检索结果-内蒙古大学图书馆

Teleoperation with automatic posture regulation and broad learning control for assembly tasks

Science China(Information Sciences) 2024年第11期67卷 359-360页

作者： Liwen SITU Zhenyu LU Chenguang YANG School of Automation Science and Engineering South China University of Technology Bristol Robotics Laboratory University of the West of England

In recent years, robot teleoperation systems have been widely used in assembly tasks due to their ability to combine human control with robotic execution, addressing limitations in precision, perception, and intelligence faced by fully automated robots. However, robot teleoperation for assembly tasks still encounters several challenges. In complex and unstructured environments, telerobots must regulate the posture of their manipulators to avoid obstacles and singularities, ensuring the safety of human operators [1].

关键词： Remote control

来源：评论

学校读者我要写书评

暂无评论

Towards Automation in Pleural Aspiration: Design, Development and Verification∗ 32

Towards Automation in Pleural Aspiration: Design, Developmen...

引用

32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Jiang, Anxing Martsopoulos, Athanasios Walker, Steven Tzemanaki, Antonia School of Engineering Mathematics University of Bristol United Kingdom Bristol Robotics Laboratory United Kingdom Bristol Medical School University of Bristol United Kingdom

ISBN: (纸本)9798350395440

This paper introduces a novel automated system for small-volume pleural effusion aspiration procedures. The traditional reliance on clinician experience in manual pleural aspiration can lead to fatigue, insufficient medical resources, as well as variability in outcomes due to human errors and complications during the procedure. The proposed system uses automation to ensure a consistent and standardised approach, aiming at improving procedure efficacy and safety. The setup includes a medical syringe supplemented by 3D-printed components, driven by a linear actuator, and an infrared proximity sensor for the closed-loop system. We controlled the fluid aspirated speed, achieving a minimum plunger movement speed of about 2 mm/s and measuring plunger displacement as a proxy for aspirated liquid volume. Experiments verified the system's performance across different speeds, with a mean error of 2 mm in the closed-loop tests. © 2024 IEEE.

关键词： Automation

来源：评论

学校读者我要写书评

暂无评论

Modular Wavelength Adaptation of the Dynamic Optical MicroEnvironment 6

Modular Wavelength Adaptation of the Dynamic Optical MicroEn...

引用

6th International Conference on Manipulation, Automation, and robotics at Small Scales, MARSS 2023

作者： Wijewardhane, Neshika Uppington, Matthew How, Martin Hauser, Helmut Piddini, Eugenia Hauert, Sabine Digital Health and Care Cdt School of Engineering Mathematics and Technology United Kingdom University of Bristol University of West England Farscope Cdt Bristol Robotics Laboratory United Kingdom School of Biological Sciences University of Bristol United Kingdom School of Engineering Mathematics and Technology Bristol Robotics Laboratory University of Bristol United Kingdom School of Cellular and Molecular Medicine University of Bristol United Kingdom

ISBN: (纸本)9798350330397

The DOME is a powerful and adaptable platform that facilitates the study of light-reactive systems at the microscale. While the projection module of the DOME can produce light patterns with high spatial and temporal resolution, the maximum irradiance (incident electromagnetic energy per unit area) that can be generated by its native LEDs is limited. Increasing the irradiance is crucial to enabling new biomedical applications such as inducing DNA damage. In this paper, we present a modular solution to allow general light sources to be used with the DOME. By switching to a high-powered near-UV light source, we show that DNA damage can be caused by the Epi-DOME's projection system at a targeted location. © 2023 IEEE.

关键词： Light sources

来源：评论

学校读者我要写书评

暂无评论

A viscoelastic nonlinear energy sink with an electromagnetic energy harvester:Narrow-band random response

引用

Chinese Physics B 2024年第7期33卷 147-156页

作者：廖志晶孙亚辉刘洋 School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou 510520China Exeter Small-Scale Robotics Laboratory Engineering DepartmentUniversity of ExeterNorth Park RoadExeter EX44QFUK

Nonlinear energy sink is a passive energy absorption device that surpasses linear dampers, and has gained significant attention in various fields of vibration suppression. This is owing to its capacity to offer high vibration attenuation and robustness across a wide frequency spectrum. Energy harvester is a device employed to convert kinetic energy into usable electric energy. In this paper, we propose an electromagnetic energy harvester enhanced viscoelastic nonlinear energy sink(VNES) to achieve passive vibration suppression and energy harvesting simultaneously. A critical departure from prior studies is the investigation of the stochastic P-bifurcation of the electromechanically coupled VNES system under narrowband random excitation. Initially, approximate analytical solutions are derived using a combination of a multiple-scale method and a perturbation approach. The substantial agreement between theoretical analysis solutions and numerical solutions obtained from Monte Carlo simulation underscores the method's high degree of validity. Furthermore, the effects of system parameters on system responses are carefully examined. Additionally, we demonstrate that stochastic P-bifurcation can be induced by system parameters, which is further verified by the steady-state density functions of displacement. Lastly,we analyze the impacts of various parameters on the mean square current and the mean output power, which are crucial for selecting suitable parameters to enhance the energy harvesting performance.

