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Self-Preloading Flexible Attachment Actuator with Multi-Mechanism Hierarchical Structure

Journal of Bionic engineering 2024年第4期21卷 1830-1846页

作者： Zhouyi Wang Qingsong Yuan Zhiyuan Weng Junsheng Yao Xuan Wu Lei Li Weipeng Li Yiping Feng Zhendong Dai College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics210016NanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics210016NanjingChina Robotics Laboratory China Nanhu Academy of Electronics and Information Technology314000JiaxingZhejiangChina

Flexible attachment actuators are popular in a wide range of applications,owing to their flexibility and highly reliable ***,their reversible adhesion performance depends on the actual effective contact area and peel angle during ***,a good actuator must ensure a uniform and reliable pre-pressure load on an adhesive surface,to increase the effective contact area of the attached surface,thereby maximizing *** study was inspired by fusion bionics for designing a hierarchical attachment structure with vacuum-adsorption and dry-adhesion *** designed structure used the normal force under the negative pressure of a suction cup as a stable source of a pre-pressure *** optimizing the rigid and flexible structural layers of the attachment structure,a load was applied uniformly to the adhesion area;thus,reliable attachment was achieved by *** structure achieved detachment by exploiting the large deformation of a pneumatic structure under a positive *** hierarchical attachment structure achieved up to 85%of the optimal performance of the adhesive *** to its self-preloading and reliable attachment characteristics,the designed structure can be used as an attachment unit in various complex scenarios,such as small,lightweight climbing platforms and the transport of objects in long,narrow pipelines.

关键词： Multi-mechanism attachment Self-preloading Hierarchical structure Adhesion Vacuum adsorption

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Safety-Aware Trajectory Tracking using High-Order control Barrier Functions 63

Safety-Aware Trajectory Tracking using High-Order Control Ba...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Rousseas, Panagiotis Panagou, Dimitra Kyriakopoulos, Kostas National Technical University of Athens Control Systems Laboratory School of Mechanical Engineering Greece University of Michigan Department of Robotics and the Department of Aerospace Engineering MI United States Abu Dhabi United Arab Emirates

ISBN: (纸本)9798350316339

A novel method on safety-aware trajectory tracking is presented in this work. The proposed scheme employs control Barrier Functions (CBFs) along with a latent-space representation over the barrier and its derivatives. While such representations have also been employed in the literature, the innovation of the proposed method lies in formulating a novel tracking problem on the latent space, enabling for the shape of linear class -K functions that are included in the safety condition induced by the control barrier function to be chosen constructively. Additionally, the aforementioned safety condition is modified based on the latent-space tracking through the addition of an extra term. This enables maintaining safety guarantees and is demonstrated to provide decreased tracking errors compared to the nominal control barrier function scheme. Numerical simulations validate the efficacy of the proposed scheme, as well as its ability for online implementation. © 2024 IEEE.

关键词： Safety engineering

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Design and Analysis of Extensible Cable-Driven Continuum Robot with Variable Stiffness

Design and Analysis of Extensible Cable-Driven Continuum Rob...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Seleem, Ibrahim A. Naeem, Mohamed A. Ishii, Hiroyuki Waseda University Department of Modern Mechanical Engineering Japan Menoufia University Faculty of Electronic Engineering Department of Industrial Electronics and Control Engineering Egypt Harbin Institute of Technology School of Mechanical and Electrical Engineering Department of Mechatronics Engineering China South Valley University Faculty of Engineering Department of Mechatronics and Robotics Engineering Egypt

ISBN: (纸本)9798350325706

Extensible Soft Robots (ESRs) have increasingly attracted attention, especially in tight and complex environments, owing to their dexterity, and wide reachable workspaces relative to their volume. The existing actuation methods of ESR still suffer from challenges including large dimensions, expensive, complex modeling and control, and limited payload capacity. In this paper, we introduce a novel design for a lightweight, extensible and variable stiffness soft robot-based cable-driven actuation without backbone. The design composes of one section with three segments based on semi-octagon honeycomb structure, wherein the middle segment acts like a soft spring to provide extension feature. Additionally, the top and bottom segments have identical structure with two honeycomb patterns embedded within each other to improve the stiffness of the design. A design analysis is conducted to optimize the proposed structure with respect to stress and displacement. Additionally, a shape estimation approach is utilized to get accurate inference of the prototype's shape based on data acquired from a low-cost Inertial Measurement Unit (IMU) and Motion Capture System (MCS), and constant curvature assumption. A series of experiments including workspace reach-ability, repeatability, shape approximation and payload analysis are carried out to validate the proposed design. The results show that the prototype exhibits good compression/extension ratio up to 42% and 50% relative to its normal length, respectively. Moreover, its payload capability reaches to 565 grams. © 2023 IEEE.

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Adaptive observer for a LTV system with partially unknown state matrix and delayed measurements 14

Adaptive observer for a LTV system with partially unknown st...

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14th International Congress on Ultra Modern Telecommunications and control Systems and Workshops, ICUMT 2022

作者： Bobtsov, Alexey Nikolaev, Nikolay Slita, Olga Kozachek, Olga Oskina, Olga Itmo University Institute of Problems of Mechanical Engineering Laboratory 'Control of Complex Systems' Department of Control Systems and Robotics Saint-Petersburg Russia Itmo University Department of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (数字)9798350398663

ISBN: (纸本)9798350398663

Problem of adaptive state observer synthesis for linear time-varying (LTV) system with unknown time-varying parameter and delayed output measurements is considered. State observation problem has attracted the attention of many researchers [1]. In this paper the results proposed in the [2]-[4] are developed. It is supposed that the state matrix can be represented as sum of known and unknown parts. Output vector is measured with known constant delay. An adaptive identification algorithm which reconstructs unknown state and unknown time-varying parameter is proposed. © 2022 IEEE.

