Modeling and Control of Head of the Underwater Snake-like Robot Swimming

In order to solve oscillation of head of the underwater snake-like robot,the Central Pattern Generator( CPG)-based control scheme with head-controller was presented. The Kane dynamic model was constructed to be processed with a commercial package MotionGenesis Kane 5. 3,to which the proposed control scheme was applied. The relation between CPG parameters and orientation offset of head was investigated. The target orientation of head-controller was calculated through a convenient method. The advantage of this control scheme is that the head of the underwater snake-like robot remains in the forward direction during swimming. To prove the feasibility of the proposed methodology,two basic motion patterns,swimming along the straight line and swimming along the curved path,had been implemented in our simulation platform. The results showed that the simulation platform can imitate the swimming of the underwater snake-like robot and the head of the underwater snake-like robot remains in a fixed orientation directed towards the target. The oscillation of head's orientation is inhibited effectively.

Head Orientation Stability of Underwater Snake-Like Robot Swimming

In prior research,the orientation of head of the snake-like robot is changed according to the sinusoidal wave. To solve this problem,we propose Central Pattern Generator( CPG)-based control scheme with head-controller to stabilize the head of the underwater snake-like robot. The advantage of the CPG-based control scheme with head-controller is that the head of the underwater snake-like robot is direct to the target orientation during swimming. The relation between CPG parameters and orientation stability of head is discussed.The adaptation of the proposed method to environment changes is tested. The influences of CPG parameters and hydrodynamic forces on the orientation offset of head are investigated. The target orientation( the input of headcontroller) with an experimental optimization is calculated through a convenient method. To prove the feasibility of the proposed methodology,the different swimming modes have been implemented in our simulation platform.The results show that the oscillation of head's orientation is inhibited effectively,and the proposed method has strong adaptation to environment and CPG parameters changes.

Adaptive Swimming of Underwater Snake-like Robot in Different Underwater Environment

Hydrodynamic force is an important factor that affects the performance of underwater vehicle.Adapting to the current underwater environment by changing its shape is an important feature of underwater snake-like robots(USLR).An experiment was implemented to verify the swimming along the straight line of USLR.A simulation platform is also established for the analysis of the swimming of USLR.To figure out adaptive swimming of USLR to different underwater environments,the relationships between CPG parameters and maximum swimming speed have been discussed,and the switching between different swimming modes has been implemented.

Twist-related locomotion of a snake-like robot

As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snakelike robot can move on rough ground and even climb up some obstacles. In dfis paper, the twist-related locomotion function is firstly solved, and simplified to be expressible by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieved. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist-related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses.

Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators

This work investigates adaptive stiffness control and motion optimization of a snake-like robot with variable stiffness actuators. The robot can vary its stiffness by controlling magnetorheological fluid(MRF) around actuators. In order to improve the robot's physical stability in complex environments, this work proposes an adaptive stiffness control strategy. This strategy is also useful for the robot to avoid disturbing caused by emergency situations such as collisions. In addition, to obtain optimal stiffness and reduce energy consumption, both torques of actuators and stiffness of the MRF braker are considered and optimized by using an evolutionary optimization algorithm. Simulations and experiments are conducted to verify the proposed adaptive stiffness control and optimization methods for a variable stiffness snake-like robots.

Knowledge presentation by the MNSM-based controller for swimming motion of a snake-like robot

A MNSM( mirror neuron system mechanism)-based controller is developed to present the swimming rhythm of a snake-like robot in Cartesian space. From engineering viewpoint,the proposed controller is composed of a neuron for rhythm angle and two neurons for motion knowledge in XY plane. The given knowledge is a rhythm curve for swimming motion of a snake-like robot. Experimental results show that the proposed controller can present the knowledge of swimming rhythm,which represents the corresponding control law to drive the snake-like robot to swim with different speeds and turning motion. This work provides a novel method to present the knowledge for swimming motion of snake-like robots.

Dynamic Model of Underwater Snake-Like Robot Using Kane's Method

In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane's dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces: added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane's method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.

Simulation Platform for the Underwater Snake-Like Robot Swimming Based on Kane's Dynamic Model and Central Pattern Generator

A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane's dynamic model and central pattern generator(CPG). The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.

Gaits-transferable CPG controller for a snake-like robot

With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory （BCl） CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake.

Kinematic Control of Wheeled Snake-Like Mobile Robot

From a bionics viewpoint , this paper proposes a mechanical model of a wheeled snake like mobile mechanism. On the hypothesis of the existing non holonomic constraints on the robot kinematics, we set up the relationship among the kinetic control parameters in the snake like movement using Lie group and Lie algebra of the principle fiber bundle and provide some theoretical control methods to realize the snake like locomotion.

