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SomerBot: A Two-Legged Somersaulting Robotic Climber With Compliant Footpad

Journal of Mechanisms and robotics 2025年第8期17卷 081009页

作者： Mani Sankar, Kadali Thakur, Atul Bio-robotics and ArtificialIntelligence (BRAIn) Laboratory Department of Mechanical Engineering Indian Institute of Technology Patna Patna Bihar 801103 India Bio-robotics and ArtificialIntelligence (BRAIn) Laboratory Department of Mechanical Engineering Indian Institute of Technology Patna Patna Bihar 801106 India

Climbing capability is crucial for expanding the operational range of ground robots in inspection and exploration tasks within confined or hazardous spaces. We introduce SomerBot, a two-legged somersaulting robot designed for climbing flat and curved vertical surfaces. A key contribution is a 3D-printed compliant footpad with passive adhesion and tendon-driven detachment, reducing energy consumption compared to active adhesion techniques. The robot’s simple two-legged design minimizes fabrication complexity, weight, and power needs, which are critical for wall climbing. Optimized joint trajectory design ensures stable climbing by maintaining optimal surface contact. This article addresses several key issues: scaling of speed, payload, power, and weight with increasing motor torque, finding enhanced payload capacity without compromising speed. SomerBot’s structure, made using rapid prototyping techniques such as 3D printing and laser cutting, allows easy replication and customization. Experiments show its ability to transition between planes, overcome obstacles, and carry payloads at an average speed of 1.33 cm/s (0.12 body lengths/s). This work advances wall-climbing robots with energy-efficient adhesion and scalable design for complex climbing tasks.

关键词： legged climbing robots Design Energy consumption trajectory design Robots 3D printing somersaulting robot Adhesion

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A Virtual Characterization of QUAD and DOUBLE-DOUBLE Laminates: Buckling Studies

A Virtual Characterization of QUAD and DOUBLE-DOUBLE Laminat...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Avila, Antonio F. Mapa, Lidianne P.P. Department of Mechanical Engineering Universidade Federal de Minas Gerais Belo Horizonte Minas Gerais31270-901 Brazil Mechanical Engineering Graduate Studies Program Universidade Federal de Minas Gerais Belo Horizonte Minas Gerais31270-901 Brazil

ISBN: (纸本)9781624107238

A new strategy for virtually designing and analyzing double-double laminates to resist buckling under uniaxial compression or in-plane shear conditions has been proposed. This approach combines the off-the-shelf method for carbon/epoxy prepregs with the master-ply concept. The off-the-shelf method utilizes unidirectional prepregs (0° and 90°) and non-crimped fabrics (±30°, ±45°, and 90°). The strength of this non-dimensional design strategy lies in its simplicity, requiring only two parameters: Tsai’s modulus and the number of repetitions. Results were compared with finite element analyses, showing good agreement in all cases. The double-double formulation not only provides higher buckling loads for both uniaxial compression and in-plane shear but also results in distinct buckling modes. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Buckling loads

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Data Entry Errors Detection for Industrial Quality Control Variables Using Data-Driven Models 16th

Data Entry Errors Detection for Industrial Quality Control ...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Salles, Rodrigo Leiria, Joana Mendes, Jérôme Institute of Systems and Robotics ARISE University of Coimbra Coimbra Portugal CEMMPRE ARISE Department of Mechanical Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9783031817236

In modern industrial environments, quality control is imperative for ensuring product reliability and operational efficiency. Despite advancements in automatic data collection and data-driven models for quality processes, certain critical variables still require manual entry due to the branch of activity from which they originate, leading to potential errors from human involvement. This paper focuses on developing and applying two methodologies, Soft Sensors (SS) and Principal Component Analysis (PCA), to detect data entry errors in quality control variables. The developed methodologies were tested across three industrial datasets and the following error types were studied: blank spaces, duplicates, measurement errors, order errors, and extra number errors. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Model predictive control

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Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

