One Novel Hydraulic Actuating System for the Lower-Body Exoskeleton

The hydraulic exoskeleton is one research hotspot in the field of robotics,which can take heavy load due to the high power density of the hydraulic system.However,the traditional hydraulic system is normally centralized,inefficient,and bulky during application,which limits its development in the exoskeleton.For improving the robot's performance,its hydraulic actuating system should be optimized further.In this paper a novel hydraulic actuating system(HAS)based on electric-hydrostatic actuator is proposed,which is applied to hip and knee joints.Each HAS integrates an electric servo motor,a high-speed micro pump,a specific tank,and other components into a module.The specific parameters are obtained through relevant simulation according to human motion data and load requirements.The dynamic models of the HAS are built,and validated by the system identification.Experiments of trajectory tracking and human-exoskeleton interaction are carried out,which demonstrate the proposed HAS has the ability to be applied to the exoskeleton.Compared with the previous prototype,the total weight of the HAS in the robot is reduced by about 40%,and the power density is increased by almost 1.6 times.

THEORETICAL AND EXPERIMENTAL STUDY ON THE PIEZOCERAMIC ACTUATING LAMINATE

Piezoelectric ceramic element (PCE) is a kind of actuator applied widely on the intelligent material & structure. Establishing the relationship between the transferring stress and the controlling signal, namely the transferring and actuating equation, is a key step to analyze the actuating performance of the PCE. Based on the method of the shear lag theory, the procedure of the stress transferring is analyzed and the transferring and actuating model is established in this paper. Some measurements for PCE(PZT5) actuating the Glass Fiber/Epoxy laminate have been done to verify the model established. The experimental results show that the theoretical model agrees well with the practice. Finally, the effect of the main factors on PCE actuating the laminate is studied by using the experimental and theoretical results.

Study and Analysis of a Landing Gear Actuating Cylinder Inner-lock

Three kinds of landing gear actuating cylinder inner-locks of an aircrafi ： block ring lock, steel ball lock, finger lock are taken as the study object based on the mechanics, geometry, materials, technology etc and some aircrafi typical inner-lock practical applications. The working principle of the three typical actuating cylinder innerlocks are expounded and the stress and workmanship requirements of the three inner-lock core components are analyzed. The advantages and disadvantages of different kinds are compared and the characteristics and applications of the three inner-locks investigated. The research and analysis results provide valuable information for the actuating cylinder inner-lock of the aircraft landing gear design.

Characteristic of Intelligent Air Bag Venting Structure Actuating by Electrostrictive Stack Actuator

In this paper the conception of smart materials and structures is firstly combined with research of air bag,and the main theory of self adapting cushioning of intelligent air bag is expatiated.The intelligent venting structure is the main part affecting the cushioning result.Electrostrictive material was found having big force,high response speed and wide linearity,and it is fit to utilize in intelligent venting structure. The characteristic of the dynamic response and cushioning actuating of an electrostrictive stack actuator is analyzed,and the result of the computer simulation of the fuzzy control to intelligent venting structure is given.It is concluded that intelligent venting structure has good actuating characteristic and can satisfy the need of intelligent air bag.

Effect of actuating voltage and discharge gap on plasma assisted detonation initiation process

The influence of actuating voltage and discharge gap on plasma assisted detonation initiation by alternating current dielectric barrier discharge was studied in detail.A loose coupling method was used to simulate the detonation initiation process of a hydrogen–oxygen mixture in a detonation tube under different actuating voltage amplitudes and discharge gap sizes.Both the discharge products and the detonation forming process assisted by the plasma were analyzed.It was found that the patterns of the temporal and spatial distributions of discharge products in one cycle keep unchanged as changing the two discharge operating parameters.However,the adoption of a higher actuating voltage leads to a higher active species concentration within the discharge zone,and atom H is the most sensitive to the variations of the actuating voltage amplitude among the given species.Adopting a larger discharge gap results in a lower concentration of the active species,and all species have the same sensitivity to the variations of the gap.With respect to the reaction flow of the detonation tube,the corresponding deflagration to detonation transition（DDT） time and distance become slightly longer when a higher actuating voltage is chosen.The acceleration effect of plasma is more prominent with a smaller discharge gap,and the benefit builds gradually throughout the DDT process.Generally,these two control parameters have little effect on the amplitude of the flow field parameters,and they do not alter the combustion degree within the reaction zone.