Unmasking Social Robots’Camouflage:A GNN-Random Forest Framework for Enhanced Detection

The proliferation of robot accounts on social media platforms has posed a significant negative impact,necessitating robust measures to counter network anomalies and safeguard content integrity.Social robot detection has emerged as a pivotal yet intricate task,aimed at mitigating the dissemination of misleading information.While graphbased approaches have attained remarkable performance in this realm,they grapple with a fundamental limitation:the homogeneity assumption in graph convolution allows social robots to stealthily evade detection by mingling with genuine human profiles.To unravel this challenge and thwart the camouflage tactics,this work proposed an innovative social robot detection framework based on enhanced HOmogeneity and Random Forest(HORFBot).At the core of HORFBot lies a homogeneous graph enhancement strategy,intricately woven with edge-removal techniques,tometiculously dissect the graph intomultiple revealing subgraphs.Subsequently,leveraging the power of contrastive learning,the proposed methodology meticulously trains multiple graph convolutional networks,each honed to discern nuances within these tailored subgraphs.The culminating stage involves the fusion of these feature-rich base classifiers,harmoniously aggregating their insights to produce a comprehensive detection outcome.Extensive experiments on three social robot detection datasets have shown that this method effectively improves the accuracy of social robot detection and outperforms comparative methods.

基于RobotStudio的视觉分拣打磨工作站仿真设计

为解决中小型零件混流自动化生产等问题,提出基于RobotStudio的工业机器人视觉分拣打磨工作站的仿真设计方案。根据零件的生产工艺流程,利用UG软件创建视觉分拣打磨工作站的整体布局;通过分析工作站各个模块功能,设计了各模块的结构;利用RobotStudio软件构建了工作站仿真模型。以视觉引导Smart组件和输送链跟踪仿真为例,阐述了ABB工业机器人通过视觉引导获取工件空间位姿的四元数和欧拉角的转换方法,并介绍了视觉拍照、机器人与工业相机通信等动态仿真的设置过程,以及输送链跟踪动态效果的设置方法。为实现工作站全过程仿真,设计了整体工作站逻辑,编制了仿真工作站离线程序,并将仿真工作站同步到实验平台调试验证。该设计可为智能制造生产线的设计、制造及应用提供参考。

The evolution of robotics:research and application progress of dental implant robotic systems

The use of robots to augment human capabilities and assist in work has long been an aspiration.Robotics has been developing since the 1960s when the first industrial robot was introduced.As technology has advanced,robotic-assisted surgery has shown numerous advantages,including more precision,efficiency,minimal invasiveness,and safety than is possible with conventional techniques,which are research hotspots and cutting-edge trends.This article reviewed the history of medical robot development and seminal research papers about current research progress.Taking the autonomous dental implant robotic system as an example,the advantages and prospects of medical robotic systems would be discussed which would provide a reference for future research.

基于Robotstudio的工业机器人课程教学设计与实践

阐述工业机器人实训课程教学实践,将Robotstudio软件融入课程教学中,探讨以实例项目驱动的教学内容设计,以虚实结合手段提升课堂教学效果的教学模式,从而实现教学与实践的统一。

基于Robot Studio的分类码垛仿真设计

针对工业机器人轨迹规划和自动化生产协调难度大的问题,提出一种基于Robot Studio的分类码垛仿真设计方案。使用Robot Studio软件,创建工业机器人仿真工作站。通过Smart组件的设计、I/O信号的设定、工作站逻辑的建立和程序编写等工作,最终实现工业机器人智能分类码垛操作。经过模拟仿真,结果表明:分类码垛的速度和准确率均可达到预期要求。说明该分类码垛设计方案可行,可以为实际码垛工作站的搭建和生产提供一定的现实指导。

Kinematic Research on Hinged Synchronous Universal Joint Applied for Snake-like Manipulator

The structure and motion principle of a hinged synchronous universal joint (HSUJ) is introduced, also whose kinematics is theoretically analyzed. As a result, a few kinematic characters of the HSUJ are obtained,which establish the foundation of its application for snake-like manipulator. Making use of the HSUJ ss actuating mechauism, the developed snake-like manipulator has the merits of small curve radius, fewer actuator, and small volume etc.

