简介：Thispaperpresentsoureffortstoexplainwhymammalshavelargethighmuscleswhileinsectshavesmallones.Afteradiscussionofthisobservationadefinitionofbodyfootratioisdefinedwhichdescribeshowanimalsstandandhowtheirlegsarearranged.Toinvestigatethemechanics,wepresentaclosedoptimumsolutionofthebodyfootratiofora2Dtwo-legwalkingmachine.Amulti-walkerisusedasacasefor3Dgeneralanalysis,andthenumericalsimulationispresented.Both2Dand3Dcasestudiescanexplaintheaboveobservationsofmammalsandinsects.Thesefindingscanalsobeusedasaguideforthedesignofman-madelimbedmachines.

简介：Natureisaninformationsourcebookofbehaviour,function,colourandshapewhichcaninspirevisualdesignandinven-tion.Studyingtheformandfunctionalcharacteristicsofanaturalobjectcanprovideinspirationforproductdesignandhelptoimprovethemarketabilityofmanufacturedproducts.Theinspirationcanbetriggeredeitherbydirectobservationorcapturedbythree-dimensional(3D)digitisingtechniquestoobtainsuperficialinformation(geometryandcolour).Anartdesigneroftencreatesaconceptintheformofatwo-dimensional(2D)sketchwhileengineeringmethodsleadtoapointcloudin3D.Eachhasitslimitationsinthattheartdesignercommonlylackstheknowledgetobuildafinalproductfroma2Dsketchandtheengi-neeringdesigner’s3Dpointcloudsmaynotbeverybeautiful.WeproposeamethodforProductDesignfromNature(PDN),couplingaestheticintentandgeometricalcharacteristics,exploringtheinteractionsbetweendesignersandnature’ssystemsinPDN.Webelievethatthisapproachwouldconsiderablyreducetheleadtimeandcostofproductdesignfromnature.

简介：Amodelhelicopterismoredifficulttocontrolthanitsfullscalecounterpart.Thisisduetoitsgreatersensitivitytocontrolinputsanddisturbancesaswellashigherbandwidthofdynamics.Thisworkisfocusedondesigningpracticaltrackingcontrollerforasmallscalehelicopterfollowingpredefinedtrajectories.Atrackingcontrollerbasedonoptimalcontroltheoryissynthe-sizedasapartofthedevelopmentofanautonomoushelicopter.Someissueswithregardstocontrolconstraintsareaddressed.Theweightingbetweenstatetrackingperformanceandcontrolpowerexpenditureisanalyzed.Overallperformanceofthecontroldesignisevaluatedbasedonitstimedomainhistoriesoftrajectoriesaswellascontrolinputs.

简介：TheconceptofIntelligentMechanicalDesign(IMD)ispresentedtoshowhowamechanicalstructurecanbedesignedtoaffectrobotcontrollability,simplificationandtaskperformance.Exploringthisconceptproduceslandmarksintheterritoryofmechanicalrobotdesignintheformofsevendesignprinciples.Thedesignprinciples,whichwecalltheMecha-TelligencePrinciples(MTP),provideguidanceonhowtodesignmechanicsforautonomousmobilerobots.Theseprinciplesguideustoasktherightquestionswheninvestigatingissuesconcerningself-controllable,reliable,feasible,andcompatiblemechanicsforautonomousmobilerobots.ToshowhowMTPcanbeappliedinthedesignprocessweproposeanovelmethodology,namedasMecha-TelligenceMethodology(MTM).Mechanicaldesignbytheproposedmethodologyisbasedonpreferenceclassificationoftherobotspecificationdescribedbyinteractionoftherobotwithitsenvironmentandthephysicalparametersoftherobotmechatronics.Afterdefiningnewterms,weinvestigatethefeasibilityoftheproposedmethodologytothemechanicaldesignofanautonomousmobilesewerinspectionrobot.Inthisindustrialprojectweshowhowapassive-activeintelligentmovingmechanismcanbedesignedusingtheMTMandemployedinthefield.

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简介：AconceptofSpecificStructureEfficiency(SSE)wasproposedthatcanbeusedinthelightweighteffectevaluationofstructures.Themainproceduresofbionicstructuredesignwereintroducedsystematically.Theparameterrelationshipbetweenhollowstemofplantandtheminimumweightwasdeducedindetail.InordertoimproveSSEofpylons,thestructuralcharacteristicsofhollowstemwereinvestigatedandextracted.Bionicpylonwasdesignedbasedonanalogousbiologicalstructuralcharacteristics.Usingfiniteelementmethodbasedsimulation,thedisplacementsandstressesinthebionicpylonwerecomparedwiththoseoftheconventionalpylon.ResultsshowthattheSSEofbionicpylonisimprovedobviously.Static,dynamicandelectromagnetismtestswerecarriedoutonconventionalandbionicpylons.Theweight,stress,displacementandRadarCrossSection(RCS)ofbothpylonsweremeasured.ExperimentalresultsillustratethattheSSEofbionicpylonismarkedlyimprovedthatspecificstrengthefficiencyandspecificstiffnessefficiencyofbionicpylonareincreasedby52.9%and43.6%respectively.TheRCSofbionicpylonisreducedsignificantly.

