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Controlling a peristaltic robot inspired by inchworms

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Biomimetic Intelligence & Robotics 2024年第1期4卷 88-96页

作者： yanhong peng Hiroyuki Nabae Yuki Funabora Koichi Suzumori Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8601Japan Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan

This study presents an innovative approach in soft robotics,focusing on an inchworm-inspired robot designed for enhanced transport *** explore the impact of various parameters on the robot’s performance,including the number of activated sections,object size and material,supplied air pressure,and command execution *** a series of controlled experiments,we demonstrate that the robot can achieve a maximum transportation speed of 8.54 mm/s and handle loads exceeding 100 g,significantly outperforming existing models in both speed and load *** findings provide valuable insights into the optimization of soft robotic design for improved efficiency and adaptability in transport *** research not only contributes to the advancement of soft robotics but also opens new avenues for practical applications in areas requiring precise and efficient object *** study underscores the potential of biomimetic designs in robotics and sets a new benchmark for future developments in the field.

关键词： McKibben artificial muscles Bionics Soft robotics Soft actuator Bio-inspired robotics

Large language models for human–robot interaction:A review

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Biomimetic Intelligence & Robotics 2023年第4期3卷 1-15页

作者： Ceng Zhang Junxin Chen Jiatong Li yanhong peng Zebing Mao Department of Mechanical Engineering National University of SingaporeSingapore 119077Singapore School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8603Japan Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan

The fusion of large language models and robotic systems has introduced a transformative paradigm in human–robot interaction,offering unparalleled capabilities in natural language understanding and task *** review paper offers a comprehensive analysis of this nascent but rapidly evolving domain,spotlighting the recent advances of Large Language Models(LLMs)in enhancing their structures and performances,particularly in terms of multimodal input handling,high-level reasoning,and plan ***,it probes the current methodologies that integrate LLMs into robotic systems for complex task completion,from traditional probabilistic models to the utilization of value functions and metrics for optimal *** these advancements,the paper also reveals the formidable challenges that confront the field,such as contextual understanding,data privacy and ethical *** our best knowledge,this is the first study to comprehensively analyze the advances and considerations of LLMs in Human–Robot Interaction(HRI)based on recent progress,which provides potential avenues for further research.

关键词： Large language models Human-robot interaction Task completion Considerations and challenges

Soft computing-based predictive modeling of flexible electrohydrodynamic pumps

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Biomimetic Intelligence & Robotics 2023年第3期3卷 30-37页

作者： Zebing Mao yanhong peng Chenlong Hu Ruqi Ding Yuhei Yamada Shingo Maeda Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8603Japan Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang 330013China Living Systems Materialogy(LiSM)Research Group International Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan

Flexible electrohydrodynamic(EHD)pumps have been developed and applied in many fields due to no transmission structure,no wear,easy manipulation,and no *** simulation is often used to predict the output performance of flexible EHD ***,this method neglects fluid–solid interaction and energy loss caused by flexible materials,which are both difficult to calculate when the flexible pumps ***,this study proposes a flexible pump output performance prediction using machine learning *** used three different types of machine learning:random forest regression,ridge regression,and neural network to predict the critical parameters(pressure,flow rate,and power)of the flexible EHD ***,angle,gap,overlap,and channel height are selected as five input data of the neural *** addition,we optimized essential parameters in the three ***,we adopt the best predictive model and evaluate the significance of five input parameters to the output performance of the flexible EHD *** the three methods,the MLP model has exceptionally high accuracy in predicting pressure and *** work is beneficial for the design process of fluid sources in flexible soft actuators and soft hydraulic sources in microfluidic chips.

关键词： Electrohydrodynamic pumps Neural network Rigid regression Random forest regression

Funabot-Suit:A bio-inspired and McKibben muscle-actuated suit for natural kinesthetic perception

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Biomimetic Intelligence & Robotics 2023年第4期3卷 29-39页

作者： yanhong peng Yusuke Sakai Koki Nakagawa Yuki Funabora Tadayoshi Aoyama Kenta Yokoe Shinji Doki Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 4648601Japan Department of Micro-Nano Mechanical Science and Engineering Graduate School of EngineeringNagoya UniversityNagoya 4648601Japan

In recent years,there has been extensive utilization of actuators driven by artificial muscles in wearable ***,the muscle distribution configurations of most wearable devices have been specifically designed and are difficult to ***,wearable devices that allow direct installation of actuators onto existing clothing are better suited for a wider range of application *** letter presents the development and evaluation of Funabot-Suit,a human muscle configuration inspired wearable assist device that employs McKibben artificial muscles to induce natural kinesthetic perception in the wearer’s *** integrating thin McKibben muscles into an existing motion capture suit,the Funabot-Suit is capable of generating four fundamental motions:forward and backward bending,and left and right *** suit’s performance was assessed through experiments involving three subjects who wore the suit while standing and seated,with the subjects reporting the direction of their kinesthetic *** subjects also rated the perceived ease of kinesthetic perception direction on a five-point *** results demonstrate that the Funabot-Suit successfully induces kinesthetic perceptions for the wearer,with a one hundred percent detection ratio for accurate responses in the command direction across all subjects and *** observed variations in the sensitivity of left–right and up-down sensations,which can be attributed to the positioning of artificial muscles and individual differences.

关键词： Bio-inspired robotics Actuators Soft robotics Artificial muscles Haptic interfaces Kinesthetic perception

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意义沉默的语用解读

外语与外语教学 2007年第9期 26-27,56页

作者：彭艳虹湖南财经高等专科学校涉外系湖南长沙410205

意义沉默在会话中具有丰富且深刻的含意，其意义产生于它所依赖的前轮及其会话含意。意义沉默的会话含意依话轮转换规则而产出特定意义，且其特定意义按话轮接续者的预期而形成，受到话语者诸多因素及其语用目的的制约。本文以意义沉默... 详细信息

意义沉默在会话中具有丰富且深刻的含意，其意义产生于它所依赖的前轮及其会话含意。意义沉默的会话含意依话轮转换规则而产出特定意义，且其特定意义按话轮接续者的预期而形成，受到话语者诸多因素及其语用目的的制约。本文以意义沉默的基本认识，运用多层分析的方法，解读日常会话中意义沉默的语用含意，旨在说明：言语交际和语言学习中，“意义沉默”应予以足够的重视，对其语用意义应予以充分理解，从而提高会话能力。

关键词：意义沉默基本认识例证解读

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中国20年外语教学研究综述

外语教学 2007年第4期28卷 61-63页

作者：彭艳虹湖南财经高等专科学校涉外系湖南长沙410205

我国外语教学坚持"以国家外语教育政策为导向"的观点,研究多以教学实践中诸多问题来探讨外语教育政策的科学性、现实性和可行性,并以全国性教学调查去研究国家经济和民族文化对外语教学的影响及影响程度,以此建立起社会群体的外语价值... 详细信息

我国外语教学坚持"以国家外语教育政策为导向"的观点,研究多以教学实践中诸多问题来探讨外语教育政策的科学性、现实性和可行性,并以全国性教学调查去研究国家经济和民族文化对外语教学的影响及影响程度,以此建立起社会群体的外语价值观。本文对我国近20年来的外语教学的系统研究进行了简要回顾,认为这一时期我国的外语教学与研究执行了"观念是行为的导向"的思想,指出规范性研究和验证性研究两种方法是我国过去、现实和未来外语教学研究的有效途径。

关键词：外语教学系统研究观规范性研究验证性研究

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论当代大学生道德教育传播载体的创新

思想理论教育导刊 2011年第2期 92-95页

作者：彭颜红武汉工程大学法商学院湖北武汉430205

当代大学生道德教育面临的一系列新问题,要充分把握信息社会的特点,合理运用传统媒体,特别是要通过新媒体开拓新的传播渠道,不断创新道德教育的传播载体,才能更好地提高当代大学生道德教育的实效性。

关键词：道德教育传播载体创新

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企业信息体系研究初探

系统工程理论与实践 1998年第9期18卷 8-13页

作者：彭雁虹李怀祖福州大学管理学院西安交通大学管理学院

近年来，国内外学者总结了ＭＩＳ、ＤＳＳ和ＥＳ等企业信息系统研制和应用中的经验教训，认为它们达不到预期效果的主要原因是：缺乏从企业战略高度来规划和设计信息系统，忽视了信息技术应用、信息系统开发与组织结构、人员、知识结构... 详细信息

近年来，国内外学者总结了ＭＩＳ、ＤＳＳ和ＥＳ等企业信息系统研制和应用中的经验教训，认为它们达不到预期效果的主要原因是：缺乏从企业战略高度来规划和设计信息系统，忽视了信息技术应用、信息系统开发与组织结构、人员、知识结构等的密切关联，由此提出了建立企业信息体系结构的设想。本论文分析了ＥＩＡ提出的深刻背景，在此基础上进一步明确了ＥＩＡ的概念，提出了ＥＩＡ五维模型和实现ＥＩＡ的六步骤十八过程的理论框架．目前信息系统的发展已十分复杂，这使得对于ＥＩＡ的研究不能仅局限于计算机技术方面的知识与技能，而应该广泛地从各学科领域汲取精华，如信息资源管理、全面质量管理、信息工程、企业过程重组等，以全面深刻地研究ＥＩＡ的内涵和外延．

关键词：企业信息体系信息系统企业管理

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关于亚纯函数例外值的例

华南师范大学学报（自然科学版） 2010年第2期42卷 18-23页

作者：彭炎红孙道椿华南师范大学数学科学学院广东广州510631

在亚纯函数的Valiron例外值、Borel例外值以及T例外值概念的基础上,考察它们之间的相互关系,重要的是构造了一亚纯函数,以0为Valiron例外值,但0不是其Borel例外值,也不是T例外值.

关键词：亚纯函数 Borel例外值 Valiron例外值 T例外值