Robotic versus laparoscopic surgery for sporadic benign insulinoma:Short-and long-term outcomes

Background:Minimally invasive surgery is the optimal treatment for insulinoma.The present study aimed to compare short-and long-term outcomes of laparoscopic and robotic surgery for sporadic benign insulinoma.Methods:A retrospective analysis of patients who underwent laparoscopic or robotic surgery for insulinoma at our center between September 2007 and December 2019 was conducted.The demographic,perioperative and postoperative follow-up results were compared between the laparoscopic and robotic groups.Results:A total of 85 patients were enrolled,including 36 with laparoscopic approach and 49 with robotic approach.Enucleation was the preferred surgical procedure.Fifty-nine patients(69.4%)underwent enucleation;among them,26 and 33 patients underwent laparoscopic and robotic surgery,respectively.Robotic enucleation had a lower conversion rate to laparotomy(0 vs.19.2%,P=0.013),shorter operative time(102.0 vs.145.5 min,P=0.008)and shorter postoperative hospital stay(6.0 vs.8.5 d,P=0.002)than laparoscopic enucleation.There were no differences between the groups in terms of intraoperative blood loss,the rates of postoperative pancreatic fistula and complications.After a median follow-up of 65 months,two patients in the laparoscopic group developed a functional recurrence and none of the patients in the robotic group had a recurrence.Conclusions:Robotic enucleation can reduce the conversion rate to laparotomy and shorten operative time,which might lead to a reduction in postoperative hospital stay.

Neuromorphic circuits based on memristors: endowing robots with a human-like brain

Robots are widely used,providing significant convenience in daily life and production.With the rapid development of artificial intelligence and neuromorphic computing in recent years,the realization of more intelligent robots through a pro-found intersection of neuroscience and robotics has received much attention.Neuromorphic circuits based on memristors used to construct hardware neural networks have proved to be a promising solution of shattering traditional control limita-tions in the field of robot control,showcasing characteristics that enhance robot intelligence,speed,and energy efficiency.Start-ing with introducing the working mechanism of memristors and peripheral circuit design,this review gives a comprehensive analysis on the biomimetic information processing and biomimetic driving operations achieved through the utilization of neuro-morphic circuits in brain-like control.Four hardware neural network approaches,including digital-analog hybrid circuit design,novel device structure design,multi-regulation mechanism,and crossbar array,are summarized,which can well simulate the motor decision-making mechanism,multi-information integration and parallel control of brain at the hardware level.It will be definitely conductive to promote the application of memristor-based neuromorphic circuits in areas such as intelligent robotics,artificial intelligence,and neural computing.Finally,a conclusion and future prospects are discussed.

Intervention Effect of Lower Limb Rehabilitation Robot with Task-Oriented Training on Stroke Patients and Its Influence on KFAROM Score

Objective: To explore the effect of lower limb rehabilitation robot combined with task-oriented training on stroke patients and its influence on KFAROM score. Methods: 100 stroke patients with hemiplegia admitted to our hospital from January 2023 to December 2023 were randomly divided into two groups, the control group (50 cases) was given task-oriented training assisted by nurses, and the observation group (50 cases) was given lower limb rehabilitation robot with task-oriented training. Lower limb balance, lower limb muscle strength, motor function, ankle function, knee flexion range of motion and walking ability were observed. Results: After treatment, the scores of BBS, quadriceps femoris and hamstrings in the observation group were significantly higher than those in the control group (P Conclusion: In the clinical treatment of stroke patients, the combination of task-oriented training and lower limb rehabilitation robot can effectively improve the lower limb muscle strength, facilitate the recovery of balance function, and have a significant effect on the recovery of motor function, which can improve the walking ability of stroke patients and the range of motion of knee flexion, and achieve more ideal therapeutic effectiveness.

Advanced Design of Soft Robots with Artificial Intelligence

In recent years,breakthrough has been made in the field of artificial intelligence(AI),which has also revolutionized the industry of robotics.Soft robots featured with high-level safety,less weight,lower power consumption have always been one of the research hotspots.Recently,multifunctional sensors for perception of soft robotics have been rapidly developed,while more algorithms and models of machine learning with high accuracy have been optimized and proposed.Designs of soft robots with AI have also been advanced ranging from multimodal sensing,human-machine interaction to effective actuation in robotic systems.Nonethe-less,comprehensive reviews concerning the new developments and strategies for the ingenious design of the soft robotic systems equipped with AI are rare.Here,the new development is systematically reviewed in the field of soft robots with AI.First,background and mechanisms of soft robotic systems are briefed,after which development focused on how to endow the soft robots with AI,including the aspects of feeling,thought and reaction,is illustrated.Next,applications of soft robots with AI are systematically summarized and discussed together with advanced strategies proposed for performance enhancement.Design thoughts for future intelligent soft robotics are pointed out.Finally,some perspectives are put forward.