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Journal of Mechanisms and robotics 2025年第7期17卷 071013页

作者： Azizkhani, Milad Ha, Junhyoung Gunderman, Anthony L. Chen, Yue Department of Mechanical Engineering Georgia Institute of Technology Atlanta GA 30332 Center for Healthcare Robotics Artificial Intelligence and Robotics Institute Korea Institute of Science and Technology Seoul 02792 South Korea Department of Mechanical Engineering University of Arkansas Fayetteville AR 72701 Department of Biomedical Engineering Georgia Institute of Technology Atlanta GA 30332

This article addresses the kinematic control of a redundant soft robotic arm. Full pose kinematic control of soft robots is challenging because direct application of the classical controllers developed based on rigid robots to soft robots could lead to unreliable or infeasible motions. In this study, we explore the manipulability property of a soft robotic arm and develop an advanced resolved-rate controller that prioritizes position over orientation control and switches its modes and gains based on position and orientation manipulabilities, enabling stable motion even when the robot is close to the singular configurations. The simulation and experimental results indicate that our proposed method outperforms previous methods in terms of both accuracy and smoothness during operation.

关键词： Resolution (Optics) Kinematics bio-inspired Simulation Errors Redundancy (engineering) continuum robotics Robots soft robotics Soft robots robotics kinematics Algorithms

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Acceleration-level coordinated control of a dual-arm free-floating space robot under hard joint constraints

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Advances in Space Research 2025年第11期75卷 8122-8139页

作者： Xue, Zhihui Liu, Jinguo Zhang, Xin Zhou, Hao Li, Yangmin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Kowloon999077 Hong Kong School of Electrical and Mechanical Engineering University of Portsmouth PortsmouthPO1 3DJ United Kingdom

Dual-arm space robots are becoming increasingly crucial in on-orbit servicing missions. The online motion control of a dual-arm redundant space robot with hard joint constraints presents significant challenges due to its free-floating base. In this article, we proposed an acceleration-level coordinated control framework to solve hard joint constraints and dynamic singularity. The proposed framework combines a task scheduling strategy to achieve saturation in the null space, so that different tasks can achieve trajectory tracking with minimal task scaling under given joint hard constraints. The framework can achieve efficient online control by sequentially abandoning the use of joints that exceed the joint constraint and reintroducing these commands at their saturation level by projecting them into the appropriate null space. Finally, we verify the tracking performance of the algorithm through numerical simulation and experimental research. By comparing the proposed algorithm with the quadratic programming and pseudo-inverse methods, the algorithm has shown excellent online motion control performance, with a computation time of approximately 1 ms within a single sampling period. © 2025 COSPAR

关键词： Quadratic programming

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Zero Thermal Expansion Metamaterial Designs for Space Structures

Zero Thermal Expansion Metamaterial Designs for Space Struct...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Lu, Wei-Chun Oudghiri-Idrissi, Othman Poli, Andrea Arruda, Ellen M. Tol, Serife Department of Mechanical Engineering University of Michigan 2350 Hayward St Ann ArborMI48109 United States Fariborz Maseeh Department of Civil Architectural and Environmental Engineering The University of Texas at Austin 301 E. Dean Keeton St AustinTX78712 United States Department of Mechanical Engineering Macromolecular Science and Engineering Program University of Michigan 2350 Hayward St Ann ArborMI48109 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The precision of space structures is sensitive to high-temperature variation during on-orbit operations. This work develops zero thermal expansion (ZTE) metamaterials that can be integrated into space structures to restrict large thermal deformation under precision requirements. The proposed bi-material ZTE metamaterial beams show extremely low coefficients of thermal expansion (CTE) for a wide temperature variation. Static and dynamic analyses are conducted on the designed metamaterials for performance evaluation. The proposed ZTE beam elements are integrated into a 48-meter rib of a space RF antenna to enhance its thermal precision over a wide temperature range. Further, experimental validation of the ZTE truss beam design is conducted in a thermal chamber to demonstrate its low thermal deformation compared to a reference aluminum truss beam. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Trusses

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Comparison of Advanced Sample Preparation Techniques for High-Resolution Imaging of Sponge Spicule Cross-Sections

Comparison of Advanced Sample Preparation Techniques for Hig...