关键词： nonlinear energy sink fractional-order damping multiple-scale method energy harvester

来源：评论

学校读者我要写书评

暂无评论

Improving Legged Robot Locomotion by Quantifying Morphological Computation

Improving Legged Robot Locomotion by Quantifying Morphologic...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Vijay Chandiramani Helmut Hauser Andrew T. Conn School of Engineering Mathematics and Technology University of Bristol Bristol Robotics Laboratory

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Many robotic and biological systems exploit their morphology’s interaction with the environment to become more adaptable, more energy efficient, and to simplify their control. The principles of morphological computation (MC) have been increasingly studied in recent years and researchers have investigated theoretical approaches to quantify the contribution of MC for a variety of robotic systems using only simulated models. In this work, we quantify MC in a physical robotic system, utilizing position-controlled legs with two degrees of freedom in two designs of different elastic compliance, on a bespoke test rig to execute a walking gait. The contribution of morphology was estimated by applying a theoretical model at various stages within the gait cycle to quantify the MC. The relationships between MC and the ground reaction forces and actuator energy consumption are analyzed. The results indicating that increasing the compliance in the leg morphology increases the mean MC value (7.70±1.49) relative to a traditional leg design (5.03±2.27). Periods of high MC were found to occur during the swing phase of the walking gait and reduced during the stance phase with ground reaction forces, which correlates with the findings of prior theoretical studies of MC in hopping gaits. The benefits of refining the leg morphology for higher MC is demonstrated by the measurements of cost of transport (COT), where the leg with the higher mean MC of 7.70 has a lower mean COT of 102.8 compared to the other leg’s mean COT of 153.8. The results demonstrate how real-world measurements of MC may help design the morphology of improved robotics systems.

关键词： Legged locomotion Energy consumption Costs Computational modeling Refining Morphology Biological systems Energy efficiency Robots Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Swarm Medicine: Developing guidance for in-human testing of emerging swarm-based cancer nanomedicines 23

Swarm Medicine: Developing guidance for in-human testing of ...

引用

1st International Symposium on Trustworthy Autonomous Systems, TAS 2023

作者： Swana, Matimba Ives, Jonathan Hauert, Sabine Engineering Mathematics Faculty of Engineering University of Bristol Bristol United Kingdom Centre for Ethics in Medicine Bristol Medical School University of Bristol Bristol United Kingdom Bristol Robotics Laboratory & Engineering Mathematics Faculty of Engineering University of Bristol Bristol United Kingdom

ISBN: (纸本)9798400707346

The development of in silico methodology, active controllable nanoparticles (nanorobots) and collective nanosystems that work cooperatively rather than individually (nanoswarms) are emerging as the new frontier in cancer nanomedicine. A multimethod qualitative study was undertaken to develop an understanding of how the first-in-human cancer nanoswarm trial should be regulated from the perspective of various stakeholders. This poster presents the initial findings of the ongoing study. 21 semi-structured interviews with regulators, nanomedicine researchers, healthcare professionals and patients were conducted, with data subjected to thematic analysis. Five themes emerged from the interviews: (1) Patient Cancer Journey;(2) Perceptions;(3) Regulation;(4) Future Thinking and;(5) Stakeholder Interaction. Overall the results demonstrate a willingness from oncology patients to develop nanoswarm treatments, as well highlight concerns from all stakeholders around trust and transparency. In the next stage, we need to further explore with focus groups if there is a level of acceptance and awareness for regulating this technology amongst stakeholders before making final recommendations for a framework of what the first-in-human cancer nanoswarm clinical trial should look like. © 2023 Owner/Author.

关键词： Medical nanotechnology

来源：评论

学校读者我要写书评

暂无评论

Design and Characterisation of Salt-E-Skin: Soft Saline-Filled Large-Scale Tactile E-Skin

Design and Characterisation of Salt-E-Skin: Soft Saline-Fill...

引用

IEEE International Conference on Soft robotics (RoboSoft)

作者： Miranda Lowther Antonia Tzemanaki Helmut Hauser School of Engineering Mathematics and Technology University of Bristol Bristol Robotics Laboratory UK

With the rise of soft robotics, a wide range of soft sensorised skins have been proposed and developed. One particular group, fluidic electronic skins, have been shown to be promising but, so far, have been limited to small scales. Here, we present a large-scale (35,440 mm 2 ) sensory skin that uses an embedded channel system filled with saline and which is aimed to work as a prosthetic liner. Mechanical forces on the skin translate into channel deformations which can be measured by changes in impedance through external electrodes. We developed a novel fabrication process based on methods commonly used in prosthodontics and jewellery making to overcome challenges related to the larger size of the skin. We tested two machine learning techniques, i.e., artificial neural networks and random forests, to learn the mapping of the impedance changes to the location of the physical interaction. The results provide new insights on how to improve the design, in particular, in how to improve the channel structure to increase sensory performance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Phase-Change Emulsion Jamming Gripper for Manipulation of Micro-Scale Textured Surfaces