关键词： Time varying control systems

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Wheelchair control by Users' Eye Movements Using Signals Acquired in OpenBCI

Wheelchair Control by Users' Eye Movements Using Signals Acq...

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2023 IEEE International Symposium on Robotic and Sensors Environments, ROSE 2023

作者： Rexha, Genta Pajaziti, Arbnor Bajrami, Xhevahir Kola, Jozef Capi, Genci Pongthanisorn, Goragod Polytechnic University of Tirana Department of Electronics and Telecommunications Tirana Albania Faculty of Mechanical Engineering Department of Mechatronics Prishtina Serbia Albanian University Department of Engineering Tirana Albania Hosei University Assistive Robotics Laboratory Tokyo Japan

ISBN: (纸本)9798350308044

In this study is presented a wheelchair with a control mechanism driven by the user's eye movements. The wheelchair's functionality is enabled through two stepper motors, a driver DMA860H, and an Arduino Uno microcontroller. The objective of the research is that the EEG signals are read and by means of these signals we perform certain tasks or control various processes. OpenBCI (Brain Computer Interface) board has been used to measure and record electrical activity produced by the brain and is compatible with standard EEG (Electroencephalogram) *** user's eye movements will be used to operate the stepper motors. The OpenBCI Cyton plus Daisy biosensing board samples the signals, which are then processed in Matlab before relaying the motions to Arduino Uno. The wheelchair can move left, right, backward, and forward, based on eye movements. © 2023 IEEE.

关键词： Wheelchairs

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Recent Technology Advancements in Smart City Management:A Review

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Computers, Materials & Continua 2024年第12期81卷 3617-3663页

作者： Chiranjeevi Karri JoséJ.M.Machado Joao Manuel R.S.Tavares Deepak Kumar Jain Suresh Dannana Santosh Kumar Gottapu Amir H.Gandomi Department of Mechanical Engineering Faculty of EngineeringUniversity of PortoPorto4200-465Portugal Department of Electronics and Communication Engineering Andhra University College of EngineeringAndhra UniversityVisakhaptnam530003Andhra PradeshIndia Laboratory of lntelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Artificial IntelligenceDalian University of TechnologyDalian116024China Department of Electronics and Communication Engineering GMR Institute of TechnologyRajamVizianagaram532127Andhra PradeshIndia Department of Civil Engineering Gayatri Vidya Parishad College of Engineering(GVPCE)Visakhapatnam530048Andhra PradeshIndia Faculty of Engineering&Information Technology University of Technology SydneyUltimoNSW 2007Australia University Research and Innovation Center(EKIK) óbuda UniversityBudapest1034Hungary

The rapid population growth,insecure lifestyle,wastage of natural resources,indiscipline behavior of human beings,urgency in the medical field,security of patient information,agricultural-related problems,and automation requirements in industries are the reasons for invention of *** cities aim to address these challenges through the integration of technology,data,and innovative *** a smart city involves integrating advanced technologies and data-driven solutions to enhance urban living,improve resource efficiency,and create sustainable *** review presents five of the most critical technologies for smart and/or safe cities,addressing pertinent topics such as intelligent traffic management systems,information and communications technology,blockchain technology,re-identification,and the Internet of *** challenges,observations,and remarks of each technology in solving problems are discussed,and the dependency effects on the technologies’performance are also *** deep learning models for various applications are *** models performance,their dependency on dataset size,type,hyper-parameters,and the non-availability of labels or ground truth are discussed.

关键词： Smart cities intelligent traffic management systems internet of things deep learning blockchain technology

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on Automatic control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Retinal disorder diagnosis based on hybrid deep learning models

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Multimedia Tools and Applications 2025年 1-25页

作者： Sedik, Ahmed El-Shafai, Walid El-Hag, Noha A. El-Banby, Ghada M. Abd El-Samie, Fathi E. Smart Systems Engineering Laboratory College of Engineering Prince Sultan University Riyadh11586 Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial Intelligence Kafrelsheikh University Kafr el-Sheikh Egypt Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt The Higher Institute of Commercial Sciences Algarbia Al Mahalla Al Kubra31951 Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

Anomaly detection from medical images is badly needed for automated diagnosis. For example, medical images obtained with several modalities, such as magnetic resonance (MR) and confocal microscopy, need to be classified for anomaly detection. The MR images may contain tumors that need to be detected with anomaly detection techniques. In MR imaging, brain tumors are represented as areas composed of abnormal cells that need to be detected. On the other hand, confocal microscopy can be used for retinal imaging. Hence, there is a need to apply classification techniques for diagnosing diseases of the eye, such as Diabetic Retinopathy (DR), which leads to exudates in different regions of the retina. The detection of exudates is necessary for the diagnosis of DR. In this paper, two models are presented for the classification of MR and retinal images. Much research has been done in this area, but it did not achieve high accuracy of classification in an acceptable time. In addition, the previous models did not consider both types of image modalities considered in this paper. The suggested models are Convolutional Neural Network (CNN) and Convolutional Long Short-Term Memory (Conv-LSTM). They are used to classify normal and abnormal cases of both brain tumor and DR diseases. The CNN model is composed of six convolutional layers and six max-pooling layers. A soft-max activation function takes the classification decision. The proposed Conv-LSTM model is composed of three stages: pre-processing, feature extraction, and classification. The deep learning model performance is better than those of traditional networks. The CNN gives an accuracy of 94.26% for DR classification and 95.8% for brain tumor classification, while the Conv-LSTM gives the maximum accuracy of 96.41% for DR classification and 97.4% for brain tumor classification. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Confocal microscopy

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