A design of fully soft robot actuated by gas–liquid phase change

This study aims to investigate the application of temperature gradient between the ground and the air to the locomotion of soft robot. Soft robots attract attention due to its flexible adaptability and safety to the real environment in recent years. Although many soft robots are soft themselves, they require hard material as an external device such as air compressors and external power supplies for driving. To solve the problem, some authors reported an autonomous driving robot composed of a completely flexible material using gas generation by a chemical change of hydrogen peroxide solution. However, as the driving system utilizes a chemical reaction, its driving time is relatively short. On the contrary, the proposed robot moves without electricity and any external devices such as air compressors and an electrical power supplies. It can move just on the ground using the temperature gradient between the ground and the air. In experiments, we developed some prototypes and confirmed that continuous movement could be achieved with the proposed model.     

Participatory design of a robot for demonstrating an epileptic seizure

ABSTRACT

We present the methodology and results of participatory design of a robot for presenting an epileptic seizure and a scenario of the educational workshop using this robot. Children with epilepsy encounter stigma and stereotypes and may receive inadequate aid when having an epileptic seizure. The goal of the larger project was to use the prototype device in a series of workshops for improving teachers' actions during an epileptic seizure and their attitudes towards epileptic students. In this paper, we show how various design goals for an educational robot were accomplished to fit the needs of all identified stakeholders, particularly people with epilepsy.

We used a co-design (participatory design) approach through a series of meetings participated by members of the association Polish Association for People Suffering from Epilepsy, students and faculty members of the biomedical engineering and robotics departments, teachers, psychologists and medical specialists (epileptologist, neurologist).

These meetings created an opportunity for a better understanding of the (functional and nonfunctional) requirements and resulting tradeoffs and led the participants to find appropriate solutions. Participation of people with epilepsy in the design process allowed them to deal with the potentially stereotyped representation of themselves. The prototype robot, therefore, combined goals of various stakeholders, such as an accurate presentation of an epileptic seizure, lightweight, ease of use and control, while preserving the dignity of people with epilepsy.

As a result of the co-designing process, an inexpensive robot was created and used in a series of 10 pilot workshops with 217 participants, mainly teachers of primary and middle schools. Teachers improved their understanding of epilepsy and suggested further improvements to the system.     

考虑关节角加速度约束的仿人机器人偏摆力矩控制方法

针对仿人机器人步行过程中存在的机器人关节角加速度约束影响控制性能的问题，提出一种考虑关节角加速度约束的仿人机器人偏摆力矩控制方法.该方法充分考虑了双臂在摆动过程中对偏摆力矩的影响，根据力矩平衡条件得到需要抵消的偏摆力矩的大小与方向，将偏摆力矩的控制问题转化为带约束条件的二次规划问题，并设计了一种在线变步长迭代算法计算得到优化后的双臂摆动轨迹.实验表明，该方法能有效抵消机器人步行中产生的偏摆力矩，避免控制过程中的"削峰"现象，有效提高机器人的步行稳定性.     

基于决策树的羽流追踪机器人自主决策方法研究

针对无法获得可靠羽流流向信息不利于实现羽流追踪的问题，提出了一种基于决策树的羽流追踪移动机器人自主决策方法。该方法通过移动机器人两侧的浓度传感器采集到的浓度信息，利用追踪的行为规则建立决策树模型，获得行为决策信息，使机器人高效地追踪到羽流并精确地定位。由于浓度变化关系蕴含了羽流的流向及流速信息，从而取代了传统方法中流向及流速传感器。在扩散环境下，通过移动机器人羽流追踪实验，实现了良好的源定位效果。     

A Real Time Self-Tuning Motion Controller for Mobile Robot Systems

This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method. In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.      

配电线路绝缘包裹机器人研制

在介绍国内外输电线路现有机器人研究基础上，针对配电线路绝缘修复领域短板，开发了一套能够在线修复配电线路绝缘皮损伤的包裹机器人。首先，对绝缘包裹机器人的机械结构进行了设计研究，包括行走装置、升降装置和柔性输送与包裹装置；然后，开发了相应的控制系统，包括无线通讯、视觉系统等，并对其进行了抗干扰试验和耐压试验，试验结果合格；最后，通过现场绝缘包裹测试完成了机器人的功能性与可靠性验证。本项目所研发的机器人突破了在线修复、柔性包裹等技术瓶颈，解决了人工修复带来的一系列问题。样机通过现场带电包裹试验，绝缘包裹效果符合行业标准要求，达到了预期效果。     

基于 ＮＡＯ 机器人的行走约束研究

针对为了控制支撑脚与地面接触的零力矩点（ＺＭＰ）而无法控制骨盆与自由足的运动的问题， 以腿部１１个自由度的 ＮＡＯ 机器人为研究对象，在对 ＮＡＯ 机器人进行运动规划过程中必须适当考虑骨盆 与自由足的运动限制，采用了 Ｂｒｙａｎｔ角度进行限制和对骨盆的平移运动能够改善单支撑阶段的ＺＭＰ控制， 并同时合成骨盆的旋转运动，对自由足姿态实现全面控制。     

基于智能机器人视觉清理系统研究

针对铸造类零件人工清理效率低、劳动强度大、成本高等问题,论文提出一种基于机器视觉的智能机器人清理系统。设计了由CCD摄像机、图像采集卡、输入输出单元、控制装置构成的机器人硬件系统,搭建了图像采集、处理分析、学习识别软件系统。通过对金属型铸造的盖板、导体类零件浇口、冒口等清理部位机械化自动化清理工作的多次实验验证,零件残留小于1mm,清理准确率达到97.6%,该系统所有指标达到设计要求,满足了工厂对于零部件毛刺智能化清理的要求。     

Numerical simulation of gas-assisted polymer-melt electrospinning: Parametric study of a multinozzle system for mass production

In this study, we developed a multiphysics model for simulation of a gas-assisted melt-electrospinning (GAME) process, focusing on jet formation and propagation behavior. By numerically calculating the stresses acting on the jet during a single-nozzle GAME process, the shear viscous stress was identified as the main factor with respect to jet stretch; thus, the relationship between shear viscous stress and jet thickness was investigated. The jet stretch ratio increased sharply when shear viscous stress reached the level at which jet sharpening occurred, leading to stable jet formation. We defined this stress as the critical shear viscous stress to determine stable spinnability. By imposing an electric field distribution calculated for a multi-nozzle array (number of nozzles, tip-to-tip distance, and applied voltage) on the boundary condition of the single-nozzle GAME simulation model, multinozzle GAME was simulated; this enabled proposal of a spinnability diagram for stable spinning.     

Current-ramp assisted sintering of 3YSZ: Electrochemical and microstructural comparison to flash and thermal sintering

Flash sintering features an unoptimized and uncontrolled rise in current density and sample conductivity. By using a controlled current-ramp technique with a predetermined ramp function, microstructure and electrochemical properties can be improved. This current-ramp method is investigated through use of test functions that follow square-root, linear, and parabolic time dependence with comparison to conventional flash sintering and thermal sintering. Steeper ramp functions during the sintering result in higher activation energy, suggesting a change in the vacancy concentration for both the bulk and grain boundary regions. Estimation of the grain boundary domain width suggests a grain size dependence of the unique space charge contribution to conduction independent of sintering method. Contrary to conventional wisdom, flash sintering can actually result in enhanced grain growth compared to controlled current-ramps and conventional sintering, implying that uncontrolled rise in current to a set cutoff may not be the optimal method for densification.