Effect of actuating frequency on plasma assisted detonation initiation

Aiming at studying the influence of actuating frequency on plasma assisted detonation initiation by alternating current dielectric barrier discharge, a loosely coupled method is used to simulate the detonation initiation process of a hydrogenoxygen mixture in a detonation tube at different actuating frequencies. Both the discharge products and the detonation forming process which is assisted by the plasma are analyzed. It is found that the patterns of the temporal and spatial distributions of discharge products in one cycle are not changed by the actuating frequency. However, the concentration of every species decreases as the actuating frequency rises, and atom O is the most sensitive to this variation, which is related to the decrease of discharge power. With respect to the reaction flow of the detonation tube, the deflagration-todetonation transition（DDT） time and distance both increase as the actuating frequency rises, but the degree of effect on DDT development during flow field evolution is erratic. Generally, the actuating frequency affects none of the amplitude value of the pressure, temperature, species concentration of the flow field, and the combustion degree within the reaction zone.

Bio-inspired Actuating System for Swimming Using Shape Memory Alloy Composites

The paper addresses the designs of a caudal peduncle actuator, which is able to furnish a thrust for swimming of a robotic fish. The caudal peduncle actuator is based on concepts of ferromagnetic shape memory alloy （FSMA） composite and hybrid mechanism that can provide a fast response and a strong thrust. The caudal peduncle actuator was inspired by Scomber Scombrus which utilises thunniform mode swimming, which is the most efficient locomotion mode evolved in the aquatic environment, where the thrust is generated by the lift-based method, allowing high cruising speeds to be maintained for a long period of time. The morphology of an average size Scomber Scombrus （length in 310 mm） was investigated, and a 1：1 scale caudal peduncle actuator prototype was modelled and fabricated. The propulsive wave characteristics of the fish at steady speeds were employed as initial design objectives. Some key design parameters are investigated, i.e. aspect ratio （AR） （AR = 3.49）, Reynolds number （Re = 429 649）, reduced frequency （σ = 1.03）, Strouhal number （St = 0.306） and the maximum strain of the bent tail was estimated at ε = 1.11% which is in the range of superelasticity. The experimental test of the actuator was carried out in a water tank. By applying 7 V and 2.5 A, the actuator can reach the tip-to-tip rotational angle of 85° at 4 Hz.

Electrostatic Actuating Bendable Flat Electrode for Micro Electrochemical Machining

In micro-electrochemical machining(μECM), material dissolution takes place at very close vicinity of tool electrode due to localization of electric field. Controlling the gap between tool electrode and workpiece is the key to μECM. Therefore, a new method is proposed to solve a variety of problems in small gap control. In the present context, experiments were carried out with an indigenously developed setup to fabricate cylindrical arrays. During the machining process, the flat electrode bends due to electrostatic force in pulse on-time, which self-adaptively narrows the gap between the electrode and the workpiece. The workpiece material will be removed once the gap meets the processing condition. Therefore, this method has advantages of reducing dependence on high precision machine tools and of avoiding complex servo control. The flat electrode quickly restores to its original condition when it is in pulse off-time, making the gap much larger than that in traditional electrochemical machining(ECM). The large gap benefits debris removing, which improves the machining accuracy. The influence of different experimental parameters on accuracy and efficiency during the machining process has been investigated. It is observed that with the increase in applied voltage or concentration of electrolyte, the material removal rate and the process gap both increase. The detailed analysis of the experimental results is described in this paper.

