This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...
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This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
Image degradation refers to the problems of image blur, distortion and resolution decline caused by various reasons in the process of image acquisition, processing and transmission. In this paper, through different sc...
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Sulfated zero-valent iron(SZVI)has shown promising applications in wastewater ***,the rapid decline in the reactivity of SZVI with time limits its real *** mediate this problem,partial aging was proposed to improve th...
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Sulfated zero-valent iron(SZVI)has shown promising applications in wastewater ***,the rapid decline in the reactivity of SZVI with time limits its real *** mediate this problem,partial aging was proposed to improve the reactive durability of *** Cr(VI)as the target contaminant,we found that the aged ZVI(AZVI)gradually lost reactivity as aging time increased from 0.5 to 2 ***-intuitively,the partially aged SZVI(ASZVI)showed greater reactivity than SZVI when exposed to oxygenated water for a period ranging from 0.5 to 14 *** addition,the ASZVI with 0.5 d of aging time(ASZVI-0.5)not only maintained reactivity in successive runs but also increased the Cr(VI)removal capacity from 9.1 mg/g by SZVI to 19.1 mg/g by *** analysis further revealed that the electron transfer from the Fe0 core to the shell was mediated by the conductive FeS and FeS2 in the subshell of ***,the lepidocrocite and magnetite on the surface of ASZVI facilitated Cr(VI)adsorption and subsequent electron transfer for Cr(VI)***,the iron(hydr)oxide shell could retain the conductive FeS and FeS2 in the subshell,allowing ASZVI to reduce Cr(VI)efficiently and *** general,partial aging can enhance the reactive durability of ZVI when coupled with sulfidation and this synergistic effect will be beneficial to the application of SZVI-based technology for wastewater treatment.
Lithium-ion batteries have increasingly become a primary energy source in Electric Vehicles (EVs), power grid energy storage, aerospace, and other fields. Accurate State of Charge (SOC) estimation is crucial for the s...
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Automatic peg-in-hole assembly by robots is a crucial means of enhancing efficiency in industrial production. However, unstructured environments pose challenges for automatic assembly, and excessive contact force can ...
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Due to attractive features,including high efficiency,low device stress,and ability to boost voltage,a Vienna rectifier is commonly employed as a battery charger in an electric vehicle(EV).However,the 6k±1 harmoni...
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Due to attractive features,including high efficiency,low device stress,and ability to boost voltage,a Vienna rectifier is commonly employed as a battery charger in an electric vehicle(EV).However,the 6k±1 harmonics in the acside current of the Vienna rectifier deteriorate theTHDof the ac current,thus lowering the power ***,the current closed-loop for suppressing 6k±1 harmonics is essential tomeet the desired total harmonic distortion(THD).Fast repetitive control(FRC)is generally adopted;however,the deviation of power grid frequency causes delay link in the six frequency fast repetitive control to become non-integer and the tracking performance to *** paper presents the detailed parameter design and calculation of fractional order fast repetitive controller(FOFRC)for the non-integer delay *** finite polynomial approximates the non-integer delay link through the Lagrange interpolation *** comparing the frequency characteristics of traditional repetitive control,the effectiveness of the FOFRC strategy is ***,simulation and experiment validate the steadystate performance and harmonics suppression ability of FOFRC.
In this paper, fuzzy transformation is considered to modify stochastic configuration network for data regression. Firstly, the mathematical representation for stochastic configuration network based on fuzzy transforma...
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Regularized system identification has become a significant complement to more classical system identification. It has been numerically shown that kernel-based regularized estimators often perform better than the maxim...
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With the development of positioning technology,loca-tion services are constantly in demand by *** a primary location service pedestrian navigation has two main approaches based on radio and inertial *** pedestrian nav...
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With the development of positioning technology,loca-tion services are constantly in demand by *** a primary location service pedestrian navigation has two main approaches based on radio and inertial *** pedestrian naviga-tion based on radio is subject to environmental occlusion lead-ing to the degradation of positioning *** pedestrian navigation based on micro-electro-mechanical system inertial measurement unit(MIMU)is less susceptible to environmental interference,but its errors dissipate over *** this paper,a chest card pedestrian navigation improvement method based on complementary correction is proposed in order to suppress the error divergence of inertial navigation *** suppress atti-tude errors,optimal feedback coefficients are established by pedestrian motion *** extend navigation time and improve positioning accuracy,the step length in subsequent movements is compensated by the first step *** experi-mental results show that the positioning accuracy of the pro-posed method is improved by more than 47%and 44%com-pared with the pure inertia-based method combined with step compensation and the traditional complementary filtering com-bined method with step *** proposed method can effectively suppress the error dispersion and improve the positioning accuracy.
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