Article
Robotics
Tingting Sui, Ting Zou, Daniel Riskin
Summary: This study proposes a design of a UAV that can mimic flight behaviors of bats inspired by their agility, high efficiency, and low noise. By adjusting wing flapping and morphing, the UAV achieves sufficient lift and thrust forces for versatile maneuvers. A multi-objective optimization method is used to determine wing positions and elbow angles, minimizing the differences between biological bat trajectories and those of the robot. The proposed method provides a straightforward and robust approach for optimizing bat-inspired robots.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Yuzhe Wang, Pengpeng Zhang, Hui Huang, Jian Zhu
Summary: In this study, a fully transparent soft jellyfish robot is developed with both transparency and bio-inspired omni motions in water. The robot is driven by transparent dielectric elastomer actuators (DEAs) using hybrid silver nanowire networks and conductive polymer as compliant electrodes. This transparent DEA allows the robot to achieve vertical and horizontal movements in water, mimicking the pulsating rhythm of a real jellyfish.
Article
Multidisciplinary Sciences
Alexandros Anastasiadis, Laura Paez, Kamilo Melo, Eric D. Tytell, Auke J. Ijspeert, Karen Mulleners
Summary: The speed and efficiency of anguilliform swimmers are influenced by kinematic parameters, and live eels tend to prioritize efficiency over speed.
SCIENTIFIC REPORTS
(2023)
Article
Chemistry, Multidisciplinary
Chin Ean Yeoh, Hak Yi
Summary: This study introduces a new combinable multi-legged modular robot that mimics the structure of ants, enhancing the capability of conventional legged robots and enabling super-organized behavior in multi-robot systems.
APPLIED SCIENCES-BASEL
(2021)
Article
Multidisciplinary Sciences
Dezhao Lin, Fan Yang, Di Gong, Ruihong Li
Summary: This study proposes a one-piece-mold folded diaphragm with radial magnetization property to achieve large 3D and bi-directional deformation with inside-volume change capability. The appearance of the diaphragm can be easily customized and implanted into different untethered soft robotic systems. The diaphragm pump and soft robots demonstrated the flexible and rapid locomotion excited by single homogeneous magnetic fields.
NATURE COMMUNICATIONS
(2023)
Article
Engineering, Geological
Hosain Bagheri, Daniel Stockwell, Benjamin Bethke, Nana Kwame Okwae, Daniel Aukes, Junliang Tao, Hamid Marvi
Summary: This study presents a bio-inspired burrowing robot and explores its burrowing behavior in glass beads. The study found that the four-bladed screw provides higher translational velocity but comes at the expense of higher motor torque and power, resulting in higher cost of transport. Additionally, operating the one-bladed screw at a lower rotational speed provides lower cost of transport. The tubercled fin design showed promising results in decreasing vertical drag and increasing translational velocity during burrowing.
Review
Engineering, Multidisciplinary
Pengxiao Bao, Liwei Shi, Lijie Duan, Shuxiang Guo, Zhengyu Li
Summary: With the advancement in camera technology, high-speed cameras have significantly contributed to capturing animal movement and posture, thereby greatly promoting research in experimental biology. Additionally, the growing popularity of bionics among researchers has led to the design of robots incorporating biological features, resulting in increased interest in bio-inspired robots. In comparison to traditional robots, bio-inspired robots mimic the motion patterns of animals to achieve similar propulsion features, which may be more effective and reasonable. This paper categorizes the motion patterns of aquatic animals into four types based on their propulsion mechanisms: drag-based, lift-based, jet-based, and interface-based. It also introduces and reviews bio-inspired robots that imitate aquatic prototypes. Finally, the potential of aquatic bio-inspired robots is discussed.
JOURNAL OF BIONIC ENGINEERING
(2023)
Article
Thermodynamics
Duygu Ipci
Summary: In this study, a thermodynamic analysis of a gamma-type Stirling engine driven by Scotch Yoke mechanism was conducted. It was found that the Scotch Yoke mechanism has advantages over the classical crank mechanism, and the optimum phase angle and maximum specific power were determined for the engine.
