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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale robotics lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic Engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

A flat-foldable equiangular spiral folding pattern inspired by sunflowers for deployable structures

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Chinese Journal of Aeronautics 2024年第6期37卷 425-438页

作者： Shuangqing YU Jinguo LIU Pengyuan ZHAO Yingying TANG State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Flasher origami pattern has been widely utilized to improve the stowage efficiency of deployable ***,flasher origami cannot be folded fully flat,and they still have great potential for optimization in terms of storage volume and folding *** this paper,a flat foldable equiangular spiral folding pattern inspired by the sunflower disk is ***,a parametric design method for this equiangular spiral crease diagram is introduced in ***,a kinematic model of the equiangular spiral folding pattern is established based on the kinematic equivalence between rigid origami and spherical linkages.A simulation of the developed model demonstrates that the equiangular spiral folding pattern can be folded *** the folded ratio as an evaluation index,the calculated results and experiments show that the equiangular spiral crease pattern can yield fewer creases and improve stowage efficiency in comparison to flasher origami *** spiral folding pattern can save a considerable amount of space and provide a new approach to spatially deployable structures.

关键词： Flasher origami Sunflower-inspired Deployable structures Flat-foldability Equiangular spiral folding pattern

design methodology,synthesis,and control strategy of the high-speed planetary rover

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Frontiers of Mechanical Engineering 2024年第2期19卷 59-74页

作者： Renchao LU Haibo GAO Zhen LIU Runze YUAN Zongquan DENG State Key laboratory of robotics and Systems Harbin Institute of TechnologyHarbin 150001China

The planned missions to explore the surfaces of the Moon and Mars require high exploration efficiency,thus imposing new demands on the mobility system of planetary *** this paper,a design method for a high-speed planetary rover(HPR)is proposed,and the representative configurations are modeled and ***,the influence of the planetary surface environment on the design of HPRs is analyzed,and the design factors for HPRs are determined by studying a single-wheel ***,a design methodology for HPRs is *** adaptive suspension mechanisms of a four-wheeled rover are synthesized using the all-wheel-attachment condition and position and orientation characteristics theory,which are expressed in the form of a graph theory for the increase in elastic components and active ***,a dynamic model is built,and a simulation is carried out for the proposed *** validity of the proposed method and rover is verified,thus highlighting their potential application in future planetary exploration.

关键词： design methodology spectrum analysis high-speed planetary rover type synthesis

A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu Tu Yiwei Liu Hong Liu State Key laboratory of robotics and System Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

AI for conceptual architecture:Reflections on designing with text-to-text,text-to-image,and image-to-image generators

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Frontiers of Architectural Research 2024年第3期13卷 593-612页

作者： Anca-Simona Horvath Panagiota Pouliou Research laboratory for Art and Technology Aalborg UniversityAalborg 9000Denmark Lighting design lab Aalborg UniversityCopenhagen 2450Denmark

In this paper we present a research-through-design study where we employed text-to-text,text-to-image,and image-to-image generative tools for a conceptual architecture project for the eVolo skyscraper *** trained these algorithms on a dataset that we collected and curated,consisting of texts about and images of *** describe our design process,present the final proposal,reflect on the usefulness of such tools for early-stage design,and discuss implications for future research and *** analysing the results from training the text-to-text generators we could establish a specific design brief that informed the final *** results from the image-to-image generator gave an overview of the shape grammars of previous *** results were intriguing and can assist creativity and in this way,the tools were useful for gaining insight into historical architectural data,helped shape a specific design brief,and provoked new *** reflecting on our design process,we argue that the use of language when employing such tools takes a new role and that three layers of language intertwined in our work:architectural discourse,programming languages,and *** present a map that unfolds how these layers came together as a contribution to making machine learning more explainable for creatives.

关键词： Machine learning StyleGAN2-ADA RNN TensorFlow VQGAN+clip AD journal eVolo Conceptual design Architectural design

Cognitive-emotional feasibility of the effect of visual quality of building form on promoting the sense of place attachment(Case study:Cultural iconic buildings of Iran’s contemporary architecture)

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Frontiers of Architectural Research 2024年第1期13卷 37-56页

作者： Narmin Ariannia Negar Naseri Mansour Yeganeh Digital Architecture and Artificial Intelligence lab Department of ArchitectureTarbiat Modares UniversityTehranIran Architectural design Modeling and Fabrication LabDepartment of ArchitectureTarbiat Modares UniversityTehranIran

The present research studies the relationship between place attachment and the perception of form’s visual quality in fifteen outstanding contemporary Iranian architectural cultural *** study puts forward the hypothesis that there is a correlation between the quality of building form and the sense of place attachment,in the sense that creating high visual quality through enhancing the quality of building form increases citizens’initial satisfaction with and subsequent attachment to the *** visual quality influences people’s experience of the environment and improves the quality of *** attachment highlights how people,on a personal level,recreate a sense of place for *** present study adopts the descriptive-analytical method as its theoretical framework and the survey as the empirical *** were developed using the Likert scale and distributed among experts and ordinary *** analysis using SPSS and the adoption of descriptive-analytical statistics,correlation analysis,and regression showed the relationship among the characteristics of *** results show a positive correlation between form and place attachment mediated through visual quality,and they are causal conditions for one *** addition,only some of the buildings under study evoke the same level of place attachment.

关键词： Visual preferences Environmental quality Environmental psychology Mental schemas Contemporary architecture

Numerical analysis of the correlation between fluid dynamic modes and hydrodynamic noise in flows around a three-dimensional circular cylinder

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Journal of Hydrodynamics 2024年第1期36卷 119-129页

作者： Jia-jia Qin Ming-xin Zou Yuan Zhuang De-cheng Wan Computational Marine Hydrodynamics lab(CMHL) School of Naval ArchitectureOcean and Civil EngineeringShanghai Jiao Tong UniversityShanghai200240China Wuhan Second Ship design and Research Institute Wuhan430205China

The flow around a circular cylinder for Re=1000 is characterized by flow separation and Karman vortex *** typical flow features can be captured to study the correlation between fluid fields and sound *** this paper,the three-dimensional circular cylinder is taken as the research object,and the probes of surface fluctuating pressure and far field sound pressure are arranged every 10°.The directional diagram and the coherence of fluctuating pressure and sound pressure are *** relationship between the flow mode and hydrodynamic noise is studied by using dynamic mode decomposition(DMD).The characteristics of the dipole and quadrupole sound source term of a long span cylinder are *** results show that at the angles between 30°–120°and 190°–350°,the fluctuating pressure contributes more to the generation of dipole *** quadrupole sound source shows three-dimensional effects,which is more obvious in a cylinder with large spanwise length.

关键词： Pressure coherence dynamic mode decomposition flow-sound correlation circular cylinder

Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

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Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI Ning ZHAO Xin SUI Jie ZHAO Yanhe ZHU State Key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global Center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve