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Gecko-Like Dry Adhesive Surfaces and Their Applications: A Review

Journal of Bionic Engineering 2021年第5期18卷 1011-1044页

作者： Wei Wang Yang Liu Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot,which has motivated researchers to carry out a lot of researches on *** progresses have been made in the gecko-like dry adhesive surfaces in the past 2 decades,such as the mechanical measurement of adhesive characteristics,the theoretical modeling of adhesive mechanism and the production of synthetic dry adhesive *** application researches have been carried out as *** paper focuses on the investigations made in recent years on the gecko-like dry adhesive surfaces,so as to lay the foundation for further research ***,the adhesion system of gecko’s foot and its excellent adhesive characteristics are reviewed,and the adhesive models describing the gecko adhesion are summarily reviewed according to the diff erent contact ***,some gecko-like dry adhesive surfaces with outstanding adhesive characteristics are ***,some application researches based on the gecko-like dry adhesive surfaces are ***,the full text is summarized and the problems to be solved on the gecko-like dry adhesive surfaces are prospected.

关键词： Gecko adhesion Gecko-like dry adhesive surfaces Climbing robot Robot gripper Medical adhesive tape

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Repaired morphology of CO_(2)laser rapid ablation mitigation of fused silica and its influence on downstream light modulation

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Science China(Technological Sciences) 2022年第5期65卷 1116-1126页

作者： TAN Chao ZHAO LinJie CHEN MingJun CHENG Jian ZHANG Yu ZHANG Jiong YANG Hao YIN ZhaoYang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Department of Mechanical Engineering National University of SingaporeSingapore117575Singapore

The threat of cascading damage to downstream components caused by the light modulation intensification of laser repaired morphology on the surface of fused silica optics cannot be ignored in high-power laser *** paper uses the angular spectrum diffraction theory based on the analysis of repaired surface morphology of CO_(2)laser rapid ablation mitigation to study the influence of different repaired morphologies on the downstream 355 nm laser *** show that the arc-shaped laser processing lines on the repaired surface are formed by the residual height superposition of the material after laser scanning of two adjacent layers,and the short-pulse laser can substantially suppress the heat-affected zone of the repaired *** offaxis ring caustic and on-axis hotspot are sequentially generated in the downstream modulated light fields of the conical repaired sites with different diameters.A secondary peak with modulation larger than 3 emerges downstream of the modulation ***,the maximum modulation and the secondary peak increase with the diameter and cone angle of the repaired site,and the position of the secondary peak appears farther away from the rear *** modulations of three repaired sites with cone angles of 15°,20°,and 25°can finally be stabilized below ***,the downstream optics should be installed far away from the positions where the maximum modulation and the secondary peak ***,the maximum value and the secondary peak of the downstream light modulation of double repaired sites are larger than that of the single repaired site,and both rise as the repaired sizes ***,large-scale and large-size repairing of multiple surface damages in the same area should be avoided in the laser repairing of fused silica.

关键词： fused silica laser repairing morphology light modulation secondary peak double repaired sites

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An Adaptive Many-objective Robust Optimization Model of Dynamic Reactive Power Sources for Voltage Stability Enhancement

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Journal of Modern Power systems and Clean Energy 2023年第6期11卷 1756-1769页

作者： Yuan Chi Anqi Tao Xiaolong Xu Qianggang Wang Niancheng Zhou IEEE State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing UniversityChongqing 400044China

The deployment of dynamic reactive power sourcecan effectively improve the voltage performance after a disturbance for a power system with increasing wind power penetration level and ubiquitous induction *** improve the voltage stability of the power system,this paper proposes an adaptive many-objective robust optimization model to deal with thedeployment issue of dynamic reactive power ***,two metrics are adopted to assess the voltage stability of the system at two different stages,and one metric is proposed to assess the tie-line reactive power ***,a robustness index isdeveloped to assess the sensitivity of a solution when subjectedto operational uncertainties,using the estimation of acceptablesensitivity region(ASR)and D-vine *** objectives areoptimized simultaneously:①total equipment investment;②adaptive short-term voltage stability evaluation;③tie-line power flow evaluation;④prioritized steady-state voltage stabilityevaluation;and⑤robustness ***,an anglebased adaptive many-objective evolutionary algorithm(MaOEA)is developed with two improvements designed for the application in a practical engineering problem:①adaptive mutationrate;and②elimination procedure without a requirement for athreshold *** proposed model is verified on a modifiedNordic 74-bus system and a real-world power *** results demonstrate the effectiveness and efficiency of theproposed model.

关键词： Voltage stability reactive power planning robust many-objective optimization tie-line correlated uncertainty

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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

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IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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Design and Analysis of Rigid Continuous Deformation Mechanism Based on Heterogeneous Unit

Design and Analysis of Rigid Continuous Deformation Mechanis...

