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Robot Pheromone Communication Using Vortex Ring Transmission

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Journal of Bionic Engineering 2009年第2期6卷 153-160页

作者： R.Andrew Russell Intelligent robotics Research centre Monash University

Unpredictable air movements have proved to be a problem in previous studies investigating robot communication by means of airborne pheromone chemicals. The project described in this paper investigates the use of air vortex rings as a means of carrying pheromone chemicals between transmitting and receiving robots. Sensitivity to chemicals including pheromones released by conspecifics is essential for many aspects of an insect's life. They assist in finding food, locating a mate, avoiding danger and help coordinate the activities of social insects. In the future, autonomous robots will be challenged by many situations similar to those that face insects and other simple creatures. Chemical communication may prove useful for these robots as well. This paper describes the equipment developed for generating and detecting vortex rings. Results of experiments involving location and tracking of a sequence of pheromone vortex rings are also presented.

关键词： chemical communication vortex transmission crickets biomimetic robots

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

Light-based 3D printing of stimulus-responsive hydrogels forminiature devices:recent progress and perspective

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Bio-Design and Manufacturing 2024年第5期7卷 721-746页

作者： Chen Xin Neng Xia Li Zhang Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong Kong 999077China multi-scale medical robotics Center Hong Kong Science ParkShatin NTHong Kong 999077China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong KongHong Kong 999077China Department of Surgery The Chinese University of Hong KongHong Kong 999077China CUHK T Stone robotics Institute The Chinese University of Hong KongHong Kong 999077China

Miniature devices comprising stimulus-responsive hydrogels with high environmental adaptability are now considered competitive candidates in the fields of biomedicine,precise sensors,and tunable *** and advanced fabricationmethods are critical formaximizing the application capabilities ofminiature ***-based three-dimensional(3D)printing technology offers the advantages of a wide range of applicable materials,high processing accuracy,and strong 3D fabrication capability,which is suitable for the development of miniature devices with various *** paper summarizes and highlights the recent advances in light-based 3D-printed miniaturized devices,with a focus on the latest breakthroughs in lightbased fabrication technologies,smart stimulus-responsive hydrogels,and tunable miniature devices for the fields of miniature cargo manipulation,targeted drug and cell delivery,active scaffolds,environmental sensing,and optical ***,the challenges in the transition of tunable miniaturized devices from the laboratory to practical engineering applications are *** opportunities that will promote the development of tunable microdevices are elaborated,contributing to their improved understanding of these miniature devices and further realizing their practical applications in various fields.

关键词： 3D printing Stimulus-responsive hydrogels Miniature devices Shape-morphing

A Cilia-inspired Closed-loop Sensor-actuator Array

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Journal of Bionic Engineering 2018年第3期15卷 526-532页

作者： James G. H. Whiting Richard Mayne Chris Melhuish Andrew Adamatzky Unconventional Computing centre and Bristol robotics Laboratory University of the West of England Bristol UK

Cilia are finger-like cell-surface organelles that are used by certain varieties of aquatic unicellular organisms for motility, sensing and obj ect manipulation. Initiated by internal generators and external mechanical and chemical stimuli, coordinated undulations of cilia lead to the motion of a fluid surrounding the organism. This motion transports micro-particles towards an oral cavity and provides motile force. Inspired by the emergent properties of cilia possessed by the pond organism P. caudatum, we propose a novel smart surface with closed-loop control using sensor-actuators pairings that can manipulate objects. Each vibrating motor actuator is controlled by a localised microcontroller which utilises proximity sensor information to initiate actuation. The circuit boards are designed to be plug-and-play and are infinitely up-scalable and reconfigurable. The smart surface is capable of moving objects at a speed of 7.2 millimetres per second in forward or reverse direction. Further development of this platform will include more anatomically similar biomimetic cilia and control.

