Multifunctional structures(MFSs)integrate diverse functions to achieve superior ***,conventional design and manufacturing methods—which generally lack quality control and largely depend on complex equipment with mult...
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Multifunctional structures(MFSs)integrate diverse functions to achieve superior ***,conventional design and manufacturing methods—which generally lack quality control and largely depend on complex equipment with multiple stations to achieve the integration of distinct materials and devices—are unable to satisfy the requirements of MFS applications in emerging industries such as aerospace *** by the concept of design for manufacturing,we adopt a layer regulation method with an established optimization model to design typical MFSs with load-bearing,electric,heat-conduction,and radiation-shielding functions.A high-temperature in situ additive manufacturing(AM)technology is developed to print various metallic wires or carbon fiber-reinforced high-meltingpoint polyetheretherketone(PEEK)*** is found that the MFS,despite its low mass,exceeds the stiffness of the PEEK substrate by 21.5%.The embedded electrics remain functional after the elastic deformation *** with those of the PEEK substrate,the equivalent thermal conductivity of the MFS beneath the central heat source area is enhanced by 568.0%,and the radiation shielding is improved by 27.9%.Moreover,a satellite prototype with diverse MFSs is rapidly constructed as an *** work provides a systematic approach for high-performance design and advanced manufacturing,which exhibits considerable prospects for both the function expansion and performance enhancement of industrial equipment.
The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise *** turn,this u...
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The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise *** turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion *** response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning *** introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance *** address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is *** designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron *** experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot *** research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.
Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,w...
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Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.
Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing depo...
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Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.
In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize...
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The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actu...
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The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.
Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain...
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Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.
Increasing the viscosity of elastic joints can significantly improve the performance of elastic joint robots during physical human–robot interactions. However, current approaches for injecting viscous elements requir...
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The intrinsic compliance of soft materials endows soft robots with great advantages to achieve large deformation and adaptive interactions in grasping ***,current soft grippers usually focus on the in-plane large defo...
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The intrinsic compliance of soft materials endows soft robots with great advantages to achieve large deformation and adaptive interactions in grasping ***,current soft grippers usually focus on the in-plane large deformation and load capacity but ignore the effect of out-of-plane external loads,which may lead to instability in practical *** problem calls for stiffness design along multiple directions to withstand not only in-plane interacting forces with objects,but also unexpected outof-plane *** this paper,we design a new type of soft finger by embedding an endoskeleton inside the widely-used PneuNets actuator,and the endoskeleton layout is optimized to achieve a remarkable bending deflection and limited lateral deflection under combined external in-plane and out-of-plane *** on the multi-objective topology optimization approach,the key structural features of the optimized endoskeleton are extracted and *** multi-material soft fingers are fabricated by the silicone compound mold *** and dynamic experiment results validate that the soft gripper with endoskeleton embedded exhibits remarkably improved out-of-plane stiffness,without sacrificing the in-plane bending flexibility,and leads to more stable grasping.
Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autono...
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Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.
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