This paper presents a novel ant-based clustering algorithm. Different from conventional ant-based clustering algorithms in which the objects are picked up or dropped down by virtual ants, our propose algorithm looks e...
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This paper presents a novel ant-based clustering algorithm. Different from conventional ant-based clustering algorithms in which the objects are picked up or dropped down by virtual ants, our propose algorithm looks each object as an ant. The objects are first projected to a plane randomly. Then an attractive force field is created. The object (ant) is attracted by the similar ones in its local surrounding and moves to a certain place. The moving direction and moving range are determined by the composite of all attractive forces. The clusters are created by this attractiveness after many iterative cycles. The paper gives the detailed process of the algorithm. The performance of the algorithm is compared with other classic algorithms on several simulated and real datasets. The results are very encouraging in terms of the computation efficiency and clustering quality.
Water strider can slide agilely on water surface at high speed. To study its locomotion characters, movements of water strider are recorded by a high speed camera. The trajectories and angle variations of water stride...
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Water strider can slide agilely on water surface at high speed. To study its locomotion characters, movements of water strider are recorded by a high speed camera. The trajectories and angle variations of water stride...
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Water strider can slide agilely on water surface at high speed. To study its locomotion characters, movements of water strider are recorded by a high speed camera. The trajectories and angle variations of water strider leg are obtained from the photo series, and provide basic information for bionic robot design. Thus a water strider robot based on surface tension is proposed. The driving mechanism is designed to replicate the trajectory of water strider's middle leg.
A novel in-pipe micro robot providing stable and accurate locomotion inside a tubular structure with diameters ranging from 16 mm to 18 mm is presented in this paper. Driven by impulsive voltages, deflections of the p...
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A novel in-pipe micro robot providing stable and accurate locomotion inside a tubular structure with diameters ranging from 16 mm to 18 mm is presented in this paper. Driven by impulsive voltages, deflections of the piezoelectric bimorphs are generated and then converted into translational locomotion by the principle of the Impact Drive Mechanism (IDM). Theoretical analysis of the proposed system is performed based on a simplified mechanical model. Then dynamic simulations of the dynamic behavior are performed. Finally, an experiment is conducted to investigate the moving ability of this device. The results demonstrate that a maximum translational velocity of 3.5 mm/s can be obtained under an impulsive driving voltage with peak value at 50 V and frequency of 1100 Hz. Both theoretical analysis and experimental trials prove that the principle of IDM actuated by piezoelectric bimorphs is feasible and robust for achieving accurate locomotion of the micro robot in pipes with diameters of less than 20 mm.
In this paper, we present a proof-of-concept gesture recognition based on Artificial Neural Networks (ANN) for referees participating in the Robocup competitions. Here, we aim at recognizing gestures to interact with ...
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Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation and wearable electronics to bioinspired ...
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Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation and wearable electronics to bioinspired robots operating in unstructured environments. Due to the use of soft materials, the traditional fabrication and manufacturing methods for rigid materials are unavailable for soft robots. 3D printing is a promising fabrication method for the multifunctional and multimaterial demands of soft robots, as it enables the personalization and customization of the materials and structures. This review provides perspectives on the manufacturing methods for various types of soft robotic systems and discusses the challenges and prospects of future research, including in-depth discussion of pneumatic, electrically activated, magnetically driven, and 4D-printed soft actuators and integrated soft actuators and sensors. Finally, the challenges of realizing multimaterial, multiscale, and multifunctional 3D-printed soft robots are discussed.
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