Robotics and biomimetics最新文献

{"title":"A bio-inspired approach for the design of a multifunctional robotic end-effector customized for automated maintenance of a reconfigurable vibrating screen.","authors":"O A Makinde,&nbsp;K Mpofu,&nbsp;R Vrabic,&nbsp;B I Ramatsetse","doi":"10.1186/s40638-017-0060-8","DOIUrl":"https://doi.org/10.1186/s40638-017-0060-8","url":null,"abstract":"<p><p>The development of a robotic-driven maintenance solution capable of automatically maintaining reconfigurable vibrating screen (RVS) machine when utilized in dangerous and hazardous underground mining environment has called for the design of a multifunctional robotic end-effector capable of carrying out all the maintenance tasks on the RVS machine. In view of this, the paper presents a bio-inspired approach which unfolds the design of a novel multifunctional robotic end-effector embedded with mechanical and control mechanisms capable of automatically maintaining the RVS machine. To achieve this, therblig and morphological methodologies (which classifies the motions as well as the actions required by the robotic end-effector in carrying out RVS machine maintenance tasks), obtained from a detailed analogy of how human being (i.e. a machine maintenance manager) will carry out different maintenance tasks on the RVS machine, were used to obtain the maintenance objective functions or goals of the multifunctional robotic end-effector as well as the maintenance activity constraints of the RVS machine that must be adhered to by the multifunctional robotic end-effector during the machine maintenance. The results of the therblig and morphological analyses of five (5) different maintenance tasks capture and classify one hundred and thirty-four (134) repetitive motions and fifty-four (54) functions required in automating the maintenance tasks of the RVS machine. Based on these findings, a worm-gear mechanism embedded with fingers extruded with a hexagonal shaped heads capable of carrying out the \"gripping and ungrasping\" and \"loosening and bolting\" functions of the robotic end-effector and an electric cylinder actuator module capable of carrying out \"unpinning and hammering\" functions of the robotic end-effector were integrated together to produce the customized multifunctional robotic end-effector capable of automatically maintaining the RVS machine. The axial forces ([Formula: see text] and [Formula: see text]), normal forces ([Formula: see text]) and total load [Formula: see text] acting on the teeth of the worm-gear module of the multifunctional robotic end-effector during the gripping of worn-out or new RVS machine subsystems, which are 978.547, 1245.06 and 1016.406 N, respectively, were satisfactory. The nominal bending and torsional stresses acting on the shoulder of the socket module of the multifunctional robotic end-effector during the loosing and tightening of bolts, which are 1450.72 and 179.523 MPa, respectively, were satisfactory. The hammering and unpinning forces utilized by the electric cylinder actuator module of the multifunctional robotic end-effector during the unpinning and hammering of screen panel pins out of and into the screen panels were satisfactory.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"4"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0060-8","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35427360","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A review on robotic fish enabled by ionic polymer-metal composite artificial muscles.","authors":"Zheng Chen","doi":"10.1186/s40638-017-0081-3","DOIUrl":"https://doi.org/10.1186/s40638-017-0081-3","url":null,"abstract":"<p><p>A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer-metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. IPMCs are ideal artificial muscles for small-scale and bio-inspired robots. This paper takes a system perspective to review the recent work on IPMC-enabled underwater robots, from modeling, fabrication, and bio-inspired design perspectives. First, a physics-based and control-oriented model of IPMC actuator will be reviewed. Second, a bio-inspired robotic fish propelled by IPMC caudal fin will be presented and a steady-state speed model of the fish will be demonstrated. Third, a novel fabrication process for 3D actuating membrane will be introduced and a bio-inspired robotic manta ray propelled by two IPMC pectoral fins will be demonstrated. Fourth, a 2D maneuverable robotic fish propelled by multiple IPMC fin will be presented. Last, advantages and challenges of using IPMC artificial muscles in bio-inspired robots will be concluded.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"24"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0081-3","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35676284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Characterizing dynamic behaviors of three-particle paramagnetic microswimmer near a solid surface.","authors":"Qianqian Wang,&nbsp;Lidong Yang,&nbsp;Jiangfan Yu,&nbsp;Li Zhang","doi":"10.1186/s40638-017-0076-0","DOIUrl":"https://doi.org/10.1186/s40638-017-0076-0","url":null,"abstract":"<p><p>Particle-based magnetically actuated microswimmers have the potential to act as microrobotic tools for biomedical applications. In this paper, we report the dynamic behaviors of a three-particle paramagnetic microswimmer. Actuated by a rotating magnetic field with different frequencies, the microswimmer exhibits simple rotation and propulsion. When the input frequency is below 8 Hz, it exhibits simple rotation on the substrate, whereas it shows propulsion with varied poses when subjected to a frequency between 8 and 15 Hz. Furthermore, a solid surface that enhances swimming velocity was observed as the microswimmer is actuated near a solid surface. Our simulation results testify that the surface-enhanced swimming near a solid surface is because of the induced pressure difference in the surrounding fluid of the microagent.