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Noise Reduction of UAV Using biomimetic Propellers with Varied Morphologies Leading-edge Serration

Journal of Bionic Engineering 2020年第4期17卷 767-779页

作者： Yuliang Wei Feng Xu Shiyuan Bian Deyi Kong State key laboratory of Transducer technology Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui ProvinceInstitute of Intelligent MachinesChinese Academy of SciencesHefei 230031China Science Island Branch of Graduate School University of Science and Technology of ChinaHefei 230009China

The Leading-Edge(LE)serrations on owls'wings are known to be responsible for silent ***,this design has rarely been applied to reduce the noise of rotational rotor propellers and the morphologies of the existing serration designs are ***,we present a comparative study ofLE serrations with different morphologies in terms of the effectiveness in suppressing noise and promoting thrust *** performances of biomimetic propellers are investigated by Computational Fluid Dynamics(CFD)simulations and rotation *** simulation results reveal that LE serrations could reduce velocity fluctuations and change the lamina-turbulent transition and turbulence distribution on the suction surface of propeller,but the morphology of the serrations influences its *** testing results indicate that the sawtooth propeller has the best performance on noise reduction(on average 2.43 dB and in maximum 4.18 dB)and simultaneously enhancing the thrust forces(3.53%).The largest practical noise reductions(4.73 dB and 3.79 rdB)using the sawtooth propeller are observed when the quad-rotor Unmanned-Aerial Vehicle(UAV)is hovering at heights of 5 m and 8 m,*** results indicate the robustness and usefulness of owl-inspired biomimetic serration devices for aero-acoustic control and aerodynamic performance promotion on propeller *** finding is expected to con^bute to suppressing the sound of propeller and the rotor-based aircraft.

关键词： unmanned-aerial vehicle biomimetic noise reduction LE serration rotor propeller

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Underwater image clarifying based on human visual colour constancy using double-opponency

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CAAI Transactions on Intelligence technology 2024年第3期9卷 632-648页

作者： Bin Kong Jing Qian Pinhao Song Jing Yang Amir Hussain Institute of Intelligent Machines Chinese Academy of SciencesHefeiChina Peng Cheng laboratory ShenzhenChina anhui key laboratory of biomimetic sensing and advanced robot technology HefeiChina University of Science and technology of China HefeiChina Peking University Shenzhen Graduate School ShenzhenChina Edinburgh Napier University EdinburghScotland

Underwater images are often with biased colours and reduced contrast because of the absorption and scattering effects when light propagates in *** images with degradation cannot meet the needs of underwater *** main problem in classic underwater image restoration or enhancement methods is that they consume long calcu-lation time,and often,the colour or contrast of the result images is still *** of using the complicated physical model of underwater imaging degradation,we propose a new method to deal with underwater images by imitating the colour constancy mechanism of human vision using ***,the original image is converted to the LMS *** the signals are linearly combined,and Gaussian convolutions are per-formed to imitate the function of receptive fields(RFs).Next,two RFs with different sizes work together to constitute the double-opponency ***,the underwater light is estimated to correct the colours in the *** contrast stretching on the luminance is *** show that the proposed method can obtain clarified underwater images with higher quality than before,and it spends significantly less time cost compared to other previously published typical methods.

关键词： computers computer vision image processing image reconstruction

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Intelligent interaction system based on multimodal conformal triboelectric nanogenerator patch for disabled sports and life

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Science China Technological Sciences 2025年

作者： Yuzhang WEN Mengqi ZHANG Zhenning XIE Zida AN Bing LIU Fengxin SUN Tianming ZHAO Zuojun YU Fei WANG Yupeng MAO Physical Education Department Northeastern University(Shenyang) Faculty of robot Science and Engineering Northeastern University Criminal Investigation Police University of China State key laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences China Ice Sports College Beijing Sport University