Ant-nest-inspired porous structure for MXene composites with high-performance energy-storage and actuating multifunctions

Integrating energy-storage devices(supercapacitors)and shape-deformation devices(actuators)advances the miniaturization and multifunctional development of soft robots.However,soft robots necessitate supercapacitors with high energy-storage performance and actuators with excellent actuation capability.Here,inspired by ant nests,we present a porous structure fabricated by MXene-graphene-methylcellulose(M-GMC)composite,which overcomes the self-stacking of MXene nanosheets and offers a larger specific surface area.The porous structure provides more channels and active sites for electrolyte ions,resulting in high energy storage performance.The areal capacitance of the M-GMC electrode reaches up to 787.9 mF·cm^(−2),significantly superior to that of the pristine MXene electrode(449.1 mF·cm^(−2)).Moreover,the M-GMC/polyethylene bilayer composites with energy storage and multi-responsive actuation functions are developed.The M-GMC is used as the electrode and the polyethylene is used as the encapsulation layer of the quasi-solid-state supercapacitor.Meanwhile,the actuators fabricated by the bilayer composites can be driven by light or low voltage(≤9 V).The maximum bending curvature is up to 5.11 cm^(−1).Finally,a smart gripper and a fully encapsulated smart integrated circuit based on the M-GMC/polyethylene are designed.The smart gripper enables programmable control with multi-stage deformations.The applications realize the intelligence and miniaturization of soft robots.The ant-nest-inspired M-GMC composites would provide a promising development strategy for soft robots and smart integrated devices.

Docker API与SpringBoot Actuator未授权访问风险分析与防范研究

随着云计算技术的普及和容器化技术的发展,Docker和SpringBoot已成为现代软件开发和部署的重要工具。然而,这种广泛的使用也伴随着安全风险。针对DockerAPI与SpringBoot Actuator的未授权访问风险进行了深入分析。当这些关键组件暴露于未授权访问之下时,攻击者可能利用这些漏洞执行恶意操作,如部署恶意容器、篡改应用程序配置或窃取敏感信息。这些行为不仅可能导致服务中断和数据泄露,还可能对企业造成严重的声誉和财务损失。

High-performance liquid metal electromagnetic actuator fabricated by femtosecond laser

Small-scale electromagnetic soft actuators are characterized by a fast response and simplecontrol,holding prospects in the field of soft and miniaturized robotics.The use of liquid metal(LM)to replace a rigid conductor inside soft actuators can reduce the rigidity and enhance the actuation performance and robustness.Despite research efforts,challenges persist in the flexible fabrication of LM soft actuators and in the improvement of actuation performance.To address these challenges,we developed a fast and robust electromagnetic soft microplate actuator based on a laser-induced selective adhesion transfer method.Equipped with unprecedentedly thin LM circuit and customized low Young’s modulus silicone rubber(1.03 kPa),our actuator exhibits an excellent deformation angle(265.25?)and actuation bending angular velocity(284.66 rad·s^(-1)).Furthermore,multiple actuators have been combined to build an artificial gripper with a wide range of functionalities.Our actuator presents new possibilities for designing small-scaleartificial machines and supports advancements in ultrafast soft and miniaturized robotics.

Observer-based robust high-order fully actuated attitude autopilot design for spinning glide-guided projectiles

This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.

Conductive photo-thermal responsive bifunctional hydrogel system with self-actuating and self-monitoring abilities

Despite enormous efforts in actuators,most researches are only limited to various actuation behaviors and demonstrations of soft materials.It has not yet been reported to capture and monitor its movement status in an invisible environment.Therefore,it is of great significance to develop a self-sensing and self-actuating dual-function hydrogel actuator system to realize real-time monitoring.Here,we report a bifunctional hydrogel system with self-actuating and self-monitoring abilities,which combines the functions of photothermal actuation and electrical resistance sensing into a single material.The bilayer tough conductive hydrogel synthesized by unconventional complementary concentration recombination and cryogenic freezing technique presents a dense conductive network and high-porosity structure,achieving high toughness at 190.3 kPa of tensile strength,high stretchability(164.3%strain),and the toughness dramatically(1,471.4 kJ·m^(−3)).The working mechanism of the monitoring and self-sensing system is accomplished through the integrated monitoring device of surface temperature–bending angle–electron current,to solve the problem of not apperceiving actuator motion state when encountering obstacles in an invisible environment.We demonstrated for the first time a photothermal actuator’s motion of a football player and goalkeeper to finish the penalty and a soft actuator hand,which can achieve the action of sticking to grab and release under photo-thermal actuation.When connected to the control closed circuit,the actuator realized closed-loop monitoring and sensing feedback.The development of bifunctional hydrogel systems may bring new opportunities and ideas in the fields of material science,circuit technology,sensors,and mechanical engineering.