INTERNATIONAL JOURNAL OF GREEN ENERGY
(2021)
Article
Robotics
Wen-Bo Li, Xin-Yu Guo, Wen-Ming Zhang
Summary: Natural animals inspire soft robot designs, with a small stomatopod species known as Nannosquilla decemspinosa exhibiting a unique backward somersaulting locomotion. Scientists have developed a bio-inspired dynamic somersaulting soft robot, which moves at a much faster speed than other fast-moving soft robots, showcasing the great potential of the dynamic somersaulting mechanism for designing highly mobile soft locomotion robots.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
Jie Zhang, Yunge Hu, You Li, Ke Ma, Yujun Wei, Jinzhao Yang, Zhigang Wu, Hamed Rajabi, Haijun Peng, Jianing Wu
Summary: This research proposes a cable-driven continuum robot with tapered tensegrity that is capable of conformally grasping objects with various curvatures. By altering the length of the cables, the curvature of each unit can be adjusted, allowing the robot to grasp objects with different curvatures.
ADVANCED INTELLIGENT SYSTEMS
(2022)
Article
Engineering, Environmental
Jun Wang, Yaofeng Mao, Gang Li, Hua-Mo Yin
Summary: In this study, a new fluorographene/nano-aluminum energetic paper was successfully constructed using a vacuum-filtration induced self-assembly process inspired by the nacre-like architecture. The FG/Al energetic paper exhibited ultrahigh reactivity, high flexibility, and the ability to self-propagate combustion reaction with high pressure output at micro-scale. This bio-inspired approach provides a promising method for designing advanced energetic materials for applications in transportation, aerospace, and military industries.
CHEMICAL ENGINEERING JOURNAL
(2022)
Article
Chemistry, Multidisciplinary
Qing-Fang Guan, Zi-Meng Han, YinBo Zhu, Wen-Long Xu, Huai-Bin Yang, Zhang-Chi Ling, Bei-Bei Yan, Kun-Peng Yang, Chong-Han Yin, HengAn Wu, Shu-Hong Yu
Summary: This study introduces a bio-inspired hydrogel fiber with high strength, high stretchability, and high energy dissipation, named biomimetic hydrogel fiber (BHF). The spiral-like structure and breaking-reforming nature of the hydrogen bonding network among cellulose nanofibers endow BHF with outstanding properties for potential use in biomedicine. With its porous structure, high hydrophilicity, and excellent biocompatibility, BHF shows promise as an ideal surgical suture for protecting wounds.
Article
Green & Sustainable Science & Technology
Jiwen Guan, Yanzhao Su, Ling Su, C. B. Sivaparthipan, BalaAnand Muthu
Summary: The biologically inspired algorithm is crucial in industrial robot control, with the proposed Bio-inspired Intelligent Industrial Robot Control System (BIIRCS) utilizing Deep Learning methods to achieve high performance in tasks such as object recognition and action planning. The study demonstrates the potential of intelligent systems created using Deep Learning algorithms and industrial robotics, showing improved performance compared to existing approaches.
SUSTAINABLE ENERGY TECHNOLOGIES AND ASSESSMENTS
(2021)
Article
Engineering, Multidisciplinary
Yang Zhou, Wei Wang, Han Zhang, Xingwen Zheng, Liang Li, Chen Wang, Gang Xu, Guangming Xie
Summary: This study develops an underwater multi-robot coordination system using a bio-inspired electrocommunication mechanism. By designing a TDMA network protocol and a distributed controller, coordination and control among underwater robots are achieved.
BIOINSPIRATION & BIOMIMETICS
(2022)
Article
Thermodynamics
Iman Bashtani, Javad Abolfazli Esfahani, Kyung Chun Kim
Summary: The present investigation evaluates the effects of bio-inspired Dolphin's dorsal fin turbulators in a counter flow double pipe heat exchanger. The results show that the streamlined geometry of the turbulator reduces friction loss and improves heat transfer by destroying the boundary layer.
APPLIED THERMAL ENGINEERING
(2023)
Article
Engineering, Multidisciplinary
Ziye Zhou, Jincun Liu, Jie Pan, Jian Wang, Junzhi Yu
Summary: Group models based on simple rules serve as a bridge to understanding animal group movements. This study proposes the principle of fellow-following for group movements, inspired by fish schools. The proposed model shows intuitive similarity, dynamic consistency, and static structure similarity with fish schools, suggesting that the principle of fellow-following may reveal the essence of fish school movements. This work suggests a new approach for the self-organized formation of a swarm robotic system based on local information.