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简介：Thecow-nosedrayisstudiedasnaturalsampleofaflapping-foilroboticfish.Bodystructure,motiondiscipline,anddynamicfoildeformationofcow-nosedrayareanalyzed.Basedontheanalysisresults,aroboticfishimitatingcow-nosedray,namedRobo-rayⅡ,mainlycomposedofsoftbody,flexibleribsandpneumaticartificialmuscles,isdeveloped.Structureandswimmingmorphologyoftheroboticprototypeareasthatofanormalcow-nosedrayinnature.KeypropulsionparametersofRobo-rayⅡatnormalconditions,includingtheStNumberatlinearswimming,thrustcoefficientattowingarestudiedthroughexperiments.Thesuitabledrivingparametersareconfirmedconsideringtheefficiencyandswimmingvelocity.Swimmingvelocityof0.16m·s-1’andthrustcoefficientof0.56inmaximumareachievedinexperiments.

简介：WeproposedadynamicmodelidentificationanddesignofanH-Infinity(i.e.H_∞)controllerusingaLightweightPiezo-CompositeActuator(LIPCA).Asecond-orderdynamicmodelwasobtainedbyusinginputandoutputdata,andapplyinganidentificationalgorithm.TheidentifiedmodelcoincideswellwiththerealLIPCA.Toreducetheresonatingmodethatistypicalofpiezoelectricactuators,anotchfilterwasused.AfeedbackcontrollerusingtheH_∞controlschemewasdesignedbasedontheidentifieddynamicmodel;thus,theLIPCAcanbeeasilyusedasanactuatorforbiomemeticapplicationssuchasartificialmusclesormacro/micropositioninginbioengineering.Thecontrolalgorithmwasimplementedusingamicroprocessor,analogfilters,andpoweramplifyingdrivers.Oursimulationandexperimentalresultsdemonstratethattheproposedcontrolalgorithmworkswellinrealenvironment,providingrobustperformanceandstabilitywithuncertaindisturbances.

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简介：Withtheincreaseinminingdepth,mineheatharmhasappearedtobemoreprominent.Themineheatharmcouldberesolvedorreducedbyicerefrigeration.Thus,icetransportationthroughpipelinebecomesacriticalproblem;typicallyflowresistanceoccursintheelbow.Inthepresentstudy,accordingtotheanalysisofthesurfacemorphologyoffishscale,abiomimeticfunctionalsurfacestructurefortheinteriorwallofelbowisdesigned.Basedonthetheoryofliquid-solidtwophaseflow,aCFDnumericalsimulationofice-watermixtureflowingthroughtheelbowiscarriedoutusingfiniteelementmethod.Conventionalexperimentsofpressuredropandflowresistanceforbothbionicandcommonelbowsareconductedtotesttheeffectofthebionicelbowonflowresistancereduction.Itisfoundthatwiththeincreaseintheicemassfractionintheice-watermixture,theeffectofbionicelbowonresistancereductionbecomesmoreobvious.

简介：Syntheticdryadhesivesinspiredbythenano-andmicro-scalehairsfoundonthefeetofgeckosandsomespidershavebeendevelopedforalmostadecade.Elastomericsinglelevelmicro-scalemushroomshapedfibresarecurrentlyabletofunctionevenbetterthannaturaldryadhesivesonsmoothsurfacesundernormalloading.However,theadhesionofthesesinglelevelsyntheticdryadhesivesonroughsurfacesisstillnotoptimalbecauseofthereducedcontactsurfacearea.Innature,contactareaismaximizedbyhierarchicallystructuringdifferentscalesoffibrescapableofconformingsurfaceroughness.Inthispaper,weadaptthenature’ssolutionaridproposeanoveldual-levelhierarchicaladhesivedesignusingPolydimethylsiloxane(PDMS),whichistestedunderpeelloadingatdifferentorientations.Anegativemacro-scalemoldismanufacturedbyusingalasercuttertodefineholesinaPoly(methylmethacrylate)(PMMA)plate.AftercastingPDMSmacro-scalefibresbyusingtheobtainedPMMAmold,apreviouslypreparedmicro-fibreadhesiveisbondedtothemacro-scalefibresubstrate.Oncethebondingpolymeriscured,themicro-fibreadhesiveiscuttoformmacroscalemushroomcaps.Eachmacro-fibreoftheresultinghierarchicaladhesiveisabletoconformtoloadsappliedindifferentdirections.Thedual-levelstructureenhancesthepeelstrengthonsmoothsurfacescomparedtoasingle-leveldryadhesive,butalsoweakenstheshearstrengthoftheadhesiveforagivenareaincontact.Theadhesiveappearstobeveryperformancesensitivetothespecificsizeofthefibretips,andexperimentsindicatethatdesigninghierarchicalstructuresisnotassimpleasplacingmultiplescalesoffibresontopofoneanother,butcanrequiresignificantdesignoptimizationtoenhancethecontactmechanicsandadhesionstrength.