Intelligent interaction technology based on advanced sensing units has become a research hotspot. In this paper, an intelligent interaction system (IIS) based on a multimodal conformal triboelectric nanogenerator patch (MCTP) is reported for sports monitoring and life promotion of the disabled. This IIS consists of a cloud-based smart sports recognition program and a smart life application. The porous micro-reinforced structure of polyurethane (PU) Sponge&Ecoflex, and the surface modification of PTFE by coating it with MXene endows the MCTP with excellent electrical properties. It shows good angle and force sensitivities of 1.1 V/°and 1.61 V/N, respectively, and has an ultra-fast response time of 15 ms, meeting the needs of human motion monitoring. The MCTP can also capture the mechanical energy, producing a maximum output power of 139μ*** with the commercial inertial measuring unit (IMU), the MCTP shows better consistency in human joint angle sensing. A precise analysis of wheelchair curling sports monitoring points is achieved by combining the MCTP and the human anatomy model. The cloud-based smart sports recognition program utilizes machine learning to achieve visual feedback on the three throwing technologies of draw, takeout and clearing. In addition, the developed smart life application uses a highsensitivity MCTP-sensor array design to achieve a variety of smart home interactions through simple finger touches. Overall,the IIS integrates the three major functions of smart sports sensing, energy capture, and smart home control, providing important application prospects in the fields of smart sports and human-computer interaction for the disabled.

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Design,Modeling and Experimentation of a biomimetic Wall-climbing robot for Multiple Surfaces

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Journal of Bionic Engineering 2020年第3期17卷 523-538页

作者： Jinfu Liu Linsen Xu Jiajun Xu Tao Li Shouqi Chen Hong Xu Gaoxin Cheng Marco Ceccarelli Institute of advanced Manufacturing technology Hefei Institutes of Physical ScienceCASChangzhou 213164China Department of Precision Machinery and Precision Instrumentation University of Science and Technology of ChinaHefei 230026China anhui Province key laboratory of biomimetic sensing and advanced robot technology Hefei 230026China Department of Industrial Engineerings University of Rome Tor Vergata Via del Politecnico 100133RomaItaly

Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation ***,traditional single-mode robots cannot ensure the stable attachment on complex wall *** by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are *** at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration *** static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or *** on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform ***,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling ***,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall *** findings could provide practical reference for the robot’s application on walls.

关键词： wall-climbing robot spine wheel adhesive material adsorption system

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Learning Rat-Like Behavior for a Small-Scale biomimetic robot

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Engineering 2022年第10期17卷 232-243页

作者： Zihang Gao Guanglu Jia Hongzhao Xie Qiang Huang Toshio Fukuda Qing Shi key laboratory of biomimetic robots and Systems(Beijing Institute of technology) Ministry of EducationBeijing 100081China Intelligent robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing advanced Innovation Center for Intelligent robots and Systems Beijing Institute of TechnologyBeijing 100081China

Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these *** mimic typical rat behavior with high similarity,we propose parameterizing the behavior using a probabilistic model and movement ***,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight *** used the softmax classifier to obtain the behavior-movement hierarchical probability ***,we specified the MPs using movement parameters that are static and *** obtained the predominant values of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,*** predominant parameters were used for fitting the rat spinal joint trajectory using a second-order Fourier series,and the joint trajectory was generalized using a back propagation neural network with two hidden ***,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,*** implemented the six typical behaviors on the robot,and the results show high similarity when compared with the behaviors of actual rats.

关键词： biomimetic Bio-inspired robot Neural network learning system Behavior generation

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3D reconstruction of worn parts for flexible remanufacture based on robotic arc welding

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China Welding 2010年第4期19卷 54-58页

作者：殷子强张广军高洪明吴林 State key laboratory of advanced Welding Production technology Harbin Institute of Technology Harbin 150001

3D reconstruction of worn parts is the foundation for remanufacturing system based on robotic arc welding, because it can provide 3D geometric information for robot task plan. In this investigation, a novel 3D reconstruction system based on linear structured light vision sensing is developed. This system hardware consists of a MTC368-CB CCD camera, a MLH-645 laser projector and a DH-CG300 image grabbing card. This system software is developed to control the image data capture. In order to reconstruct the 3D geometric information from the captured image, a two steps rapid calibration algorithm is proposed. The 3D reconstruction experiment shows a satisfactory result.

