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Modular Soft Robotic Crawlers Based on Fluidic Prestressed Composite Actuators

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Journal of Bionic engineering 2024年第2期21卷 694-706页

作者： Zefeng Xu Linkai Hu Longya Xiao Hongjie Jiang Yitong Zhou shien-ming wu school of intelligent engineering South China University of TechnologyGuangzhou511442China school of Mechanical and Electrical engineering Guangzhou UniversityGuangzhou510006China

Soft robotic crawlers have limited payload capacity and crawling *** study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)*** FPC actuator is precurved and a pneumatic source is used to flatten it,requiring no energy cost to maintain the equilibrium curved *** and depressurizing the actuators generate alternating stretching and bending motions of the actuators,achieving the crawling motion of the robotic ***-modal locomotion(crawling,turning,and pipe climbing)is achieved by modular reconfiguration and gait *** analytical kinematic model is proposed to characterize the quasi-static curvature and step size of a single-module *** configurations of robotic crawlers are fabricated to demonstrate the crawling ability of the proposed design.A set of systematic experiments are set up and conducted to understand how crawler responses vary as a function of FPC prestrains,input pressures,and actuation *** per the experiments,the maximum carrying load ratio(carrying load divided by robot weight)is found to be 22.32,and the highest crawling velocity is 3.02 body length(BL)per second(392 mm/s).Multi-modal capabilities are demonstrated by reconfiguring three soft crawlers,including a matrix crawler robot crawling in amphibious environments,and an inching crawler turning at an angular velocity of 2/s,as well as earthworm-like crawling robots climbing a 20 inclination slope and pipe.

关键词： Soft robot Soft crawler Fluidic prestressed composite Kinematic model Enhanced loading Multi-modal capability

Digital Twin-Assisted Semi-Federated Learning Framework for Industrial Edge Intelligence

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China Communications 2024年第5期21卷 314-329页

作者： wu Xiongyue Tang Jianhua Marie Siew shien-ming wu school of intelligent engineering South China University of TechnologyGuangzhou 511442China Electrical and Computer engineering Department Carnegie Mellon UniversityPittsburghPA 15213United States

The rapid development of emerging technologies,such as edge intelligence and digital twins,have added momentum towards the development of the Industrial Internet of Things(IIo T).However,the massive amount of data generated by the IIo T,coupled with heterogeneous computation capacity across IIo T devices,and users’data privacy concerns,have posed challenges towards achieving industrial edge intelligence(IEI).To achieve IEI,in this paper,we propose a semi-federated learning framework where a portion of the data with higher privacy is kept locally and a portion of the less private data can be potentially uploaded to the edge *** addition,we leverage digital twins to overcome the problem of computation capacity heterogeneity of IIo T devices through the mapping of physical *** formulate a synchronization latency minimization problem which jointly optimizes edge association and the proportion of uploaded nonprivate *** the joint problem is NP-hard and combinatorial and taking into account the reality of largescale device training,we develop a multi-agent hybrid action deep reinforcement learning(DRL)algorithm to find the optimal *** results show that our proposed DRL algorithm can reduce latency and have a better convergence performance for semi-federated learning compared to benchmark algorithms.

关键词： digital twin edge association industrial edge intelligence(IEI) semi-federated learning

A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve Load-bearing Capacity and Grasping Stability

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Journal of Bionic engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li school of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and intelligent Automation for Complex System Wuhan430074China The shien-ming wu school of intelligent engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability Load-bearing capacity

Attitude Regulation of Flexible Spacecrafts with Unknown Control Directions and Input Disturbances

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Journal of Systems Science & Complexity 2024年

作者： wu Haiwen XU Dabo school of Automation Nanjing University of Science and Technology Department of Mechanical and Automation engineering The Chinese University of Hong Kong shien-ming wu school of intelligent engineering South China University of Technology Guangzhou International Campus

In this paper, the authors address the attitude regulation problem of uncertain flexible spacecraft with unknown control directions and input disturbances. The major challenges of the problem include the concurrence of the unknown actuation sign and the unknown parameters in both the plant and the external disturbances, along with the impact of vibrations from flexible appendages. To overcome these challenges, the authors transform the conventional mathematical model of a flexible spacecraft to a multivariable strict-feedback normal form and adopt a systematic approach within the framework of nonlinear output regulation. To solve the attitude regulation and disturbance rejection problem, the authors introduce a nonlinear internal model candidate to convert the problem into a stabilization problem for an augmented system. Then, a Nussbaum function-based stabilizer is designed to handle unknown control directions and complete the design. Simulation results are provided to show the effectiveness of the proposed controller.