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Symposium on Natural Fibers and Biocomposites: A Sustainable Solution, 2025, held as part of the TMS Annual Meeting and Exhibition, TMS 2025

作者： Tavangarian, Fariborz Fani, Niloofar Monfared, Armaghan Hashemi Sadeghzade, Sorour Mechanical Engineering Program School of Science Engineering and Technology Pennsylvania State University Harrisburg MiddletownPA17057 United States Department of Biomedical Engineering Pennsylvania State University State College University ParkPA16802 United States School of Engineering Westlake University Hangzhou310024 China

ISBN: (纸本)9783031811890

This study comprehensively investigates the effectiveness of three advanced sample preparation techniques—ion milling, laser cuttingLaser-based techniques, and Focused Ion Beam (FIB) milling—for high-resolution imaging of Euplectella aspergillum sponge fibers called spicules. Primarily composed of silica layers with nanometer-scale organic interlayers, spicules possess complex hierarchical structures which are critical for their mechanical propertiesmechanical property. Accurate characterizationCharacterization of these structures requires advanced sample preparation to prevent artefacts and preserve structural integrity. Ion milling introduced significant surface degradation and uneven material removal in spicules. Despite its precision, laser cutting caused thermal damage and induced micro-cracks, compromising the microstructural integrity. In contrast, FIB milling provided superior results, producing smooth, artefact-free cross-sections with minimal thermal and mechanical stress. The real-time imaging capability of FIB milling further ensured optimal sample preparation, making it the most suitable technique for delicate biological materials like spicules. The findings of this study provide valuable insights into the preparation of biological samples for further research and analysis. © The Minerals, Metals & Materials Society 2025.

关键词： Milling (machining)

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Takeoff Parameter Estimation for a Subscale Flight Test of an Amphibious Floatplane

Takeoff Parameter Estimation for a Subscale Flight Test of a...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Rocha, Ana C. S. Medeiros, Eduardo Bauzer Magalhães, Tarcisio Faustino Tofaneli, Luzia Aparecida Oliveira, Turan Dias Sieves, Guilherme Benaci Guimarães, Tamara Graduate Program of Mechanical Engineering Federal University of Minas Gerais MG Belo Horizonte31270-901 Brazil Department of Energy Senai CIMATEC University Center BA Salvador41650-010 Brazil Department of Mechanical Engineering The Pennsylvania State University University ParkPA16802 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The recent renewed interest in amphibious seaplane operation has stimulated the research related to this class of airplane. In fact, modern techniques previously developed for conventional land planes are now being modified to suit the development of these aircraft. Even though computer simulation presently offers highly efficient design tools there is still the need for experimental testing. Modern development of micro electric motors and actuators, together with the development of compact power electronics have laid the conditions for the development of Subscale Flight Testing (SFT), a very efficient tool for the improvement of the aircraft modeling process. The present research addresses the problem of conceptual design of reduced scale f loatplanes. Takeoff performance, one of the most complex flight phases of an amphibious airplane, is considered a modeling process considerably more difficult than the corresponding conventional land estimation. A typical floatplane, now being designed by the authors, is used to illustrate this development. The dynamic scaling process is described, and the expected performance of a reduced scale is shown. The authors expect to use in the near future the acquired insight to carry their own SFT flight test, and also improve modeling also providing improvements applicable to computer simulation. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Amphibious aircraft

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The Centrifugal Nuclear Thermal Rocket: Foundations, Challenges, and Progress