关键词： bioinspiration artificial cilia object manipulation sorting platforms

Unsupervised ore/waste classification on open-cut mine faces using close-range hyperspectral data

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Geoscience Frontiers 2023年第4期14卷 89-99页

作者： Lloyd Windrim Arman Melkumyan Richard J.Murphy Anna Chlingaryan Raymond Leung Rio Tinto centre for Mine Automation Australian Centre for Field RoboticsThe University of SydneySydney 2006Australia

The remote mapping of minerals and discrimination of ore and waste on surfaces are important tasks for geological applications such as those in *** tasks have become possible using ground-based,close-range hyperspectral sensors which can remotely measure the reflectance properties of the environ-ment with high spatial and spectral ***,autonomous mapping of mineral spectra mea-sured on an open-cut mine face remains a challenging problem due to the subtleness of differences in spectral absorption features between mineral and rock classes as well as variability in the illumination of the *** additional layer of difficulty arises when there is no annotated data available to train a supervised learning algorithm.A pipeline for unsupervised mapping of spectra on a mine face is pro-posed which draws from several recent advances in the hyperspectral machine learning *** proposed pipeline brings together unsupervised and self-supervised algorithms in a unified system to map minerals on a mine face without the need for human-annotated training *** pipeline is eval-uated with a hyperspectral image dataset of an open-cut mine face comprising mineral ore martite and non-mineralised *** combined system is shown to produce a superior map to its constituent algo-rithms,and the consistency of its mapping capability is demonstrated using data acquired at two differ-ent times of day.

关键词： Hyperspectral imaging Mineral mapping Open-cut mine face Machine learning Convolutional neural networks Illumination invariance

Adaptive Tracking Control of an Autonomous Underwater Vehicle

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International Journal of Automation and computing 2014年第3期11卷 299-307页

作者： Basant Kumar Sahu Bidyadhar Subudhi centre for Industrial Electronics and robotics Department of Electrical Engineering National Institute of Technology

This paper presents the trajectory tracking control of an autonomous underwater vehicle(AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric *** of the developed controller is verified using the Lyapunov s direct method. Numerical simulations are carried out to study the efficacy of the proposed adaptive controller.

关键词： Autonomous underwater vehicle(AUV) adaptive control law regressor matrix Lyapunovs stability path following

Design and Robust Performance Evaluation of a Fractional Order PID Controller Applied to a DC Motor

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IEEE/CAA Journal of Automatica Sinica 2017年第2期4卷 304-314页

作者： J.Viola L.Angel J.M.Sebastian Universidad Pontificia Bolivariana Universidad Politecnica de Madrid Centre for Automation and Robotics (CAR) UPM-CSIC

This paper proposes a methodology for the quantitative robustness evaluation of PID controllers employed in a DC motor. The robustness analysis is performed employing a 2~3 factorial experimental design for a fractional order proportional integral and derivative controller(FOPID), integer order proportional integral and derivative controller(IOPID)and the Skogestad internal model control controller(SIMC). The factors assumed in experiment are the presence of random noise,external disturbances in the system input and variable load. As output variables, the experimental design employs the system step response and the controller action. Practical implementation of FOPID and IOPID controllers uses the MATLAB stateflow toolbox and a NI data acquisition system. Results of the robustness analysis show that the FOPID controller has a better performance and robust stability against the experiment factors.

关键词： Factorial experimental design fractional-order PID controller robustness analysis SIMC PID controller

Comments on “Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes”

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机器人 2015年第2期37卷 254-256页

作者： LIU Jinguo GAO Yang WANG Yuechao MA Shugen LUO Yifan State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences STAR Lab Surrey Space Centre University of Surrey Department of robotics College of Science and Engineering Ritsumeikan University

Marvi et al(Science,2014,vol.346,p.224)concluded a sidewinder rattlesnake increases the body contact length with the sand when granular incline angle *** also claimed the same principle should work on robotic snake *** have evidence to prove that this conclusion is only partial in describing the snake body-sand *** should be three phases that fully represent the snake locomotion behaviors during ascent of sandy slopes,namely lifting,descending,and *** snake body-sand interaction during the descending and ceasing phases helps with the climbing while such interaction during the lifting phase in fact contributes resistance.

关键词：机器人设计工业机器人应用

Application of artificial intelligence in surgery

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Frontiers of Medicine 2020年第4期14卷 417-430页

作者： Xiao-Yun Zhou Yao Guo Mali Shen Guang-Zhong Yang The Hamlyn centre for Robotic Surgery Imperial College LondonLondon SW72AZUK Institute of medical robotics Shanghai Jiao Tong UniversityShanghai 200240China

Artificial intelligence(AI)is gradually changing the practice of surgery with technological advancements in imaging,navigation,and robotic *** this article,we review the recent successful and influential applications of AI in surgery from preoperative planning and intraoperative guidance to its integration into surgical *** conclude this review by summarizing the current state,emerging trends,and major challenges in the future development of AI in surgery.

关键词： artificial intelligence surgical autonomy medical robotics deep learning