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Removal of rubidium from brine by an integrated film of sulfonated polysulfone/graphene/potassium copper ferricyanide

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Chinese Journal of Chemical engineering 2024年第5期69卷 112-121页

作者： Huanxi Xu Peihua Lin Pei-Jun Liu Hai-Gang Liu Hui-Bin Guo Chao-Xiang wu ming Fang Xu Zhang Guan-Ping Jin Anhui Province engineering Research Center of Flexible and intelligent Materials School of Chemistry and Chemical EngineeringHefei University of TechnologyHefei 230009China Chemical Design and Research Institute Co. LTD of Qinghai ProvinceQinghai Engineering and Technology Research Center of Fine ChemicalXining 810008China

A novel integrated film of sulfonated polysulfone/graphene/potassium copper ferricyanide(KCuFC/SPSG)was used for selectively extracting rubidium ion(Rb^(+))from *** form KCuFC/SPSG,the precursor film of sulfonated polysulfone/graphene(SPSG)was synthesized by phase conversion process,which was alternately immersed in 0.1 mol·L^(-1)CuSO_(4)/K_(4)[Fe(CN)_(6)]by in-situ adsorption coupled co-precipitation *** data such as nuclear magnetic resonance spectrometer,Fourier transform infrared spectroscope,X-ray photoelectron spectroscope,X-ray diffraction,scanning electron microscope,and energy dispersive spectroscopy all verified that abundant KCuFC were uniformly located on the *** resulting KCuFC/SPSG was used in film separation *** the solution was fed into the system,the Rb^(+)could be selectively adsorption by KCuFC/*** the saturation adsorption,0.5 mol·L^(-1)NH_(4)Cl/HCl was fed into the film cell,Rb^(+)could be quickly desorbed by ion-exchange between Rb^(+)and NH_(4)^(+)in the lattice of *** purpose of separating and recovering Rb^(+)from the brine can be achieved after the repeated *** effects of pH,adsorption time,and interferential ions on the adsorption capacity of Rb^(+)were investigated by batch *** adsorption behavior fits the pseudo-second order kinetic process,while KCuFC has a higher adsorption capacity(Langmuir maximum sorption 165.4 mg·g^(-1)).In addition,KCuFC/SPSG shows excellent selectivity for Rb^(+)even in complex brine ***/SPSG could maintain 93.5%extraction efficiency after five adsorption/desorption cycles.

关键词： Rubidium extraction Potassium copper ferricyanide Sulfonated polysulfone Graphene oxide Adsorption

A Transformer-Assisted Cascade Learning Network for Choroidal Vessel Segmentation

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Journal of Computer Science & Technology 2024年第2期39卷 286-304页

作者：温阳吴依林毕磊石武祯刘潇骁许毓鹏许迅曹文明冯大淦 Guangdong Provincial Key Laboratory of intelligent Information Processing School of Electronics and Information EngineeringShenzhen UniversityShenzhen 518060China Institute of Translational Medicine Shanghai Jiao Tong UniversityShanghai 200240China Department of Ophthalmology Shanghai General HospitalShanghai Jiao Tong University School of MedicineShanghai 200080China school of Information Technologies The University of SydneySydney 2006Australia

As a highly vascular eye part,the choroid is crucial in various eye disease ***,limited research has focused on the inner structure of the choroid due to the challenges in obtaining sufficient accurate label data,particularly for the choroidal ***,the existing direct choroidal vessel segmentation methods for the intelligent diagnosis of vascular assisted ophthalmic diseases are still unsatisfactory due to noise data,while the synergistic segmentation methods compromise vessel segmentation performance for the choroid layer segmentation *** cascaded structures grapple with error propagation during *** address these challenges,we propose a cascade learning segmentation method for the inner vessel structures of the choroid in this ***,we propose TransformerAssisted Cascade Learning Network(TACLNet)for choroidal vessel segmentation,which comprises a two-stage training strategy:pre-training for choroid layer segmentation and joint training for choroid layer and choroidal vessel *** also enhance the skip connection structures by introducing a multi-scale subtraction connection module designated as MSC,capturing differential and detailed information ***,we implement an auxiliary Transformer branch named ATB to integrate global features into the segmentation *** results exhibit that our method achieves the state-of-the-art performance for choroidal vessel ***,we further validate the significant superiority of the proposed method for retinal fluid segmentation in optical coherence tomography(OCT)scans on a publicly available *** these fully prove that our TACLNet contributes to the advancement of choroidal vessel segmentation and is of great significance for ophthalmic research and clinical application.

