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Swelling of Spherical Polyelectrolyte Gels

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Chinese Journal of Polymer Science 2024年第9期42卷 1386-1392,I0009页

作者： Ming-Yu Duan Jia-Dong Chen Yi-Ming Liu Zhao-Feng Peng Guang Chen Department of advanced Manufacturing and robotics College of EngineeringPeking UniversityBeijing 100871China

Polyelectrolyte(PE)gels,distinguished by their unique stimuli-responsive swelling behavior,serve as the basis of broad applications,such as artificial muscles and drug *** this work,we present a theoretical model to analyze the electrostatics and its contribution to the swelling behavior of PE gels in salt *** minimizing the free energy of PE gels,we obtain two distinct scaling regimes for the swelling ratio at equilibrium with respect to the salt *** compare our predictions for the swelling ratio with experimental measurements,which show excellent *** addition,we employ a finite element method to assess the applicability range of our theoretical model and *** anticipate that our model will also provide valuable insights into drug adsorption and release,deformation of red blood cells,4D printing and soft robotics,where the underlying mechanism of swelling remains enigmatic.

关键词： Gels Polyelectrolytes Swelling Stimuli-responsive Electrostatic interaction Cell model

Trot Gait with Twisting Trunk of a Metamorphic Quadruped Robot

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Journal of Bionic Engineering 2018年第6期15卷 971-981页

作者： Chunsong Zhang Jiansheng Dai International Centre for advanced Mechanisms and robotics School of Meehanical Engineering Tianjin University Tianjin 300345 China Centre for robotics Research King's College London Strand London UK

This paper proposes a metamorphic quadruped robot with a moveable trunk, called Origaker I. From the angle view of bionics, the robot can imitate the natural quadrupeds to twist its trunk. As we all know, most natural quadrupeds twist their trunk when running. The twisting trunk must bring significant benefits to their locomotion. Nevertheless there are few researches focusing on running gaits with twisting trunk of quadruped robots. Therefore, this paper investigates the trot gait with twisting trunk. One gait cycle of a lizard with twisting trunk is observed. Apart from the observation, the gait is designed based on the Zero Moment Point （ZMP） method and by con- sidering three points related to the twisting trunk. A simulation and an experiment are carried out to verify the efficiency of the trot gait with twisting trunk. It is found that the twisting trunk helps the quadruped robot get larger stride length and further perform higher lo- comotion speed than that with rigid trunk.

关键词： bionics quadruped robots twisting trunk trot gait

In-hand manipulation of a circular dynamic object by soft fingertips without angle measurement

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Science China(Information Sciences) 2021年第5期64卷 193-208页

作者： R.GARCIA-RODRIGUEZ V.PARRA-VEGA Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering Universidad Politecnica Metropolitana de Hidalgo robotics and advanced Manufacturing Department Research Center for Advanced Studies (CINVESTAV)

A multi-fingered robotic hand with curved fingertips enables contact re-positioning without reattaching at the expense of fingertip rolling. This rolling stands for a characteristic that facilitates dexterous manipulation but results in an algebraically complex dynamic model subject to such constraints. The hemispherical shape of fingertips allows a dexterous manipulation when controlling the tangent forces, which are essential to rotate object. However, the measurement of the object angle in practice requires tactile-optical sensing. In this paper, considering robotic fingers with curved soft tips, we propose a feedback control that ensures optimal dynamical grasping of a circular rigid object. It is shown that the collaboration of the contact forces, to get a minimum pose of internal forces, and the tangential forces, to induce the conditions for assuring the grasp closure, is necessary to get a skillful manipulation. In this case, the orientation control of a circular object to the desired angle while avoiding direct measurement of the object angle is presented. Stability conditions of the system are presented in the sense of stability-in-the-manifold. Finally, representative simulations are shown and discussed.

关键词： optimal grasping manipulation soft-fingertips circular object stability-in-the-manifold

Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

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Frontiers of Information Technology & Electronic Engineering 2019年第3期20卷 330-341页

作者： Da-qi ZHU Yun QU Simon X.YANG Laboratory of Underwater Vehicles and Intelligent Systems Shanghai Maritime University advanced robotics and Intelligent Systems Laboratory University of Guelph

There is an ocean current in the actual underwater working environment. An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles(AUVs) is proposed for a three-dimensional underwater workspace in the ocean current. Each AUV in the model will be competed, and the shortest path under an ocean current and different azimuths will be selected for task assignment and path planning while guaranteeing the least total consumption. First, the initial position and orientation of each AUV are determined. The velocity and azimuths of the constant ocean current are determined. Then the AUV task assignment problem in the constant ocean current environment is considered. The AUV that has the shortest path is selected for task assignment and path planning. Finally, to prove the effectiveness of the proposed method, simulation results are given.