BIOINSPIRATION & BIOMIMETICS
(2023)
Article
Engineering, Electrical & Electronic
Guangli Ren, Wenjie Geng, Peiyu Guan, Zhiqiang Cao, Junzhi Yu
Summary: In this paper, a novel pixel-wise grasp detection network is proposed, which addresses the checkerboard artifacts issue in the decoder caused by uneven overlap of convolution results. The network consists of an encoder, a multi-dimensional attention bottleneck, and a decoder based on twin deconvolution. Additionally, various attention mechanisms are integrated to enhance feature discrimination and achieve adaptive feature refinement.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY
(2023)
Article
Automation & Control Systems
Changlin Qiu, Zhengxing Wu, Jian Wang, Min Tan, Junzhi Yu
Summary: This article proposes a novel framework involving a newly designed platform and multiagent reinforcement learning method for the path tracking of robotic fish. Experimental results show that the framework significantly improves the accuracy and stability of the path tracking.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Yue Lu, Xingyu Chen, Zhengxing Wu, Junzhi Yu
Summary: In this study, a novel decoupled metric network (DMNet) is proposed for single-stage few-shot object detection. By combining the decoupled representation transformation (DRT) technique with image-level distance metric learning (IDML), the performance of few-shot object detection is improved.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Computer Science, Information Systems
Haihong Zhao, Xinbin Li, Song Han, Lei Yan, Junzhi Yu
Summary: In this article, we propose a new contextual multiarmed bandit with evolving relay set learning framework to address crucial issues in Internet of Underwater Things. The framework incorporates collaborative effects and contextual environment factors to enhance relay selection and transmission performance. The designed collaboration-aware online contextual bandit learning algorithm enables adaptive relay switching and high-capacity transmission. Extensive simulations demonstrate the effectiveness of the proposed approach.
IEEE INTERNET OF THINGS JOURNAL
(2023)
Article
Engineering, Multidisciplinary
Junzhi Yu, Tianzhu Wang, Di Chen, Yan Meng
Summary: The study analyzed the leaping motion of a self-propelled bionic robotic dolphin using a combined numerical and experimental method to understand the efficient and agile propulsive mechanisms in dolphin swimming. A dynamic model was established for hydrodynamic analysis, and the effects of wave-making resistance were explored. The results showed a nonlinear relationship between power and speed at different depths, and swimming at a certain depth reduced wave-making resistance, leading to higher speed and less power consumption. These findings have important implications for optimizing motion performance in complex aquatic environments.
Article
Computer Science, Information Systems
Gang Wang, Yongbai Liu, Yingyi Sun, Junzhi Yu, Zhongbo Sun
Summary: In this study, a noise-suppression zeroing neural dynamics (NSZND) model is developed from the control perspective to solve the time-varying or time-invariant cube root problem with different disturbances. The model achieves superior solving accuracy compared to other models and is extended to solve the tensor cube root problem and generate different fractals in the complex domain.
INFORMATION SCIENCES
(2023)
Article
Robotics
Shijie Dai, Zhengxing Wu, Sijie Li, Jian Wang, Min Tan, Junzhi Yu
Summary: This paper investigates the event-triggered-based pursuing and surrounding control of a multi-robotic fish system. A distributed surrounding control framework is proposed to enclose the dynamic evader into a convex hull. An innovative model-based event-triggered mechanism is tailored to evaluate the importance of the messages and a two-stage position-based surrounding control method is provided. The proposed method shows its significance for future marine assignments, both for communication energy conservation and attack defense.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Robotics
Yan Meng, Zhengxing Wu, Yating Li, Di Chen, Min Tan, Junzhi Yu
Summary: This letter proposes a vision-based underwater target following scheme for robotic manta by constructing an agile robotic manta equipped with a binocular camera system and conceiving a color-based underwater target detection and localization method. A robust target following controller is presented to solve the coupling between distance and azimuth control of the robot by combining the nonsingular terminal sliding mode controller and fuzzy inference system.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Multidisciplinary
Ming Wang, Kunlun Wang, Qianchuan Zhao, Xuehan Zheng, He Gao, Junzhi Yu
Summary: This paper presents a visual dynamic simulation platform for underwater robots using the Unreal Engine and Air-Sim system. A particle swarm optimization algorithm-based control strategy is proposed to optimize trajectory tracking of a biomimetic robotic fish. The feasibility and effectiveness of the control strategy are verified through simulation analyses of different trajectory patterns.
