States

ISBN: (纸本)0873397703

One of the significant challenges in bone tissue engineering is the fabrication of highly porous scaffolds with interconnected pores and appropriate mechanical properties. Commonly available synthetic scaffolds are made of ceramic or polymer, but a better combination of properties can be achieved with a composite or multi-component structure. The aim of this study is to produce three-dimensional (forsterite-diopside) porous scaffolds using space holder technique in order to use in bone tissue engineering. Therefore, forsterite and Diopside nanopowders were synthesized via mechanical activation and sol-gel methods, respectively, and then were mixed with various ratios. After addition of sodium chloride as spacer with appropriate weight percentage, the powder mixture was compacted under the uniaxial compression. In order to remove sodium chloride and develop a porous structure, samples were sintered. After determination of the optimal scaffolds in terms of mechanical properties, the scaffolds were coated with 6 wt.% poly caprolactone fumarate solution and their mechanical, physical and biological properties was evaluated. The results showed that the addition of 10 wt.% diopside nanopowder altered the properties of the scaffolds such that compressive strength increased to 4.36 MPa compared to pure forsterite (3.45 MPa). Applying the polymer coating with cross-linked structure on the optimal scaffolds improved the compressive strength by 23%. Based on the results of Archimedes' principle and SEM micrographs, the addition of 10 wt.% diopside had a negligible effect on the porosity but improved the pores morphology. SEM micrographs of scaffolds after soaking in SBF depicted tiny agglomerated bone-like apatite particles. Considering the results obtained, it seems that, the produced scaffolds could be a good candidate for bone tissue engineering applications. Copyright © 2019 MS&T19®

关键词： Porosity

来源：评论

学校读者我要写书评

暂无评论

A generalized model for predicting the optimal overlap rate and height of successive single-layer involved in laser metal deposition process based on the aspect ratio

引用

Optics & Laser Technology 2025年 191卷

作者： Enjie Dong Tingyu Chang Gan Li Ze Liu Liming Xia Linjie Zhao Junwen Lu Jiaxuan Chen Mingjun Chen Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Mechanical Engineering City University of Hong Kong Hong Kong China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Guangdong 518055 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

The surface flatness of single-layer islands deposition is essential for high-quality multi-layer component deposition and the stability of the Laser metal deposition (LMD) manufacturing process. The aspect ratio of single-track deposition and the overlap rate are critical factors influencing the flatness of single-layer island deposition. Existing methods for determining the optimal overlap rate, whether through experimental approaches or simplified recursive overlap models, still suffer from long development cycles and limited accuracy. In this study, a generalized, efficient and reliable model for predicting the optimal overlap rate only using the aspect ratio of the single-track deposition as the input parameter was developed after fully understanding the influence of the aspect ratio and overlap rate on the morphology, stacking effect and flatness of single-layer islands. Besides, a prediction model for the height of the single-layer island, based on the input parameters of the aspect ratio and the overlap rate has also been developed. Further, verification datasets from different experimental batches and materials were used to validate the accuracy and generalizability of the island height prediction model. The validation results indicated that the relative error between the predicted and actual values was less than 10%. The single-track aspect ratio can be directly used to guide the LMD multi-layer component deposition, regardless of the combination of powder and substrate materials, using these reliable and generalized prediction models for the optimal overlap rate and the island height developed in current study. The single-layer island deposition stage was completely eliminated, thereby significantly shorten the development cycle and reduce the cost of LMD process parameter development.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：