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"20"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0076-0","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35220066","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Aerial pruning mechanism, initial real environment test.","authors":"Javier Molina,&nbsp;Shinichi Hirai","doi":"10.1186/s40638-017-0073-3","DOIUrl":"https://doi.org/10.1186/s40638-017-0073-3","url":null,"abstract":"<p><p>In this research, a pruning mechanism for aerial pruning tasks is tested in a real environment. Since the final goal of the aerial pruning robot will be to prune tree branches close to power lines, some experiments related to wireless communication and pruning performance were conducted. The experiments consisted of testing the communication between two XBee RF modules for monitoring purposes as well as testing the speed control of the circular saw used for pruning tree branches. Results show that both the monitoring and the pruning tasks were successfully done in a real environment.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"15"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0073-3","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35280910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A novel inspection robot for nuclear station steam generator secondary side with self-localization.","authors":"Jinke Li,&nbsp;Xinyu Wu,&nbsp;Tiantian Xu,&nbsp;Huiwen Guo,&nbsp;Jianquan Sun,&nbsp;Qingshi Gao","doi":"10.1186/s40638-017-0078-y","DOIUrl":"https://doi.org/10.1186/s40638-017-0078-y","url":null,"abstract":"<p><p>Nuclear energy is one of the most important clean energy on earth presently. The steam generator secondary side is the key device of nuclear power station. As an important branch of special robot, nuclear robot is the most convenient and effective mean to inspect the steam generator. This paper describes one robot system which could help users inspecting tubes and locating the robot inside the steam generator. The main part of this system is a climbing robot which can move inside the steam generator carrying a PT or telescopic arm. Four cameras are installed on the robot and PT to send real-time videos back for analysis. Experiments show that this system works stably and the localization is accuracy and effective.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"26"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0078-y","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35707372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"PSD microscopy: a new technique for adaptive local scanning of microscale objects.","authors":"Mehdi Rahimi,&nbsp;Yantao Shen","doi":"10.1186/s40638-017-0063-5","DOIUrl":"https://doi.org/10.1186/s40638-017-0063-5","url":null,"abstract":"<p><p>A position-sensitive detector/device (PSD) is a sensor that is capable of tracking the location of a laser beam on its surface. PSDs are used in many scientific instruments and technical applications including but not limited to atomic force microscopy, human eye movement monitoring, mirrors or machine tool alignment, vibration analysis, beam position control and so on. This work intends to propose a new application using the PSD. That is a new microscopy system called scanning PSD microscopy. The working mechanism is about putting an object on the surface of the PSD and fast scanning its area with a laser beam. To achieve a high degree of accuracy and precision, a reliable framework was designed using the PSD. In this work, we first tried to improve the PSD reading and its measurement performance. This was done by minimizing the effects of noise, distortion and other disturbing parameters. After achieving a high degree of confidence, the microscopy system can be implemented based on the improved PSD measurement performance. Later to improve the scanning efficiency, we developed an adaptive local scanning system to scan the whole area of the PSD in a short matter of time. It was validated that our comprehensive and adaptive local scanning method can shorten the scanning time in order of hundreds of times in comparison with the traditional raster scanning without losing any important information about the scanned 2D objects. Methods are also introduced to scan very complicated objects with bifurcations and crossings. By incorporating all these methods, the new microscopy system is capable of scanning very complicated objects in the matter of a few seconds with a resolution that is in order of a few micrometers.