引用

International Conference on Mechanical Design, ICMD 2023

作者： Guo, Weiming Xiao, Hong Guo, Hongwei Tao, Jianguo Liu, Rongqiang State Key Laboratory of Robotics Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819709212

Inspired by the space tessellation structure, this paper presents an innovative rigid continuous deformation mechanism (RCDM) by combining the unique properties of tetrahedron and octahedron shapes. The proposed mechanism exhibits multi degrees of freedom, including expansion, bending, and twisting, creating a continuous deformation surface akin to a flexible mechanism. Furthermore, the resulting deformation surface has high rigidity while easily seamlessly integrating with flexible materials as a supportive structure. Firstly, the structural design of this novel mechanism is introduced. Secondly, the mathematical model of the mechanism is established, analyzing its degree of mobility using the principles of screw theory. A comprehensive kinematics model is constructed to streamline the deformation process alongside a control strategy based on the deformation demand. Finally, a prototype is built to prove the feasibility of the mechanism deformation. The results demonstrate the spatial continuous deformation potential of the proposed mechanism, which holds promise for applications in space capture and morphing skeleton. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Kinematics

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Smoke Attention Based Laparoscopic Image Desmoking Network with Hybrid Guided Embedding

Smoke Attention Based Laparoscopic Image Desmoking Network w...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liu, Ziteng Gao, Wenpeng Zhu, Jiahua Liu, Bainan Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781665481090

Surgical smoke can obscure the surgeon's line of sight during the laparoscopic procedure, potentially posing risk to the patients. Robot assisted-minimally invasive surgery (MIS) also faces such a challenge, which also hinders its autonomous operation. This paper proposes a desmoking method for laparoscopic surgery smoke removal. As the surgical smoke is hetergeneous, a two-stage network is developed to estimate the smoke distribution and reconstruct the corresponding smoke-free scene with the hybrid embedding guidance, including the estimated smoke mask and the initial image. The network is designed following the concept of the atmospheric scattering model, which makes the network more explainable. To qualitatively and quantitatively evaluate the proposed method, a synthetic laparoscopic dataset is generated and a real laparoscopic dataset is obtained. Experimental results show that the Peak Signal to Noise Ratio (PSNR) of the proposed method is 1.9% higher than that of the DehazeFormer, while the run-time is shorter more than 40.9%. The proposed method is comparable to or even outperforms the state-of-the-arts in desmoking quality and computation cost. © 2024 IEEE.

关键词： Laparoscopy

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Underwater RGB-D imaging system with millimetric precision

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Science China(Information Sciences) 2024年第10期67卷 383-385页

作者： Yajun GAO Yang CONG Xu TANG Mingxue LI State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences College of Automation Science and Engineering South China University of Technology

In recent years, underwater fine three-dimensional reconstruction technology has emerged as a focal point in research, exhibiting extensive potential applications, particularly in underwater archaeology and resource e...

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High accuracy target point classification through dark-field detection of large-aperture optics surface based on machine vision

High accuracy target point classification through dark-field...

引用

2024 Applied Optics and Photonics China: Optical Sensing, Imaging technology, and Applications, AOPC 2024

作者： Zhou, Shicheng Yin, Zhaoyang Wang, Bei Zhao, Linjie Cheng, Jian Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Surface defects on optics seriously affect their service life in high-power laser system. To address this issue, repair technologies for large-aperture optics are extensively employed. However, the operation of high-power laser system generates a large number of optics requiring repair. Currently, microscopic inspection is widely used for target points classification due to its high accuracy, but it has limitations such as small field of view and low efficiency. Utilizing the OTSU algorithm and Convolutional Neural Networks (CNN), a dark-field classification model for optical surface target points has been developed. Upon conducting experiments with several network models, the ResNet model, a probability threshold of 0.998 were determined. In conclusion, the classification accuracy for defects was 99.18% and for contaminants was 90.34%. The outcomes show that target points on the surfaces of optics can be accurately classified using this method. © 2024 SPIE.

关键词： Machine vision

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A nanonewton-scale biomimetic mechanosensor

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Microsystems & Nanoengineering 2023年第4期9卷 45-56页

作者： Chi Zhang Mengxi Wu Ming Li Lixuan Che Zhiguang Tan Di Guo Zhan Kang Shuye Cao Siqi Zhang Yu Sui Jining Sun Liding Wang Junshan Liu State Key Laboratory of High-performance Precision Manufacturing Dalian University of Technology116024 DalianLiaoningChina Key Laboratory for Micro/Nano Technology and System of Liaoning Province Dalian University of Technology116024 DalianLiaoningChina State Key Laboratory of Structural Analysis for Industrial Equipment Dalian University of Technology116024 DalianChina

Biomimetic mechanosensors have profound implications for various areas,including health care,prosthetics,human‒machine interfaces,and *** one of the most important parameters,the sensitivity of mechanosensors is intrinsically determined by the detection resolution to mechanical *** this manuscript,we expand the force detection resolution of current biomimetic mechanosensors from the micronewton to nanonewton *** develop a nanocrack-based electronic whisker-type mechanosensor that has a detection resolution of 72.2 *** achieve the perception of subtle mechanical stimuli,such as tiny objects and airflow,and the recognition of surface morphology down to a 30 nm height,which is the finest resolution ever reported in biomimetic *** importantly,we explore the use of this mechanosensor in wearable devices for sensing gravity field orientation with respect to the body,which has not been previously achieved by these types of *** develop a wearable smart system for sensing the body’s posture and movements,which can be used for remote monitoring of falls in elderly *** summary,the proposed device offers great advantages for not only improving sensing ability but also expanding functions and thus can be used in many fields not currently served by mechanosensors.

关键词： mec expanding profound

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