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Towards microfluidic-based optical encryption using superhydrophobic surfaces created by femtosecond laser ablation 11

Towards microfluidic-based optical encryption using superhyd...

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11th IEEE Annual International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2021

作者： Zheng, Jianchen Yu, Haibo Wen, Yangdong Zhao, Wenxiu Luo, Hao Liu, Lianqing Li, Wen Jung State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences and the Institutes for Robotics and Intelligent Manufacturing Shenyang110016 China CAS-CityU Joint Laboratory for Robotic Research CityU Kowloon Tong Hong Kong Department of Mechanical Engineering Kowloon Tong Hong Kong

ISBN: (纸本)9781665425278

Although superhydrophobic surfaces have been extensively studied in the past, few studies have achieved optical encryption through the manipulation of droplets combined with the surface superhydrophobic properties. We present here our work in using femtosecond laser ablation to create micro-/nano-structures on polydimethylsiloxane (PDMS) substrate surfaces, enabling them to become superhydrophobic. Directional transport tracks to steer droplet motions were designed on the processed PDMS surface utilizing a high-contrast difference in surface wettability;self-cleaning property using the droplets was also verified on the substrate surface. Moreover, using a surface with designed high-contrast regions to trap droplets, magnetic-assisted manipulation of nanoparticles enabled in-situ reversible optical imaging/encryption. Our simple method for creating high-contrast surface wettability regions holds great potential for fostering a wide range of innovative applications such as droplet-based microfluidics as well as new optical encryption devices. © 2021 IEEE.

关键词： Laser ablation

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Effect of TiO2 nanoparticles and hydrogen on the combustion, performance, and emissions of madhuca biodiesel in a diesel engine

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International Journal of Hydrogen Energy 2025年 143卷 635-649页

作者： Madhan Kumar, A. Senthil Nathan, K. Manickam, Selvaraj Gupta, Deepak Vikneswaran, M. Dhamodaran, Gopinath Seetharaman, Sathyanarayanan Thiagarajan, S. Al-Ansari, Mysoon M. Department of Mechanical Engineering Saveetha Engineering College Saveetha Nagar Thandalam Chennai India Department of Mechanical Engineering E.G.S. Pillay Engineering College Tamilnadu Nagapattinam611002 India Department of Automation and Robotics IMPACT College of Engineering and Applied Sciences Bangalore India Department of Mechanical Engineering Graphic Era Hill University Uttarakhand Dehradun248002 India Department of Mechanical Engineering Graphic Era Deemed to Be University Uttarakhand Dehradun248002 India Department of Mechanical Engineering Faculty of Engineering and Technology SRM Institute of Science and Technology Ramapuram Tamilnadu Chennai600089 India Department of Mechanical Engineering Easwari Engineering College Tamilnadu Chennai India Department of Chemistry College of Science King Saud University P.O. Box. 2455 Riyadh11451 Saudi Arabia Centre for Sustainable Energy Technologies Easwari Engineering College Tamilnadu Chennai India Centre of Research SRM TRP Engineering College TiruchirapalliTamilnadu India

This study investigates the combustion, performance, and emission characteristics of a diesel engine fueled with neat diesel, M20 (a blend of 20 % Madhuca oil and 80 % diesel), and M20 augmented with Titanium dioxide (TiO2) nanoparticles (50 ppm and 100 ppm), under dual-fuel conditions with a constant hydrogen flow rate of 10 LPM. The research aims to address the challenges of biodiesel adoption by leveraging TiO2 nanoparticles and hydrogen to optimize fuel efficiency and emissions. The results reveal that the M20 blend enhanced with 100 ppm TiO2 nanoparticles achieved a peak improvement in brake thermal efficiency (BTE) by 6.76 %, while simultaneously reducing brake-specific fuel consumption (BSFC) by 4.46 %, compared to the M20 blend. Also, emission analysis demonstrated significant reductions in hydrocarbon (HC) and carbon monoxide (CO) emissions, achieving decreases of 2.63 % and 8.53 %, respectively, with the same blend. The inclusion of hydrogen as a secondary fuel with M20 and 100 ppm TiO2 showed 24.23 % improved BTE and 8.32 % reduced BSFC, along with significant emissions reductions: 13.16 % HC, 19.02 % CO, and 4.04 % smoke opacity. However, nitrogen oxide (NOx) emissions increased by 12.67 % due to elevated in-cylinder temperatures with the M20 blend. These findings underscore the potential of Madhuca oil-based biodiesel, when enhanced with nanoparticles and hydrogen, to serve as a sustainable alternative to conventional diesel. By balancing improved performance and reduced environmental impact, this study offers valuable insights into achieving cleaner and more efficient combustion in diesel engines, contributing to the advancement of biofuel applications and emission compliance strategies. © 2025

关键词： Diesel engines

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Edge detection for event cameras using intra-pixel-area events 30

Edge detection for event cameras using intra-pixel-area even...

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30th British Machine Vision Conference, BMVC 2019

作者： Lee, Sangil Kim, Haram Jin Kim, H. Automation and Systems Research Institute Department of Mechanical and Aerospace Engineering Seoul National University Seoul Korea Republic of

In this work, we propose an edge detection algorithm by estimating a lifetime of an event produced from dynamic vision sensor (DVS), also known as event camera. The event camera, unlike traditional CMOS camera, generates sparse event data at a pixel whose log-intensity changes. Due to this characteristic, theoretically, there is only one or no event at the specific time, which makes it difficult to grasp the world captured by the camera at a particular moment. In this work, we present an algorithm that keeps the event alive until the corresponding event is generated in a nearby pixel so that the shape of an edge is preserved. Particularly, we consider a pixel area to fit a plane on Surface of Active Events (SAE) and call the point inside the pixel area closest to the plane as a intra-pixel-area event. These intra-pixel-area events help the fitting plane algorithm to estimate lifetime robustly and precisely. Our algorithm performs better in terms of sharpness and similarity metric than the accumulation of events over fixed counts or time intervals, when compared with the existing edge detection algorithms, both qualitatively and quantitatively. © 2019. The copyright of this document resides with its authors.

关键词： Cameras

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A Novel Variable Stiffness Actuator Based on a Rocker-Linked Epicyclic Gear Train

SSRN

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SSRN 2022年

作者： Li, Zhisen Xu, Peng Huang, Hailin Ning, Yinghao Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Zhengzhou Electromechanical Engineering Research Institute Zhengzhou450015 China

This paper presents a novel variable stiffness actuator based on a rocker-linked epicyclic gear train (REGT-VSA). The stiffness adjustment principle of the actuator is to change the lever ratio of force by converting the differential motion of the planetary gear train into the linear motion of the elastic element. The unique design of the rocker-linked epicyclic gear train ensures the compactness of structure and the accuracy of transmission. The simultaneous relocations of the pivot and torsion spring permit a wide-range stiffness adjustment. By introducing a linear guide and a cam follower, the internal friction is reduced, and the energy efficiency is improved. A prototype and its trajectory tracking controller are developed to evaluate the performance of REGT-VSA. An exponential function is used to train the neuron proportion coefficient of the conventional single-neuron adaptive PID (proportional-integral-derivative) controller to compensate for the hysteresis of elastic elements, thus creating the dynamic single-neuron adaptive PID controller. The stiffness identification and trajectory tracking experiments under different conditions prove the feasibility of the actuator and the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Proportional control systems

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Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objects

arXiv

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arXiv 2022年

作者： Liu, Junjia Chen, Yiting Dong, Zhipeng Wang, Shixiong Calinon, Sylvain Li, Miao Chen, Fei The Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong The School of Power and Mechanical Engineering Wuhan University Hubei China The Idiap Research Institute Martigny Switzerland The Institute of Technological Sciences Wuhan University Hubei China

This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movements, which is usually difficult to learn for a chef, let alone transfer to robots. In this letter, we define a canonical stir-fry movement, and then propose a decoupled framework for learning this deformable object manipulation from human demonstration. First, dual arms of the robot are decoupled into different roles (a leader and follower) and learned with classical and neural network based methods separately, then the bimanual task is transformed into a coordination problem. To obtain general bimanual coordination, we secondly propose a Graph and Transformer based model - Structured-Transformer, to capture the spatio-temporal relationship between dual-arm movements. Finally, by adding visual feedback of contents deformation, our framework can adjust the movements automatically to achieve the desired stir-fry effect. We verify the framework by a simulator and deploy it on a real bimanual Panda robot system. The experimental results validate our framework can realize the bimanual robot stir-fry motion and have the potential to extend to other deformable objects with bimanual coordination. Copyright © 2022, The Authors. All rights reserved.

关键词： Visual communication

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Distributed Optimization by Network Flows with Spatio-Temporal Compression

arXiv

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arXiv 2024年

作者： Ren, Zihao Wang, Lei Yi, Xinlei Wang, Xi Yuan, Deming Yang, Tao Wu, Zhengguang Shi, Guodong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China College of Electronics and Information Engineering Tongji University China School of Electrical Engineering Telecommunications University of New South Wales Sydney Australia School of Automation Nanjing University of Science and Technology China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University China Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2006 Australia

Several data compressors have been proposed in distributed optimization frameworks of network systems to reduce communication overhead in large-scale applications. In this paper, we demonstrate that effective information compression may occur over time or space during sequences of node communications in distributed algorithms, leading to the concept of spatio-temporal compressors. This abstraction classifies existing compressors as spatio-temporal compressors, with their effectiveness described by constructive stability criteria from nonlinear system theory. Subsequently, we apply these spatio-temporal compressors to standard continuous-time consensus flows and distributed prime-dual flows, establishing conditions ensuring convergence. Additionally, we introduce a novel observer-based distributed primal-dual continuous flow integrated with spatio-temporal compressors, which provides broader convergence conditions. These continuous flows achieve exponential convergence to the global optimum when the objective function is strongly convex and can be discretized using Euler approximations. Finally, numerical simulations illustrate the versatility of the proposed spatio-temporal compressors and verify the convergence of algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Stability criteria