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"6"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0063-5","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35226272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A comparison study of adaptive scale estimation in correlation filter-based visual tracking methods.","authors":"Z L Wang,&nbsp;B G Cai","doi":"10.1186/s40638-017-0066-2","DOIUrl":"https://doi.org/10.1186/s40638-017-0066-2","url":null,"abstract":"<p><p>Recently, discriminative correlation filter-based method becomes one of the popular directions in the field of visual tracking because of its computational efficiency and excellent performance, which make it especially suitable for real-time application. Most of them are focused only on the transition estimation. However, accurate scale estimation of the target plays a very important role in long-term tracking task and is still a challenging problem. The principle of CF-based visual tracking is introduced first. The approaches of adaptive scale estimation in correlation filter-based visual tracking methods are summarized in this paper, and their performances are analyzed by experiment comparison. The works here can provide a better understanding on the scale estimation problem for correlation filter-based visual tracking. Furthermore, maybe with the same strategy, other factors in visual tracking, such as appearance variation, can be integrated into the framework to improve the performance of correlation filter-based method.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"11"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0066-2","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35261119","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Grasping state estimation of printable soft gripper using electro-conductive yarn.","authors":"Takahiro Matsuno,&nbsp;Zhongkui Wang,&nbsp;Shinichi Hirai","doi":"10.1186/s40638-017-0072-4","DOIUrl":"https://doi.org/10.1186/s40638-017-0072-4","url":null,"abstract":"<p><p>Automatic handling of many types of food materials are required to realize the automation of production of commercially prepared box lunches. A printable soft gripper was developed for food handling which is simple to produce with a 3D printer. However, the sensing ability of the printable soft gripper was not discussed in previous research. In this paper, a novel method for estimating the grasping state of a printable soft gripper using electro-conductive yarn is presented. Electro-conductive yarn is a conductive material, and the resistance of strings is changed by stretching. It is less expensive than other sensors that can be used for measurement of grasping state. Additionally, it is easy to assemble and disassemble by hand. Electro-conductive yarn is applied to a prototype printable soft gripper, and the proposed estimation method is verified experimentally. From the experimental results, the estimated grasping state from the resistance of the electro-conductive yarn coincides with the actual grasping state of the gripper. Our proposed method of using electro-conductive yarn was successful for estimating the grasping state of a printable soft gripper.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"13"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0072-4","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35581614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Dynamics and control of separable coupled rigid body systems.","authors":"Kinda Khalaf,&nbsp;Dongming Gan,&nbsp;Hooshang Hemami","doi":"10.1186/s40638-017-0068-0","DOIUrl":"https://doi.org/10.1186/s40638-017-0068-0","url":null,"abstract":"<p><p>This paper explores the dynamics of separable coupled rigid body systems, a special class of constrained rigid body systems. These are defined as two systems that interact with each other by forces of contact, resulting in a reduction in dimensionality and complexity. The mechanics and consequences of this reduction are investigated here. The basic hypothesis and an example of the reduction in two successive steps are formulated. A simple mechanical biped model is developed and analyzed in some details by both system theoretical concepts and simulations. The main contribution of this work is the novel extension to the known dynamics of constrained rigid bodies. The modular, versatile and systematic formulation presented here is computationally efficient and has many applications in the studies of the human neuro-musculoskeletal system, robotic systems and humanoids, as well as clinical and sports biomechanics applications. Computer simulations are provided to demonstrate the feasibility and effectiveness of the methodology.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"14"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0068-0","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35581615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization.","authors":"Asma Ayari,&nbsp;Sadok Bouamama","doi":"10.1186/s40638-017-0062-6","DOIUrl":"https://doi.org/10.1186/s40638-017-0062-6","url":null,"abstract":"<p><p>Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D²PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each robot in the environment. The proposed approach consists in calculating two local optima detectors, LOD_pBest and LOD_gBest. Particles which are unable to improve their personal best and global best for predefined number of successive iterations would be replaced with restructured ones. Stagnation and local optima problems would be avoided by adding diversity to the population, without losing the fast convergence characteristic of PSO. Experiments with multiple robots are provided and proved effectiveness of such approach compared with the distributed PSO.</p>","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"8"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0062-6","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35261116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}