Article
Engineering, Multidisciplinary
Ru Tong, Yukai Feng, Jian Wang, Zhengxing Wu, Min Tan, Junzhi Yu
Summary: This paper presents a comprehensive survey of the accomplishments of reinforcement learning algorithms in the field of bionic underwater robots. Firstly, existing reinforcement learning methods are classified and control tasks and decision making tasks based on the composition of bionic underwater robots are introduced. Secondly, the establishment of existing reinforcement learning algorithms for bionic underwater robots is reviewed from different task perspectives. Finally, the limitations and future development directions of reinforcement learning in the field of bionic underwater robots are discussed.
Article
Computer Science, Artificial Intelligence
Shuang Liang, Zhiqiang Cao, Chengpeng Wang, Junzhi Yu
Summary: This paper proposes a general fixed-lag smoothing module that can be appended to existing LiDAR odometry framework to improve trajectory consistency. A fast scan-to-map matching module based on sparse features is developed to guarantee real-time performance. The feature-centric feature management strategy is adopted in both scan-to-map matching and fixed-lag smoothing modules, making the proposed LiDAR odometry efficient.
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
(2023)
Article
Computer Science, Artificial Intelligence
Jierui Liu, Zhiqiang Cao, Xilong Liu, Shuo Wang, Junzhi Yu
Summary: This paper proposes a self-supervised monocular depth estimation framework with geometric prior and pixel-level sensitivity. A geometric pose estimator is used to introduce geometric constraints, and an alternative learning strategy is designed to improve the learning of the prior depth predictor. Prior feature consistency regularization is introduced to enhance the learning of the depth encoder. A sensitivity-adaptive depth decoder is built to handle the pixel-level difference of sensitivity in the input frame.
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
(2023)
Article
Computer Science, Artificial Intelligence
Chunquan Li, Boyu Zheng, Qingling Ou, Qianqian Wang, Chong Yue, Limin Chen, Zhijun Zhang, Junzhi Yu, Peter X. Liu
Summary: Solving matrix equation with noise interference is a challenging problem. A novel varying-parameter periodic rhythm neural network (VP-PRNN) is proposed to solve the time-varying matrix equation in finite energy noise environment online. VP-PRNN can rapidly and robustly converge the state solution to the theoretical solution, which is also proved by theoretical analysis. Experimental results show that VP-PRNN outperforms other neural networks in convergence performance under the disturbance of finite energy noise.
NEURAL COMPUTING & APPLICATIONS
(2023)
Letter
Automation & Control Systems
Zhongbo Sun, Shijun Tang, Jiliang Zhang, Junzhi Yu
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2023)
Article
Engineering, Mechanical
Antonella Castellano, Pietro Stano, Umberto Montanaro, Marco Cammalleri, Aldo Sorniotti
Summary: This paper proposes a new control strategy for hybrid electric vehicles, called Model Predictive Control (MPC), and considers the losses in transmission gears. Through a case study on Chevrolet Volt, the results show that the simplified internal model has a minor impact on fuel consumption performance.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Rui Peng, Gregory S. Chirikjian
Summary: This article introduces a method of designing morphable thick-panel origami structures using reconfigurable linkages, which improves the potential of origami techniques for different tasks and solves the limitations of one-DOF and multiple-DOF folding structures.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Gaohan Zhu, Weizhong Guo, Yinghui Li, Youcheng Han
Summary: Comprehensive and accurate performance evaluation is crucial for profile synthesis and analysis of higher pair mechanisms. This paper proposes evaluation indices and methods for the transmission performance of planar higher pair mechanisms from different perspectives. It subdivides the transmission performance into element-based performance and joint-based performance and develops novel indices specific to higher pair mechanisms. A graphical mapping method based on element-based performance is also proposed for intuitive analysis. Practical examples validate the effectiveness of the proposed indices and methods for evaluating the performance of higher pair mechanisms.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Ke Wu, Gang Zheng, Guimin Chen, Shorya Awtar
Summary: Researchers proposed a new modeling method, namely Body-frame Beam Constraint Model (BBCM), to predict and optimize the design of high-precision compliant mechanisms (CMs).