关键词： Autonomous underwater vehicles Self-organizing neural networks Azimuths Ocean current

Topological dependence of mechanical responses of solidification microstructures in aluminum brazed joints

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中国有色金属学会会刊：英文版 2003年第6期13卷 1296-1300页

作者：高峰钱乙余 D.P.Sekulic 马鑫 F.Yoshida State Key Laboratory of advanced Production Technology Center for robotics and Manufacturing Systems Department of Mechanical System Engineering

The main objective is to provide an evidence of spatial dependence of mechanical responses of a heterogeneous aluminum brazed joint re-solidified clad, and to confirm a sufficient sensitivity of a nano-indentation—load curve method for identifying the dependence. Topological features of a network of solidification microstructures(α phase and eutectic), formed during quench in a brazing process of aluminum alloy, influence significantly dynamic mechanical responses of resulting heterogeneous material. Nano/micro indentation depth vs load characteristics of differing phases suggest a spatially sensitive mechanical response of a re-solidified fillet in the joint zone. Hence, a spatial distribution, pattern formations and other morphological characteristics of microstructures have a direct impact on an ultimate joint integrity. Topology-induced variations of indentation—load curves was presented. A hypothesis involving microstructures’ spatial distribution vs mechanical response was formulated.

关键词：铝铜焊显微结构凝固拓扑相关机械响应焊接铝合金

Vision‐audio fusion SLAM in dynamic environments

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CAAI Transactions on Intelligence Technology 2023年第4期8卷 1364-1373页

作者： Tianwei Zhang Huayan Zhang Xiaofei Li Shenzhen Institute of Artificial Intelligence and robotics for Society ShenzhenChina Department of robotics Ritsumeikan UniversityShigaJapan Westlake University and Westlake Institute for advanced Study HangzhouChina

Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment *** adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving ***,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile *** the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is ***,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more *** address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent *** heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.

关键词： dynamic environment intelligent robots sensor fusion

Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

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Journal of Bionic Engineering 2014年第4期11卷 556-571页

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun State Key Laboratory of robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Department of advanced robotics (Fondazione) Istituto Italiano di Tecnologia Genova 16163 Italy

In this paper a bio-inspired approach of velocity control for a quadruped robot running with a bounding gait on compliant legs is set up. The dynamic properties ofa sagittal plane model of the robot are investigated. By analyzing the stable fixed points based on Poincare map, we find that the energy change of the system is the main source for forward velocity adjustment. Based on the analysis of the dynamics model of the robot, a new simple linear running controller is proposed using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle. On the other hand, the functions of mammalian vestibular reflexes are discussed, and a reflex map between forward velocity and the pitch movement is built through statistical regression analysis. Finally, a velocity controller based on energy control and vestibular reflexes is built, which has the same structure as the mammalian nervous mechanism for body posture control. The new con- troller allows the robot to run autonomously without any other auxiliary equipment and exhibits good speed adjustment capa- bility. A series simulations and experiments were set to show the good movement agility, and the feasibility and validity of the robot system.

关键词： legged robots biologically-inspired robots biomimetics energy control vestibular reflexes

Development of a lower limb multi-joint assistance soft exosuit

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Science China(Information Sciences) 2020年第7期63卷 116-118页

作者： Xinyu WU Kai FANG Chunjie CHEN Yu ZHANG Guangdong Provincial Key Lab of robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen College of advanced Technology University of Chinese Academy of Sciences

Dear editor,Great progress has been made in exoskeleton research over the past decades. Exoskeletons of various types have been developed for a range of purposes, predominantly military and clinical [1,2]. Some adopt rigid structures to increase the wearer’s load carriage capacity, while others utilize external power sources to provide the wearer

关键词： Lower-limb Multi-joint assistance Soft exosuit Metabolic cost Ground walking Uphill walking Stairs clilmbing

Geometric Design-based Dimensional Synthesis of a Novel Metamorphic Multi-fingered Hand with Maximal Workspace

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Chinese Journal of Mechanical Engineering 2021年第3期34卷 211-225页

作者： Wei An Jun Wei Xiaoyu Lu Jian S.Dai Yanzeng Li MOE Key Laboratory for Mechanism Theory and Equipment Design International Centre for Advanced Mechanisms and RoboticsTianjin UniversityTianjinChina advanced Kinematics and Reconfigurable robotics Lab School of Natural and Mathematical SciencesKing’s College LondonLondonUK Rutgers The State University of New JerseyNew BrunswickNew JerseyUSA

Current research on robotic dexterous hands mainly focuses on designing new finger and palm structures,as well as developing smarter control *** the dimensional synthesis of dexterous hands with traditional rigid palms has been carried out,research on the dimensional synthesis of dexterous hands with metamorphic palms remains *** study investigated the dimensional synthesis of a palm of a novel metamorphic multi-fingered hand,and explored the geometric design for maximizing the precision manipulation *** indexes were used to value the workspace of the metamorphic hand,and the best proportions between the five links of the palm to obtain the optimal workspace of the metamorphic hand were *** on the fixed total length of the palm member,four nondimensional design parameters that determine the size of the palm were introduced;through the discretization method,the influence of the four design parameters on the workspace of the metamorphic hand with full-actuated fingers and under-actuated fingers was *** on the analysis of the metamorphic multi-fingered hand,the symmetrical structure of the palm was designed,resulting in the largest workspace of the multi-fingered hand,and proved that the metamorphic palm has a massive upgrade for the workspace of underactuated *** research contributed to the dimensional synthesis of metamorphic dexterous hands,with practical significance for the design and optimization of novel metamorphic hands.

关键词： Metamorphic hands Dimensional synthesis Maximal workspace Discretization