关键词： choroidal vessel segmentation optical coherence tomography(OCT) Transformer-assisted cascade learning retinal fluid segmentation multi-scale feature extraction

Superhydrophobic Purple Orchid Leaves:Variation in Surface Morphology During the Vegetation Stages Leading to Diversity in Wettability

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Journal of Bionic engineering 2023年第6期20卷 2774-2785页

作者： Longsheng Lu Guoxiang Jiang Kaikai Li Yingxi Xie Jiao Gao school of Mechanical&Automotive engineering South China University of TechnologyGuangzhou510641China shien-ming wu school of intelligent engineering South China University of TechnologyGuangzhou511442China

Learning hydrophobic phenomena from nature is always a promising approach to design the superhydrophobic *** orchid leaf which processes superhydrophobicity is an ideal plant model,and through mimicking its structure,the surface with excellent hydrophobicity is able to be ***,the unclear of the diversity in wettability during the different vegetation stages and the absence of its relation to the surface morphology limits the further enhancement of the inspired ***,we analyze the wettability difference as the leaf grows from tender to mature and then to *** with the variation of surface morphology and chemical composition,the well-developed micro-scale basic unit bumps with dense nano-scale waxy layer on the surface are proven to be responsible for the best hydrophobicity of the mature *** presence of the undeveloped or damaged micro-nano hierarchical structure reduces the formation of air pockets at the interface,leading to the decrease of the wettability for leaves at other ***,by fabricating artificial leaves,the nano-waxy layer is proved to be more effective than that of the micro-bumps on the surface *** results of study are of a great significance for guiding the design and fabrication of plant-inspired bionic superhydrophobic surface.

关键词： Superhydrophobicity Surface morphology Micro-nano hierarchical structure Purple orchid leaf Bionic

Trajectory Tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises

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Journal of Systems Science & Complexity 2022年第5期35卷 1719-1747页

作者： wu Haiwen XU Dabo school of Automation Nanjing University of Science and TechnologyNanjing 210094China engineering and Technology Institute Groningen Faculty of Science and EngineeringUniversity of GroningenGroningen 9747 AGThe Netherlands shien-ming wu school of intelligent engineering South China University of TechnologyGuangzhou 511442China

This paper studies global robust tracking of uncertain Euler-Lagrange systems with input *** authors develop a robust regulation-based approach for the ***,by introducing a novel nonlinear internal model,the authors solve global asymptotic trajectory tracking with disturbance rejection of multiple step/sinusoidal signals with unknown amplitudes,frequencies,and ***,the authors show that a robustness property to actuator noises can be guaranteed in a sense of strong integral input-to-state stability(iISS).That is,the closed-loop system is not only i ISS but also input-to-state stable(ISS)to small magnitude actuator ***,the authors explore a by-product overparametrized linear regression estimation,coming up with robust estimation of the unknown ***,the authors present several numerical examples to illustrate the theoretical results.

关键词： Disturbance rejection Euler-Lagrange systems nonlinear control robust control trajectory tracking

ANALYTICAL CHIP FORMATION MODEL OF MICRO-END-MILLING

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Chinese Journal of Mechanical engineering 2008年第1期21卷 5-8页

作者： LI Chengfeng LAI Xinmin LI Hongtao PENG Linfa NI Jun school of Mechanical engineering Shanghai Jiaotong University Shanghai 200240 China shien-ming wu Manufacturing Research Center University of Michigan Michigan 48109 USA

A new analytical chip formation model is proposed for micro-end-milling operations. The model calculates an instantaneous uncut chip thickness by considering the combination of exact trochoidal trajectory of the tool tip and tool run-out, while the simplified circular trajectory and the neglected run-out create negligible change in conventional-scale chip formation models. Newton-Raphson iterative method is employed during the calculation to obtain quadratic convergence. The proposed approach allows the calculation of instantaneous uncut chip thickness to be done accurately and rapidly, and the prediction accuracy of this model is also verified by comparing the simulation results to experimental cutting forces.

关键词： Chip formation End-milling Run-out