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Youcheng Han, Weizhong Guo, Changjie Zhao, Ziyue Li, Ze Fu, Yinghui Li
Summary: This study proposes a structural synthesis methodology that considers motion, force, and energy characteristics simultaneously to design efficient mechanisms.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Cristian Enrico Capalbo, Daniel De Gregoriis, Tommaso Tamarozzi, Giuseppe Carbone, Domenico Mundo
Summary: This study proposes a novel flexible multibody formulation that enables efficient updating of models while maintaining small size and high accuracy. Numerical validation demonstrates its wide applicability across various materials and mechanisms, showing promising results in terms of accuracy.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Weihao Zhao, Junbei Liao, Wei Qian, Haoyong Yu, Zhao Guo
Summary: This paper presents a newly designed compliant actuator using a tensile springs array to address the challenges in achieving linear and consistent elastic properties, low friction, minor hysteresis, and good compliance in series elastic actuators (SEA). The unique geometry of the spring array enables the SEA to have consistent rotary stiffness with minimal friction and hysteresis. The device's performance is evaluated using PID and sliding mode control, demonstrating its constant low rotary stiffness and torque tracking bandwidth, making it suitable for human-robot interaction requirements.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Mohui Jin, Yukang Luo, Xing Xu, Bowei Xie, Weisheng Wang, Zewei Li, Zhou Yang
Summary: This paper presents a method for evaluating the contact interaction between compliant mechanisms and external objects. By establishing a numerical model and introducing contact springs to describe the contact forces, the deformation and normal contact force/stress can be accurately calculated. The static equilibrium configuration and contact force/stress can be obtained by minimizing the total potential energy function of the system.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Alejandro G. Gallardo, Martin A. Pucheta
Summary: This paper presents a method for the synthesis of parallel flexure systems using Screw Theory and Linear Algebra. The method is validated through three case studies and offers a simple and precise design with decoupled actuators.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Xiao Wang, Chenglin Liu, Haoxiang Sun, Hanwen Song
Summary: This paper presents a new decomposition mode for robot-world calibration, which decomposes the Ad(SE(3)) equation using Chasles' motion. A two-step method based on point set matching is proposed. The superiority of this method is verified through simulations and experiments.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Yanlin Chen, Xianmin Zhang, Yanjiang Huang, Yanbin Wu, Jun Ota
Summary: This study establishes an error model for a 3-RRR+UR spherical parallel mechanism and analyzes the sensitivity of error parameters. A design structure is proposed to reduce input errors based on the analysis. Experimental results show that the multiloop circuit incremental method provides more accurate results.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Summary: This paper presents a method for analyzing the performance of gravity-balanced serial robotic manipulators under dynamic loads and uses a three-degree-of-freedom planar serial manipulator as a case study. The significance of this method is demonstrated by evaluating the impact of dynamic loads on gravity-balanced performance and proposing a step-by-step design procedure to improve it.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Shifeng Rong, Jiange Zhang, Xing Zhang, Keliang Li, Kaibin Rong, Zhenyu Zhou, Han Ding
Summary: This article proposes a data-driven dry cutting tool collaborative optimization model to improve the economic and environmental attributes of facehobbing hypoid gears. An innovative ease-off tooth contact analysis method is introduced to establish accurate relations between ease-off flank and loaded contact performance evaluations. The proposed model significantly improves sustainability in terms of economic and environmental assessments.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Kemal Eren, Soley Ersoy, Ettore Pennestri
Summary: This research investigates the instantaneous kinematics of the terminal link of a planar two-link open chain using the complex-number technique and higher-order instantaneous invariants.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Bo Han, Zhantu Yuan, Jiachuan Zhang, Yundou Xu, Jiantao Yao, Yongsheng Zhao
Summary: This paper proposes novel deployable mechanism units with self-limiting position function, and constructs ring truss deployable mechanisms. The degrees of freedom (DOF) of deployable units are analyzed and it is proved that the constructed ring truss deployable mechanisms have only one DOF. The dynamic model of the deployable mechanism unit with passive actuation is established and verified by simulation. The deployable mechanism units proposed in this paper have the advantages of good scalability and stability, and have broad application prospects.
MECHANISM AND MACHINE THEORY
(2024)