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A Space Crawling Robotic Bio-Paw (Scrbp) Enabled by Triboelectric Sensors for Surface Identification

SSRN

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SSRN 2022年

作者： Hou, Xuyan Zhang, Li Gao, Guowei Liu, Yuhui Na, Zhonglai Xu, QingZhang Ding, Tianxiang Li, Long Chen, Tao Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Department of MECHANICAL ENGINEERING FACULTY OF ENGINEERING Hong Kong Polytechnic University Hong Kong Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215123 China

With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. © 2022, The Authors. All rights reserved.

关键词： End effectors

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Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned

arXiv

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arXiv 2025年

作者： Cao, Muqing Nguyen, Thien-Minh Yuan, Shenghai Anastasiou, Andreas Zacharia, Angelos Papaioannou, Savvas Kolios, Panayiotis Panayiotou, Christos G. Polycarpou, Marios M. Xu, Xinhang Zhang, Mingjie Gao, Fei Zhou, Boyu Chen, Ben M. Xie, Lihua Robotics Institute Carnegie Mellon University United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore KIOS Research Innovation Center of Excellence Department of Electrical and Computer Engineering University of Cyprus Cyprus School of Artificial Intelligence Sun Yat-sen University China Zhejiang University China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic constraints, and evaluation metrics prioritizing inspection quality and efficiency. It offers a ready-to-use perception-control software stack and diverse scenarios to support the development and evaluation of task allocation and motion planning algorithms. Competitions using CARIC were held at IEEE CDC 2023 and the IROS 2024 Workshop on Multi-Robot Perception and Navigation, attracting innovative solutions from research teams worldwide. This paper examines the top three teams from CDC 2023, analyzing their exploration, inspection, and task allocation strategies while drawing insights into their performance across scenarios. The results highlight the task’s complexity and suggest promising directions for future research in cooperative multi-UAV systems. © 2025, CC BY-NC-ND.

关键词： Motion planning

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Gesture Control Method for Oral Blood Mixed Liquid Removal Robot∗ 5

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

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5th World Robot Conference Symposium on Advanced robotics and automation, WRC SARA 2023

作者： Ma, Xudong Kuang, Ziao Li, Han Chen, Anqi Li, Changsheng Liu, Wenyong Wang, Junchen Hu, Yida David Gao, Li Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Beijing University of Posts and Tele-communications School of Computer Beijing100876 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States Peking University School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Stomatological Center Department of Periodontology Beijing China

ISBN: (纸本)9798350307320

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it's demonstrated that an oral surgeon controls the robot's motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal. © 2023 IEEE.

关键词： Blood

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Bio-inspired microstructures for enhancement of surface photothermal absorption based on TPP

Bio-inspired microstructures for enhancement of surface phot...

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IEEE Conference on Nanotechnology

作者： Jianchen Zheng Haibo Yu Yuzhao Zhang Jingang Wang Xiaoduo Wang Ye Qiu Lianqing Liu Wen Jung Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences and the Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Science Shenyang China University of the Chinese Academy of Sciences Beijing China Department of Mechanical Engineering City University of Hong Kong (CityU) Kowloon Tong Hong Kong CAS-CityU Joint Laboratory for Robotic Research CityU Kowloon Tong Hong Kong Shenyang Institute of Automation Chinese Academy of Sciences and the Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Science Shenyang China

The microstructures on the wing scales of some butterflies demonstrate excellent optical properties in response to environmental changes. The preparation of nature-inspired photothermal conversion structures on material surfaces has now been successfully applied to microelectronics. However, conventional methods are limited by processing accuracy, which makes it difficult to truly replicate the bionic microstructures perfectly, and few studies have been conducted to prepare bionic structures on transparent materials to obtain enhanced photothermal conversion properties. In this paper, we prepared bionic microstructures on the surface of hydrogels by two-photon polymerization technique. The original recipes of temperature-sensitive hydrogels were also enhanced in terms of performance. The structure of the scale surface for enhanced photothermal conversion was analyzed by morphological and spectral characterization of different regions of Papilio maackii scales. Moreover, a microstructure was simplified and designed, and the absorption properties of the structure for 800 nm laser were demonstrated by fdtd simulation. Further, we utilize this bionic microstructure prepared on the surface of the microblock to achieve more rapid and efficient driven deformation of the bilayer film heterostructure through two-photon aggregation absorption for photothermal conversion. Our proposed method provides a novel approach for the design of a new generation of flexible electronic, micro-drives.

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