A Phase-Change Emulsion Jamming Gripper for Manipulation of ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Alex Keller Tianqi Yue Qiukai Qi Andrew T. Conn Jonathan Rossiter School of Engineering Mathematics and Technology and the Bristol Robotics Laboratory University of Bristol Bristol UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The inherent elasticity of soft materials can be used to create robotic grippers that deform and comply to a variety of irregular shapes. To date, several soft adaptive grasping strategies have been reported, however, most of them focus on adapting to the overall shape of the structure, while the adaptive grasping of small surface asperities is overlooked. In this paper, we propose a novel method to achieve adaptive grasping on surface asperities with a smart shape-memory silicone sponge. Heating above 60°C makes the sponge soft and deformable to allow it to penetrate within surface asperities via a pressure normal to the surface. Cooling down below 60°C makes the sponge "jam" to retain its deformed shape. The interlocking force between the jammed sponge and the asperities, and the increased area of contact, allows for adaptive grasping on asperities down to 0.4 mm with an adhesive force of up to 27.7 N in a 40 × 40 mm contacting area. We introduce the design, working principle, fabrication, and optimization of a robotic gripper based on this shape-memory silicone sponge. This sponge-jamming gripper shows great potential for developing next-generation robotic grippers for the manipulation of textured and discontinuous surfaces.

关键词： Shape Service robots Force Grasping Pneumatic systems Surface texture Grippers

来源：评论

学校读者我要写书评

暂无评论

Enhancing undulation of soft robots in granular media:A numerical and experimental study on the effect of anisotropic scales

引用

Biomimetic Intelligence & robotics 2024年第2期4卷 63-70页

作者： Longchuan Li Chaoyue Zhao Shuqian He Qiukai Qi Shuai Kang Shugen Ma College of Information Science and Technology Bejing University of Chemical TechnologyBejing 100029China School of Engineering Mathematics and Technology University of BristolBristol BS81THUK College of Mechanical and Electrical Engineering Beijing University of Chemical TechnologyBeijing 100029China Thrust of Robotics and Autonomous Systems The Hong Kong University of Science and Technology(Guangzhou)Guangzhou 511453China

Generating efficient locomotion in granular media is important,although it is difficult for *** by the fact that sand vipers usually have saw-like scales,in this study,we design a soft undulation robot with tangential anisotropic friction to enhance the undulation performance of soft robots in granular media.A mathematical model was derived and numerical simulations were conducted accordingly to investigate the effectiveness of tangential friction anisotropy for undulation gait generation in granular *** particular,we introduce a pseudo-rigid-body dynamics model consisting of links and joints while simulating the pneumatic actuation method to more closely approximate the response of soft ***,a soft snake-like robot was fabricated,and its forward and reverse undulations were compared in two sets of controlled *** consistency between the experimental results and the numerical simulations confirms that tangential anisotropic friction induces a propulsive effect in undulation,thereby increasing the robot's locomotion *** discovery provides new insights into the design of undulation robots in granular environments.2024 The Author(s).Published by Elsevier *** behalf of Shandong *** is an open access articleunder the CCBY license(http://***/licenses/by/4.0/).

关键词： Granular media Anisotropicity Pseudo-rigid-body model Soft robot Undulation

来源：评论

学校读者我要写书评

暂无评论

Ghost Swarms: Learning Swarm Rules from Environmental Changes Alone 28th

Ghost Swarms: Learning Swarm Rules from Environmental Chang...

引用

28th European Conference on Genetic Programming, EuroGP 2025, Held as Part of EvoStar 2025

作者： Alharthi, Khulud Abdallah, Zahraa S. Hauert, Sabine Bristol Robotics Laboratory University of Bristol Bristol United Kingdom School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Department of Computer Science College of Computers and Information Technology Taif University Taif Saudi Arabia

ISBN: (纸本)9783031899904

Swarm behaviours emerge from agents interacting with their local environment following simple rules. While directly observing each agent can be challenging, their collective behaviour leaves detectable environmental imprints that could offer insights into the underlying swarm dynamics. However, this task is complex due to the hidden and interconnected relationships between the rules governing agent interactions, the emergent swarm behaviour, and the environmental changes generated by this behaviour. In this work, we propose a method for extracting human-readable controllers from demonstrations showing only observable environmental imprints caused by the swarm. This approach explores whether these environmental imprints can reveal the swarm’s actions, even when the individual agents are challenging to track. Our approach eliminates the need for prior knowledge about the controller or its structure, enabling the successful learning of controllers from a single demonstration. We provide a novel method for understanding and managing both natural and engineered swarms by utilising the environmental imprints left by swarm behaviours, even when direct observation of the swarm’s actions is not feasible. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Environmental Imprints Imitation Learning Swarm Behaviour

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：