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Mechanical Properties Inside Origami-Inspired Structures: An Overview

Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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A Three-Step Optimization Framework With Hybrid Models for a Humanoid Robot’s Jump Motion

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IEEE Transactions on Automation Science and engineering 2025年 22卷 14120-14132页

作者： Qi, Haoxiang Yu, Zhangguo Chen, Xuechao Li, Qingqing Liu, Yaliang Yi, Chuanku Dong, Chencheng Meng, Fei Huang, Qiang Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing100081 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing100081 China Qiyuan Laboratory Beijing100029 China

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper proposes a 3-step trajectory optimization framework for generating a jump motion for a humanoid robot. To improve iteration speed and achieve ideal performance, the framework comprises three sub-optimizations. The first optimization incorporates momentum, inertia, and center of pressure (CoP), treating the robot as a static reaction momentum pendulum (SRMP) model to generate corresponding trajectories. The second optimization maps these trajectories to joint space using effective Quadratic Programming (QP) solvers. Finally, the third optimization generates whole-body joint trajectories utilizing trajectories generated by previous parts. With the combined consideration of momentum and inertia, the robot achieves agile forward jump motions. A simulation and experiments of forward jump with a distance of 1.0 m and 0.5 m height are presented in this paper, validating the applicability of the proposed framework. © 2004-2012 IEEE.

关键词： Anthropomorphic robots

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Novel Sparse Codebook Design for MIMO-SCMA

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IEEE Transactions on Vehicular technology 2025年第5期74卷 8407-8412页

作者： Lei, Tuofeng Luo, Qu Ni, Shuyan Chen, Shimiao Yu, Lisu Xiao, Pei Space Engineering University Key Laboratory of Intelligent Space TTC&O Ministry of Education Beijing101416 China University of Electronic Science and Technology of China National Key Laboratory of Science and Technology on Communications Chengdu610054 China Nanchang University School of Information Engineering Nanchang330031 China Xidian University State Key Laboratory of ISN Xi'an710071 China

The combination of multiple-input multiple-output (MIMO) and sparse code multiple access (SCMA), referred to as MIMO-SCMA, can be leveraged to achieve high spectrum efficiency and provide massive connectivity for future machine -type communication networks. This paper aims to design enhanced sparse codebooks for MIMO-SCMA by jointly combining frequency and spatial diversity over Rayleigh fading channels. First, based on the pairwise error probability (PEP), novel codebook design criteria have been presented, namely the hybrid minimum product distance of the Euclidean distance (MPD-ED) and the minimum Euclidean distance of the superimposed constellation at each frequency element (MED-FE). Then, enhanced mother constellations (MC) are proposed by maximizing the MPD-ED of the MC based on the alternating optimization. Subsequently, the multi-dimensional codebooks are obtained by applying user-specific rotation of the proposed MC to maximize the MED-FE, where the unitary rotations are considered to fully leverage the Euclidean space of the transmit antennas while maintaining the MPD-ED value of the codebook. Finally, numerical results demonstrate that the proposed approach significantly outperforms the state-of-the-art codebooks. © 1967-2012 IEEE.

关键词： Fading channels

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Membranes of Amphiphilic Polyamide 1012 Prepared via Mixed‘Non-solvents’Evaporation Induced Phase Separation

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Chinese Journal of Polymer Science 2025年第1期43卷 153-161,I0011页

作者： Xiang Liu Jie Qiu Yu-Ting Gao Shuo Wang Joachim Loos Du-Jin Wang Xia Dong Tao Wen School of Emergent Soft Matter South China University of TechnologyGuangzhou510640China Guangdong Provincial Key Laboratory of Functional and Intelligent Hybrid Materials and Devices South China University of TechnologyGuangzhou510640China Beijing National Laboratory for Molecular Sciences CAS Key Laboratory of Engineering PlasticsInstitute of ChemistryChinese Academy of SciencesBeijing100190China University of Chinese Academy of Sciences Beijing100049China

Long-chain polyamides(LCPAs)are a class of bio-based polymers that can bridge conventional polyolefins and *** this work,taking the advantage of the amphiphilic nature of polyamide 1012(PA1012),membranes were prepared by using a non-conventional phase separation approach,namely,mixed‘non-solvents’evaporation induced phase separation(MNEIPS).PA1012 can be dissolved in a mixture of polar and non-polar solvents,both of which are non-solvents of *** the sequential evaporation of the two solvents,the phase separation of PA1012 occurred,inducing the formation of porous *** investigated the process of membrane formation in detail,with a specific focus on the liquid-liquid and liquid-solid phase transitions ***,we studied the influence of critical factors,such as polymer concentration and mixed-solvent ratio,on the morphologies and properties of PA1012 *** study provides new insights into the development of porous materials based on long-chain polycondensates.