关键词： 3D reconstruction remanufacture structured light robotic are welding

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A novel space target-tracking method based on generalized Gaussian distribution for on-orbit maintenance robot in Tiangong-2 space laboratory

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Science China(Technological Sciences) 2019年第6期62卷 1045-1054页

作者： MO Yang JIANG ZhiHong LI Hui YANG Hong HUANG Qiang School of Mechatronic Engineering Beijing Institute of Technology Beijing 100081 China Beijing advanced Innovation Center for Intelligent robots and Systems Beijing 100081 China key laboratory of biomimetic robots and Systems Ministry of Education Beijing 100081 China Institute of Manned Spacecraft System Engineering China Academy of Space Technology Beijing 100080 China

Accurate target tracking based on visual images is the key for intelligent robots to assist or replace astronauts to work in space station. However, the special space environment such as non-uniform illumination and high-energy particle radiation is a huge challenge, which may lead to complex noise coupling in vision image. This paper proposes a novel method for accurate target tracking, the essence of which is the Retinex image enhancement algorithm in CIELAB color space(LAB-GRetinex) and the generalized maximum correntropy Kalman filter(GMCKF) which are all based on generalized Gaussian distribution. The LABGRetinex algorithm chooses the CIELAB color space, which is closer to the human vision, as the processing color space, and the generalized Gaussian distribution can estimate the light image accurately, so the influence of non-uniform illumination can be reduced effectively. Meanwhile, the GMCKF algorithm adopts the generalized correntropy criterion based on the generalized Gaussian distribution to replace the minimum mean square error(MMSE) criterion to realize the optimal filtering effect under the complex non-Gaussian noise, which can improve the target tracking accuracy. Sufficient ground simulation experiments and application experiments in the Tiangong-2 space laboratory verify the effectiveness of the proposed algorithm which can track the target accurately in the special space environment and provide the precise pose information for on-orbit robot maintenance verification. This research lays a technical foundation for the application of intelligent robot in the construction and operation on space station in the future.

关键词： space robot LAB-GRetinex GMCKF target tracking

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Hydrogel-elastomer-based stretchable strain sensor fabricated by a simple projection lithography method

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International Journal of Smart and Nano Materials 2021年第3期12卷 256-268页

作者： Zhenqing Li Xiangnan He Jianxiang Cheng Honggeng Li Yuan-Fang Zhang Xiaojuan Shi Kai Yu Hui Ying Yang Qi Ge Shenzhen key laboratory of biomimetic robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenChina Guangdong Provincial key laboratory of Human-Augmentation and Rehabilitation robotics in Universities Southern University of Science and TechnologyShenzhenChina Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore Department of Mechanical Engineering University of Colorado DenverDenverCOUSA National key laboratory of Science and technology on advanced Composites in Special Environments Harbin Institute of TechnologyHarbinP.R.China

Stretchable strain sensor detects a wide range of strain variation and is therefore a key component in various *** traditional ones made of elastomers doped with conductive components or fabricated with liquid conductors,ionically conductive hydrogel-based strain sensors remain conductive under large deformations and are ***,dehydration is a challenging issue for the *** have developed hydrogel-elastomer-based strain sensors where an elastomer matrix encapsulates a hydrogel circuit to prevent its ***,the reported multistep approaches are generally *** group recently reported a multimaterial 3D printing approach that enables fast fabrication of such sensors,yet requires a self-built digital-light-processing-based multimaterial 3D ***,we report a simple projection lithography method to fabricate hydrogel-elastomer-based stretchable strain sensors within 5 *** method only requires a UV projector/lamp with photomasks;the chemicals are commercially available;the protocols for preparing the polymer precursors are friendly to users without chemistry ***,the manufacturing flexibility allows users to readily pattern the sensor circuit and attach the sensor to a 3D printed soft pneumatic actuator to enable strain sensing on the *** proposed approach paves a simple and versatile way to fabricate hydrogel-elastomer-based stretchable strain sensors and flexible electronic devices.