The Centrifugal Nuclear Thermal Rocket: Foundations, Challen...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Thomas, Dale Houts, Michael Wang, Dean Hollingsworth, Keith Frederick, Robert Cassibry, Jason Department of Industrial & Systems Engineering and Engineering Management The University of Alabama in Huntsville HuntsvilleAL35899 United States Space Nuclear Propulsion Program Office NASA Marshall Space Flight Center HuntsvilleAL35812 United States Department of Mechanical & Aerospace Engineering The Ohio State University ColumbusOH43210 United States Department of Mechanical & Aerospace Engineering and Interim Dean of the Honors College The University of Alabama in Huntsville HuntsvilleAL35899 United States Department of Mechanical & Aerospace Engineering Propulsion Research Center The University of Alabama in Huntsville HuntsvilleAL35899 United States Department of Mechanical & Aerospace Engineering The University of Alabama in Huntsville HuntsvilleAL35899 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The Centrifugal Nuclear Thermal Rocket (CNTR) is a Nuclear Thermal Propulsion (NTP) concept designed to heat propellant directly by the reactor fuel. The primary difference between the CNTR concept and traditional NTP systems is that rather than using traditional solid fuel elements, the CNTR uses liquid fuel with the liquid contained in rotating cylinders by centrifugal force. If the concept can be successfully realized, the CNTR would have a high specific impulse (up to 1800 s) at high thrust, which may enable (i) viable near-term human Mars exploration by reducing round-trip times to 420 days and (ii) direct injection orbits for scientific rendezvous missions to the Solar System outer planets and Kuiper Belt objects. Research is presently underway to determine resolutions for the significant engineering challenges that the CNTR concept presents. These challenges, the study plans to address them, and progress have been described previously;this paper provides an update on progress to date for the overall research effort, including strategies and key results on revision of a reference configuration, definition of key parameters which allows integration of the results of various analyses, and reviews strategies to mitigate the problem of Uranium vapor saturating the propellant exhaust and significantly impacting the CNTR’s specific impulse. Analyses and experiments, both underway and planned, to update estimates of engine key performance parameters including specific impulse, thrust and thrust to weight ratio along with the identification of selected design margins within the engine itself are described – all toward the goal of enabling plans for a laboratory demonstration of a single Centrifugal Fuel Element. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Rockets

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Bimetallic Nanoporous Carbon-Based Direct-Current Triboelectric Nanogenerators for Biomechanical Energy Harvesting and Sensing

SSRN

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SSRN 2025年

作者： Rahman, Muhammad Toyabur Rahman, Md Sazzadur Kim, Young-Seong Lim, Joong Yeon Kim, Seonghwan Department of Mechanical and Manufacturing Engineering University of Calgary CalgaryAB Canada Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul Korea Republic of

A high-power density direct current triboelectric nanogenerator (DC-TENG) presents a promising solution for sustainable and distributed energy supply in the Industry 4.0 era, catering to electronics and sensor networks. This study introduces a contact-separation mode DC-TENG that incorporates core-shell metal-organic framework-derived bimetallic nanoporous carbon (BNPC) as a functional nanofiller in the negative elastomer tribo-layer, significantly enhancing its performance. The synergistic effects of micro-capacitor formation, interfacial polarization, and graphitization-driven conductive networks make BNPC an ideal filler, as its high surface area and porosity improve dielectric properties and charge trapping, while its bimetallic components suppress charge recombination. Additionally, a Kapton-based mechanical rectifier is integrated to enable direct DC output, simplifying the system design and enhancing energy utilization. The optimized BNPC@elastomer composite-based DC-TENG (BNDC-TENG) exhibits a peak power density of 6.32 W/m2, demonstrating remarkable durability over 43,000 cycles and the ability to directly charge capacitors and power small electronics. Furthermore, the BNDC-TENG efficiently harvests biomechanical energy from human motion and functions as a self-powered sensor for real-time activity monitoring (e.g., walking and running). This work introduces innovative materials and a simplified architecture for high-performance DC-TENGs, advancing sustainable energy harvesting and next-generation self-powered sensing applications. © 2025, The Authors. All rights reserved.

关键词： Charge trapping

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