Bioinspired Multifunctional Self-Sensing Actuated Gradient Hydrogel for Soft-Hard Robot Remote Interaction

The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.

Delivering Microrobots in the Musculoskeletal System

Disorders of the musculoskeletal system are the major contributors to the global burden of disease and current treatments show limited efficacy.Patients often suffer chronic pain and might eventually have to undergo end-stage surgery.Therefore,future treatments should focus on early detection and intervention of regional lesions.Microrobots have been gradually used in organisms due to their advantages of intelligent,precise and minimally invasive targeted delivery.Through the combination of control and imaging systems,microrobots with good biosafety can be delivered to the desired area for treatment.In the musculoskeletal system,microrobots are mainly utilized to transport stem cells/drugs or to remove hazardous substances from the body.Compared to traditional biomaterial and tissue engineering strategies,active motion improves the efficiency and penetration of local targeting of cells/drugs.This review discusses the frontier applications of microrobotic systems in different tissues of the musculoskeletal system.We summarize the challenges and barriers that hinder clinical translation by evaluating the characteristics of different microrobots and finally point out the future direction of microrobots in the musculoskeletal system.

Airfoil friction drag reduction based on grid-type and super-dense array plasma actuators

To improve the cruise flight performance of aircraft, two new configurations of plasma actuators(grid-type and super-dense array) were investigated to reduce the turbulent skin friction drag of a low-speed airfoil. The induced jet characteristics of the two actuators in quiescent air were diagnosed with high-speed particle image velocimetry(PIV), and their drag reduction efficiencies were examined under different operating conditions in a wind tunnel. The results showed that the grid-type plasma actuator was capable of producing a wall-normal jet array(peak magnitude: 1.07 m/s) similar to that generated in a micro-blowing technique, while the superdense array plasma actuator created a wavy wall-parallel jet(magnitude: 0.94 m/s) due to the discrete spanwise electrostatic forces. Under a comparable electrical power consumption level,the super-dense array plasma actuator array significantly outperformed the grid-type configuration,reducing the total airfoil friction drag by approximately 22% at a free-stream velocity of 20 m/s.The magnitude of drag reduction was proportional to the dimensionless jet velocity ratio(r), and a threshold r = 0.014 existed under which little impact on airfoil drag could be discerned.

Observer-based dynamic event-triggered control for distributed parameter systems over mobile sensor-plus-actuator networks

We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.

A Modified Iterative Learning Control Approach for the Active Suppression of Rotor Vibration Induced by Coupled Unbalance and Misalignment

This paper proposes a modified iterative learning control(MILC)periodical feedback-feedforward algorithm to reduce the vibration of a rotor caused by coupled unbalance and parallel misalignment.The control of the vibration of the rotor is provided by an active magnetic actuator(AMA).The iterative gain of the MILC algorithm here presented has a self-adjustment based on the magnitude of the vibration.Notch filters are adopted to extract the synchronous(1×Ω)and twice rotational frequency(2×Ω)components of the rotor vibration.Both the notch frequency of the filter and the size of feedforward storage used during the experiment have a real-time adaptation to the rotational speed.The method proposed in this work can provide effective suppression of the vibration of the rotor in case of sudden changes or fluctuations of the rotor speed.Simulations and experiments using the MILC algorithm proposed here are carried out and give evidence to the feasibility and robustness of the technique proposed.

Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities.Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to achieve.Over the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing approaches.This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment interactions.Providing recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.