关键词： Long-chain polyamide Phase separation Membrane

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Mathematical Models of Scallop Locomotion and Optimal Design of Scallop-Inspired Robot

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Journal of Bionic engineering 2025年第2期22卷 805-821页

作者： Yumo Wang Jiajun Xu Jiazu Zhou Xiayu Tao Ziwei Yin Tianyu Gao Wentao Sheng School of Intelligent Manufacturing Nanjing University of Science and TechnologyNanjing210094China College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing210016China Future Cities Lab Global Singapore-ETH CentreSingaporeSingapore National Synchrotron Radiation Laboratory University of Science and Technology of ChinaHefei230029China

Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, holds significant importance in the study of underwater motion mechanisms. In this study, we present theoretical fluid mechanics analysis and modeling of the three distinct motion stages of scallops, providing parameterized descriptions of scallop locomotion mechanisms. Accordingly, three-stage adaptive motion control for the scallop robot and model-based robot configuration optimization design were achieved. An experimental platform and a robot prototype were built to validate the accuracy of the motion model and the effectiveness of the control strategy. Additionally, based on the models, future optimization directions for the robot are proposed.

关键词： Locomotion Models Scallop Robot Swimming Speed Experimental Validation Optimization Design

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Prospective Role of Foundation Models in Advancing Autonomous Vehicles

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Research 2025年第1期7卷 667-691页

作者： Jianhua Wu Bingzhao Gao Jincheng Gao Jianhao Yu Hongqing Chu Qiankun Yu Xun Gong Yi Chang H Eric Tseng Hong Chen Jie Chen School of Automotive Studies Tongji UniversityShanghai 201804China Frontiers Science Center for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China SAIC Intelligent Technology Shanghai 201805China College of Artificial Intelligence Jilin UniversityChangchun 130012China Research and Advanced Engineering Ford Motor CompanyDearbornMI 48124USA College of Electronic and Information Engineering Tongji UniversityShanghai 201804China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai 201210China

With the development of artificial intelligence and breakthroughs in deep learning,large-scale foundation models(FMs),such as generative pre-trained transformer(GPT),Sora,etc.,have achieved remarkable results in many fields including natural language processing and computer *** application of FMs in autonomous driving holds considerable *** example,they can contribute to enhancing scene understanding and *** pre-training on rich linguistic and visual data,FMs can understand and interpret various elements in a driving scene,and provide cognitive reasoning to give linguistic and action instructions for driving decisions and ***,FMs can augment data based on the understanding of driving scenarios to provide feasible scenes of those rare occurrences in the long tail distribution that are unlikely to be encountered during routine driving and data *** enhancement can subsequently lead to improvement in the accuracy and reliability of autonomous driving *** testament to the potential of FMs'applications lies in world models,exemplified by the DREAMER series,which showcases the ability to comprehend physical laws and *** from massive data under the paradigm of self-supervised learning,world models can generate unseen yet plausible driving environments,facilitating the enhancement in the prediction of road users'behaviors and the off-line training of driving *** this paper,we synthesize the applications and future trends of FMs in autonomous *** utilizing the powerful capabilities of FMs,we strive to tackle the potential issues stemming from the long-tail distribution in autonomous driving,consequently advancing overall safety in this domain.

关键词： autonomous driving computer visionthe artificial intelligence natural language processing deep learninglarge scale autonomous vehicles understand interpr enhancing scene understanding reasoningby

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Impact fracturing of rock-like material using carbon dioxide under different temperatures and pressures

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Journal of Rock Mechanics and Geotechnical engineering 2025年第1期17卷 370-384页

作者： Shaobin Hu Zhengyong Yan Chun Zhu Manchao He Shuogang Pang College of Civil and Transportation Engineering Hohai UniversityNanjing210098China Key Laboratory of Ministry of Education for Geomechanics and Embankment Engineering Hohai UniversityNanjing210098China School of Earth Sciences and Engineering Hohai UniversityNanjing210098China National Key Laboratory for Disaster Prevention Controland Intelligent Construction and Maintenance of Tunnel EngineeringChina University of Mining and Technology(Beijing)Beijing100083China School of Mechanics and Civil Engineering China University of Mining and TechnologyBeijing100083China

Unconventional resources (oil, gas, and geothermal) are often buried deep underground within dense rock strata and complex geological structures, making it increasingly difficult to create volumetric fractures through conventional hydraulic fracturing. This paper introduces a novel method of supercritical energetic fluid thermal shock fracturing. It pioneers a CO_(2) deflagration impact triaxial pneumatic fracturing experimental system, using high-strength similar materials to simulate deep, hard rock masses. The study investigates the rock-breaking process and crack propagation patterns under supercritical CO_(2) thermal shock, revealing and discussing the types of thermal shock-induced fractures, their formation conditions, and discrimination criteria. The research indicates that higher supercritical CO_(2) thermal shock pressures and faster pressure release rates facilitate the formation of radial branching fractures, circumferential cracks, and branch cracks. Typically, CO_(2) thermal shock generates 3–5 radial main cracks, which is significantly more than the single main crack formed by hydraulic fracturing. The formation of branched cracks is often caused by compression-shear failure and occurs under relatively harsh conditions, determined by the confining pressure, rock properties, peak thermal shock pressure, and the pressure sustained post-decompression. The findings are expected to offer a safe, efficient, and controllable shockwave method of supercritical fluid thermal shock fracturing for the exploitation of deep unconventional oil and gas resources.

