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A Programmable Inchworm-Inspired Soft Robot Powered by a Rotating Magnetic Field

Journal of Bionic Engineering 2023年第2期20卷 506-514页

作者： Honglin Shen Shuxiang Cai Zhen Wang Zheng Yuan Haibo Yu Wenguang Yang School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China

With the growing demand for miniaturized workspaces,the demand for microrobots has been increasing in robotics *** to traditional rigid robots,soft robots have better robustness and *** a flexible structure,soft robots can undergo large deformations and achieve a variety of motion *** are working to design and fabricate flexible robots based on biomimetic principles,using magnetic fields for cable-free *** this study,we propose an inchworm-shaped soft robot driven by a magnetic ***,a robot is designed and fabricated and force analysis is ***,factors affecting the soft robot’s motion speed are examined,including the spacing between the magnets and the strength and frequency of the magnetic *** this basis,the motion characteristics of the robot in different shapes are explored,and its motion modes such as climbing are experimentally *** results show that the motion of the robot can be controlled in a two-dimensional plane,and its movement speed can be controlled by adjusting the strength of the magnetic field and other *** proposed soft robot is expected to find extensive applications in various fields.

关键词： Soft robot Bio-inspired soft robot Magnetic actuation

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A bio-inspired spider-like structure isolator for low-frequency vibration

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Applied Mathematics and Mechanics(English Edition) 2023年第8期44卷 1263-1286页

作者： Guangdong SUI Shuai HOU Xiaofan ZHANG Xiaobiao SHAN Chengwei HOU Henan SONG Weijie HOU Jianming LI State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Astronautics Harbin Institute of TechnologyHarbin 150001China Yangtze River Delta HIT Robot Technology Research Institute Wuhu 241000Anhui ProvinceChina Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin 300301China

This paper proposes a quasi-zero stiffness(QZS)isolator composed of a curved beam(as spider foot)and a linear spring(as spider muscle)inspired by the precise capturing ability of spiders in vibrating *** curved beam is simplified as an inclined horizontal spring,and a static analysis is carried out to explore the effects of different structural parameters on the stiffness performance of the QZS *** finite element simulation analysis verifies that the QZS isolator can significantly reduce the first-order natural frequency under the load in the QZS *** harmonic balance method(HBM)is used to explore the effects of the excitation amplitude,damping ratio,and stiffness coefficient on the system’s amplitude-frequency response and transmissibility performance,and the accuracy of the analytical results is verified by the fourth-order Runge-Kutta integral method(RK-4).The experimental data of the QZS isolator prototype are fitted to a ninth-degree polynomial,and the RK-4 can theoretically predict the experimental *** experimental results show that the QZS isolator has a lower initial isolation frequency and a wider isolation frequency bandwidth than the equivalent linear *** frequency sweep test of prototypes with different harmonic excitation amplitudes shows that the initial isolation frequency of the QZS isolator is 3 Hz,and it can isolate 90%of the excitation signal at 7 *** proposed biomimetic spider-like QZS isolator has high application prospects and can provide a reference for optimizing low-frequency or ultra-low-frequency isolators.

关键词： bionic isolation structure curved beam nonlinear stiffness quasi-zero stiffness(QzS) low-frequency vibration isolator

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Optical properties of La_(2)O_(3) and HfO_(2) for radiative cooling via multiscale simulations

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Chinese Physics B 2024年第12期33卷 430-441页

作者： Lihao Wang Wanglin Yang Zhongyang Wang Hongchao Li Hao Gong Jingyi Pan Tongxiang Fan Xiao Zhou State Key Laboratory of Metal Matrix Composites School of Materials Science and EngineeringShanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China

Radiative cooling materials have gained prominence as a zero-energy solution for mitigating global ***,a comprehensive understanding of the atomic-scale optical properties and macroscopic optical performance of radiative cooling materials remains elusive,limiting insight into the underlying physics of their optical response and cooling ***_(2)O_(3)and HfO_(2),which represent rare earth and third/fourth subgroup inorganic oxides,respectively,show promise for radiative cooling *** this study,we used multiscale simulations to investigate the optical properties of La_(2)O_(3)and HfO_(2)across a broad ***-principles calculations revealed their dielectric functions and intrinsic refractive indices,and the results indicated that the slightly smaller bandgap of La_(2)O_(3)compared to HfO_(2)induces a higher refractive index in the solar ***,three-phonon scattering was found to provide more accurate infrared optical properties than two-phonon scattering,which enhanced the emissivity in the sky *** Carlo simulations were also used to determine the macroscopic optical properties of La_(2)O_(3)and HfO_(2)*** on the simulated results,we identified that the particle size and particle volume fraction play a dominant role in the optical *** findings underscore the potential of La_(2)O_(3)and HfO_(2)nanocomposites for environment-friendly cooling and offer a new approach for high-throughput screening of optical materials through multiscale simulations.

关键词： radiative cooling optical properties of La_(2)O_(3) and HfO_(2) first-principles calculations Monte Carlo simulations

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Neural networks-based event-triggered consensus control for nonlinear multiagent systems with communication link faults and DoS attacks

AIMS Electronics and Electrical Engineering

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AIMS Electronics and Electrical Engineering 2024年第3期8卷 322-339页

作者： Wu, Yanming Wang, Zelun Meng, Guanglei Liu, Jinguo College of Automation Shenyang Aerospace University Shenyang110135 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

This paper investigates the consensus control problem for a class of nonlinear multiagent systems (MASs) with communication link faults and denial-of-service (DoS) attacks. First, considering simultaneously the communication link faults and DoS attacks, an adaptive event-triggered control strategy of MASs is proposed based on distributed adjacency error signals, and the avoidance of the Zeno phenomenon is analyzed. In addition, the unknown nonlinear functions can be approximated by the RBF neural networks. Then, based on Lyapunov stability analysis and induction, it is proved that all signals of MASs are uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control scheme is verified by a simulation example. © 2024 the Author(s), licensee AIMS Press.

关键词： Multi agent systems

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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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Saturated Robust Nonlinear Control for Double-Pendulum Quadrotor Transportation systems 42

Saturated Robust Nonlinear Control for Double-Pendulum Quadr...

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42nd Chinese Control Conference, CCC 2023

作者： Su, Chen Chen, Yuxuan Yu, Hai Liang, Xiao Han, Jianda Fang, Yongchun Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9789887581543

Unknown external disturbances and dynamic/parameter uncertainties are usually existing when the quadrotor transportation system performs cargo delivery missions in the actual environment. Additionally, in most researches, the hook and the payload are regarded as a single point of mass which ignore the double-pendulum effect. To address the aforementioned issues, this paper proposed a saturated robust nonlinear controller for the quadrotor transportation system with double-pendulum effect, which has the ability to handle the lumped disturbance and suppress the payload and hook swing angles. On the basis of Lyapunov techniques and LaSalle's Invariance Theorem, the asymptotic convergence of the closed-loop system is guaranteed. Simulation results are presented to verify the performance of the designed control scheme. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Robust control

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A surface defect detection method for steel pipe based on improved YOLO

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Mathematical Biosciences and Engineering 2024年第2期21卷 3016-3036页

作者： Wang, Lili Song, Chunhe Wan, Guangxi Cui, Shijie State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China College of Information Liaoning University Shenyang110036 China

Surface defect detection is of great significance as a tool to ensure the quality of steel pipes. The surface defects of steel pipes are charactered by insufficient texture, high similarity between different types of defects, large size differences, and high proportions of small targets, posing great challenges to defect detection algorithms. To overcome the above issues, we propose a novel steel pipe surface defect detection method based on the YOLO framework. First, for the problem of a low detection rate caused by insufficient texture and high similarity among different types of defects of steel pipes, a new backbone block is proposed. By increasing high-order spatial interaction and enhancing the capture of internal correlations of data features, different feature information for similar defects is extracted, thereby alleviating the false detection rate. Second, to enhance the detection performance for small defects, a new neck block is proposed. By fusing multiple features, the accuracy of steel pipe defect detection is improved. Third, for the problem of a low detection rate causing large size differences in steel pipe surface defects, a novel regression loss function that considers the aspect ratio and scale is proposed, and the focal loss is introduced to further solve the sample imbalance problem in steel pipe defect datasets. The experimental results show that the proposed method can effectively improve the accuracy of steel pipe surface defect detection. © 2024 American institute of Mathematical Sciences. All rights reserved.

关键词： Aspect ratio

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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

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Frontiers of Mechanical Engineering 2021年第4期16卷 711-725页

作者： Yiwei LIU Shipeng CUI Yongjun SUN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The safety of human-robot interaction is an essential requirement for designing collaborative ***,this paper aims to design a novel variable stiffiiess actuator(VSA)that can provide safer physical human-robot interaction for collaborative *** A follows the idea of modular design,mainly including a variable stiffiiess module and a drive *** variable stiffiiess module transmits the motion from the drive module in a roundabout maimer,making the modularization of VS A *** the key component of the variable stiffiiess module,a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously,which can eliminate the additional bending moment caused by the asymmetric *** design of the doubledeck grooves in the lever allows the pivot to move freely in the groove,avoiding the geometric constraint between the ***,the VSA stiffiiess can change from zero to infinity as the pivot moves from one end of the groove to the *** facilitate building a manipulator in the future,an expandable electrical system with a distributed structure is also *** calibration and control experiments are performed to evaluate the physical performance of the designed *** results show that the VSA stiffiiess is close to the theoretical design ***,the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffiiess regulation and a good performance for position tracking.

关键词： variable stiffiiess actuator variable stiffness module drive module symmetrical structure doubledeck grooves expandable electrical system

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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional approach

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Frontiers of Mechanical Engineering 2022年第1期17卷 2-17页

作者： Zongwu XIE Xiaoyu ZHAO Zainan JIANG Haitao YANG Chongyang LI State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Robotic System Department Jiangsu Jitri-Hust Intelligent Equipment TechnologyWuxi 214000China

When free-floating space robots perform space tasks,the satellite base attitude is disturbed by the dynamic *** disturbance of the base orientation may affect the communication between the space robot and the control center on *** this paper,the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation.A novel acceleration level state equation for the nonholonomic problem is proposed,and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base *** the method,the state equation is first proposed for dual-arm robots with and without end constraints,and the system stability is analyzed to obtain the system *** input modification further increases the system stability and simplifies the calculation *** are carried out in the end,and the proposed method is validated in minimizing final base attitude change and trajectory ***,the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks.

关键词： free-floating space robot dual arm coordinated operation base attitude restoration bidirectional approach

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Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

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Journal of Bionic Engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

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