简介：Thispaperproposedanovelhumanoidroboteye,whichisdrivenbysixPneumaticArtificialMuscles(PAMs)androtateswith3DegreeofFreedom(DOF).Thedesignofthemechanismandmotiontypeoftheroboteyeareinspiredbythatofhumaneyes.Themodelofhumanoidroboteyeisestablishedasaparallelmechanism,andtheinverse-kinematicproblemofthisflexibletendonsdrivingparallelsystemissolvedbytheanalyticalgeometrymethod.Asanextension,thesimulationresultforsaccadicmovementispresentedunderthreeconditions.Thedesignandkinematicanalysisoftheprototypecouldbeasignificantsteptowardsthegoalofbuildinganautonomoushumanoidroboteyewiththemovementandespeciallythevisualfunctionssimilartothatofhuman.

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简介：Inpresent,thereareincreasinginterestsintheresearchonmechanicalandcontrolsystemofunderwatervehicles.Theseongoingresearcheffortsaremotivatedbymorepervasiveapplicationsofsuchvehiclesincludingseabedoilandgasexplorations,scientificdeepoceansurveys,militarypurposes,ecologicalandwaterenvironmentalstudies,andalsoentertainments.However,theperformanceofunderwatervehicleswithscrewtypepropellersisnotprospectiveintermsofitsefficiencyandmaneuverability.Themainweaknessesofthiskindofpropellersaretheproductionofvorticesandsuddengenerationofthrustforceswhichmakethecontrolofthepositionandmotiondifficult.Ontheotherhand,fishesandotheraquaticanimalsareefficientswimmers,posseshighmaneuverability,areabletofollowtrajectories,canefficientlystabilizethemselvesincurrentsandsurges,createlesswakesthancurrentlyusedunderwatervehicle,andalsohaveanoiselesspropulsion.Thefish’slocomotionmechanismismainlycontrolledbyitscaudalfinandpairedpectoralfins.TheyareclassifiedintoBodyand/orCaudalFin(BCF)andMedianand/orpairedPectoralFins(MPF).Thestudyofhighlyefficientswimmingmechanismsoffishcaninspireabetterunderwatervehiclesthrusterdesignanditsmechanism.Therearefewstudiesonunderwatervehiclesorfishrobotsusingpairedpectoralfinsasthruster.Theworkpresentedinthispaperrepresentsacontributioninthisareacoveringstudy,designandimplementationoflocomotionmechanismsofpairedpectoralfinsinafishrobot.Theperformanceandviabilityofthebiomimeticmethodforunderwatervehiclesarehighlightedthroughin-waterexperimentofaroboticfish.

简介：Anewbionicapproachispresentedtofindtheoptimaltopologiesofastructurewithtension-onlyorcompression-onlymaterialbasedonboneremodellingtheory.Bytraditionalmethods,thecomputationalcostoftopologyoptimizationofthestructureishighduetomaterialnonlinearity.Toimprovetheefficiencyofoptimization,thereference-intervalwithmaterial-replacementmethodispresented.Inthemethod,firstly,theoptimizationprocessofastructureisconsideredasboneremodellingprocessunderthesameloadingconditions.AreferenceintervalofStrainEnergyDensity(SED),correspondingtothedeadzoneorlazyzoneinbonemechanics,isadoptedtocontroltheupdateofthedesignvariables.Secondly,amaterial-replacementschemeisusedtosimplifytheFiniteElementAnalysis(FEA)ofstructureinoptimization.Intheoperationofmaterial-replacement,theoriginaltension-onlyorcompression-onlymaterialindesigndomainisreplacedwithanewisotropicmaterialandtheEffectiveStrainEnergyDensity(ESED)ofeachelementcanbeobtained.Finally,theupdateofdesignvariablesisdeterminedbycomparingthelocalESEDandthecurrentreferenceintervalofSED,e.g.,theincrementofarelativedensityisnonzeroifthelocalESEDisoutofthecurrentreferenceinterval.Numericalresultsvalidatethemethod.

简介：Probesaretheinterfacebetweenmicrosystemsandbio-cells.Theidealinterfaceisone-to-oneinterface.Thoughvariousresearchgroupshavebeenabletoestablishsomesortofinterfacesaftermanyyearsofresearch,theyareverycrude.Neuronsaremillionsinnumbers,whereastheprosthesessuccessfullybuiltsofarhaveonlyafewhundredprobesatbest.Creatinganef-fectiveinterfaceisstillfaraway.Thoughwehavemicro-andnano-technologies,wecouldn’tbuildaprosthesiswithaneffectiveresolution.Mainreasonsbehinditarethetypeofprobebeingusedandthepoordesignoftheprobe.Toaddressthisproblem,wedevelopedamethodologytodesignaprobeandanarrayofprobeswithbetterresolutionandlessresistivedonutprobe.Thismethodologyhelpsustodesignaprobeoptimizingalltheparameters.Wepresentedourmethodologythroughadesignthatiscapableof70μmpenetrationinsidethetissue.Thetissueheatingbyourdesignedprobeisonly0.411°C.Wealsocharacterizedthedonutprobe,whichcouldbeusedbyanyresearchgrouptodesignadonutprobeoftheirspecificneed.

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