关键词： Ionically conductive hydrogel stretchable strain sensor projection lithography

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An Overview of In Vitro Biological Neural Networks for robot Intelligence

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Cyborg and Bionic Systems 2023年第1期4卷 523-539页

作者： Zhe Chen Qian Liang Zihou Wei Xie Chen Qing Shi Zhiqiang Yu Tao Sun School of Medical technology Beijing Institute of TechnologyBeijing 100081China key laboratory of biomimetic robots and Systems(Beijing Institute of technology) Ministry of EducationBeijing 10081China advanced Innovation Center for Intelligent robots and Systems Beijing Institute of TechnologyBeijing 100081China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China

In vitro biological neural networks(BNNs)interconnected with robots,so-called BNN-based neurorobotic systems,can interact with the external world,so that they can present some preliminary intelligent behaviors,including learning,memory,robot control,*** work aims to provide a comprehensive overview of the intelligent behaviors presented by the BNN-based neurorobotic systems,with a particular focus on those related to robot *** this work,we first introduce the necessary biological background to understand the 2 characteristics of the BNNs:nonlinear computing capacity and network ***,we describe the typical architecture of the BNN-based neurorobotic systems and outline the mainstream techniques to realize such an architecture from 2 aspects:from robots to BNNs and from BNNs to ***,we separate the intelligent behaviors into 2 parts according to whether they rely solely on the computing capacity(computing capacity-dependent)or depend also on the network plasticity(network plasticity-dependent),which are then expounded respectively,with a focus on those related to the realization of robot ***,the development trends and challenges of the BNNbased neurorobotic systems are discussed.

关键词： robot robot networks

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Programmable and reconfigurable humidity-driven actuators made with MXene(Ti_(3)C_(2)T_(x))-cellulose nanofiber composites for biomimetic applications

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Nano Research 2024年第7期17卷 6619-6629页

作者： Shaofeng Zeng Yuanji Ye Peidi Zhou Shimin Yi Qiaohang Guo Huamin Chen Guozhen Shen Mingcen Weng School of Mechanical and Automotive Engineering Fujian University of TechnologyFuzhou 350118China School of Materials Science and Engineering Fujian Provincial Key Laboratory of Advanced Materials Processing and ApplicationKey Laboratory of Polymer Materials and Products of Universities in FujianFujian University of TechnologyFuzhou 350118China Institute of Smart Marine and Engineering Fujian University of TechnologyFuzhou 350118China Fujian key laboratory of Functional Marine sensing Materials College of Materials and Chemical EngineeringMinjiang UniversityFuzhou 350108China School of Integrated Circuits and Electronics Beijing Institute of TechnologyBeijing 100081China

Smart actuators have a wide range of applications in bionics and energy *** ability to reconfigure shape is essential for soft actuators to achieve various shapes and deformations,which is a crucial feature for next-generation ***,it is still an enormous challenge to establish a straightforward approach to creating programmable and reconfigurable ***-cellulose nanofiber composite film(MCCF)with a brick-and-mortar hierarchical structure was produced through a vacuum filtration *** demonstrates impressive mechanical properties such as a tensile stress of 68 MPa and a Young’s modulus of 4.65 ***,the MCCF highlights its potential for water-assisted shaping/welding due to the abundance of hydrogen bonds between MXene and cellulose *** also showcases capabilities as a humiditydriven actuator with a rapid response rate of 550°·s^(−1).Using the methods of water-assisted shaping/welding,several bionic actuators(such as flower,butterfly,and muscle)based on MCCF were designed,highlighting their versatility in applications of smart *** research showcases the impressive capabilities of MXene-based actuators and offers beneficial insights for the advancement of future intelligent materials.

关键词： MXene cellulose nanofibers programmable actuators humidity-driven

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