关键词： Cracking mechanism Supercritical CO_(2) True triaxial experimental Impact fracturing

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Coprime Factorization-Based Encryption and Attack Detection for Nonlinear Cyber-Physical Systems Using Deep Learning Approach

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IEEE Transactions on Automation Science and engineering 2025年 22卷 14020-14029页

作者： Wu, Shimeng Luo, Hao Zhang, Jiusi Qiao, Xinyu Tian, Jilun Jiang, Yuchen Harbin Institute of Technology Department of Control and Simulation Center Harbin150001 China National Key Laboratory ofComplex System Control and Intelligent Agent Cooperation Harbin150001 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

This paper presents a data-driven framework for integrating encryption transmission and attack detection in cyber-physical systems (CPS) with nonlinear physical plants. The main focus of this research is to use deep neural networks to realize the coprime factorization (CF) of nonlinear systems. The definition of the CF guides the network training and designing process, and the model’s topology is designed in the state-space form, which improves the interpretability of the data-driven CF. Based on the CF-aided neural networks, an encrypted transmission module is designed that projects information related to system dynamics into a perpendicular data space, which complements existing encryption methods from a control theory perspective. Subsequently, an anomaly detector are designed using the same CF pairs. This detector not only provides high-accuracy detection of attacks but also distinguishes between attacks and faults, thereby reducing the false positive rate and enhancing the reliability of the attack detection. The proposed method has been validated in a real CPS using a mecanum-wheeled vehicle as the physical plant, demonstrating its effectiveness and applicability. © 2004-2012 IEEE.

关键词： Factorization

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A Method for Abnormality Detection of Lithium-Ion Battery Packs Based on Kullback-Leibler Test and Greenwald-Khanna Clustering 11th

A Method for Abnormality Detection of Lithium-Ion Battery Pa...

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11th Frontier Academic Forum of Electrical engineering, FAFEE 2024

作者： Wang, Chong Liu, Yajie Song, Yuanming Wang, Yu College of System Engineering National University of Defense Technology Changsha410073 China Hunan Key Laboratory of Multi-Energy System Intelligent Interconnection Technology Changsha410073 China

ISBN: (纸本)9789819788231

During the operation of lithium-ion battery packs, there often exhibit certain abnormalities due to cell faults such as internal short circuit or unavoidable inconsistencies among cells, which affects the operation safety of the battery packs. Therefore, it is of great significance to carry out abnormality detection for the battery packs. Accordingly, this paper proposes a feature selection method based on Kullback-Leibler (K-L) test and an improved Greenwald-Khanna (GK) clustering algorithm. Initially, faults are introduced into the battery pack using the Simulink simulation platform to obtain simulation data. Subsequently, parameter identification is identified based on the Rint equivalent circuit model and the Recursive Least Squares (RLS) algorithm. Finally, better consistency features are selected using the K-L test as inputs to the GK clustering algorithm, and the K-Means++ method is used to optimize the GK algorithm for clustering features. The results demonstrate that this method can effectively distinguish between normal and abnormal batteries, achieving abnormality detection in battery packs. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Clustering algorithms

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Predefined-Time Distributed Fault-Tolerant Control for Nonlinear Multiagent Systems Suffering From Nonaffine Faults

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3300-3311页

作者： Cheng, Shuai Xin, Bin Chen, Jie Deng, Fang Qingdao University School of Automation Qingdao266071 China Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing100081 China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Department of Control Science and Engineering Shanghai200092 China

This article investigates the distributed predefined-time (PT) fault-tolerant control for nonlinear multiagent systems (NNMSs) with nonaffine faults. A novel distributed PT control scheme is proposed based on a new PT theorem. The switching functions are introduced into distributed control signals to avoid the singularity problem. The second-order filter technology is designed to solve "explosion of complexity" issues. The newly designed PT compensation signals are utilized to eliminate filter errors. The proposed distributed PT controller based on local information can guarantee that all signals of the closed-loop system are PT bounded, and consensus errors of NNMSs can be enforced to a small region around the origin within a predefined time. Compared with the finite/fixed time, the predefined time is an exact value given in advance, which remains constant regardless of initial states and control parameters. Finally, two comparative simulations are provided to demonstrate the presented strategy. © 2013 IEEE.

关键词： Adaptive control systems

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