介绍了Kirk—Othmer Encyclopedia of Chemical Technology（化工技术百科全书）（第五版）电子图书网络版数据库，并对该数据库使用方法和检索途径作出了说明，且结合实例简单地介绍了该数据库的检索方法。

Kirk-Othmer Encyclopedia of Chemical Technology数据库介绍及实例

We are witnessing the advent of a new era of robots - drones - that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

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Science, technology and the future of small autonomous drones

Classifications, applications, and design challenges of drones: A review

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human–robot interaction and locomotion. Although field applications have emerged for soft manipulation and human–robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

https://royalsocietypublishing.org/doi/pdf/10.1098/rsif.2017.0101

Fundamentals of soft robot locomotion.

A review of modelling and analysis of morphing wings

18.03.15 KB. Ok to add accepted version to spiral, subject to 12 months embargo, now expired.

https://iopscience.iop.org/article/10.1088/1748-3182/9/3/031001/pdf

Launching the AquaMAV: bioinspired design for aerial-aquatic robotic platforms

Aerial robots capable of locomotion in both air and water would enable novel mission profiles in complex environments, such as water sampling after floods or underwater structural inspections. The design of such a vehicle is challenging because it implies significant propulsive and structural design trade-offs for operation in both fluids. In this paper, we present a unique Aquatic Micro Air Vehicle (AquaMAV), which uses a reconfigurable wing to dive into the water from flight, inspired by the plunge diving strategy of water diving birds in the family Sulidae. The vehicle's performance is investigated in wind and water tunnel experiments, from which we develop a planar trajectory model. This model is used to predict the dive behaviour of the AquaMAV, and investigate the efficacy of passive dives initiated by wing folding as a means of water entry. The paper also includes first field tests of the AquaMAV prototype where the folding wings are used to initiate a plunge dive.

https://royalsocietypublishing.org/doi/pdf/10.1098/rsfs.2016.0085

Wind and water tunnel testing of a morphing aquatic micro air vehicle.

The ability to collect water samples rapidly with aerial–aquatic robots would increase the safety and efficiency of water health monitoring and allow water sample collection from dangerous or inaccessible areas An aquatic micro air vehicle (AquaMAV) able to dive into the water offers a low cost and robust means of collecting samples However, small-scale flying vehicles generally do not have sufficient power for transition to flight from water In this paper, we present a novel jet propelled AquaMAV able to perform jumpgliding leaps from water and a planar trajectory model that is able to accurately predict aquatic escape trajectories Using this model, we are able to offer insights into the stability of aquatic takeoff to perturbations from surface waves and demonstrate that an impulsive leap is a robust method of flight transition The AquaMAV uses a CO $_2$ powered water jet to escape the water, actuated by a custom shape memory alloy gas release The 100 g robot leaps from beneath the surface, where it can deploy wings and glide over the water, achieving speeds above 11 m/s

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Fast Aquatic Escape With a Jet Thruster

Robotic vehicles that are capable of autonomously transitioning between various terrains and fluids have received notable attention in the past decade due to their potential to navigate previously unexplored and/or unpredictable environments. Specifically, aerial-aquatic mobility will enable robots to operate in cluttered aquatic environments and carry out a variety of sensing tasks. One of the principal challenges in the development of such vehicles is that the transition from water to flight is a power-intensive process. At a small scale, this is made more difficult by the limitations of electromechanical actuation and the unfavorable scaling of the physics involved. This paper investigates the use of solid reactants as a combustion gas source for consecutive aquatic jump-gliding sequences. We present an untethered robot that is capable of multiple launches from the water surface and of transitioning from jetting to a glide. The power required for aquatic jump-gliding is obtained by reacting calcium carbide powder with the available environmental water to produce combustible acetylene gas, allowing the robot to rapidly reach flight speed from water. The 160-gram robot could achieve a flight distance of 26 meters using 0.2 gram of calcium carbide. Here, the combustion process, jetting phase, and glide were modeled numerically and compared with experimental results. Combustion pressure and inertial measurements were collected on board during flight, and the vehicle trajectory and speed were analyzed using external tracking data. The proposed propulsion approach offers a promising solution for future high-power density aerial-aquatic propulsion in robotics.

https://robotics.sciencemag.org/content/robotics/4/34/eaax7330.full-text.pdf

Consecutive aquatic jump-gliding with water-reactive fuel

The application of flying systems to practical tasks is consistently limited by the poor endurance of hovering robots. The ability to perch to fixed surfaces allows a robot to gather data and inspect structures in a low power state, while retaining the access and manoeuvrability that flight offers. In this paper we present a passively adaptive perching mechanism which allows an aerial vehicle to stably attach to a variety of surfaces including tree branches and pipelines. This is enabled by a compliant grapple module, which passively conforms to the surface of convex perching targets, ensuring reliable traction and a very high load capacity (tension tested to > 60 kg in some instances) whilst still releasing effortlessly. This is due to the mechanics of the grapple, which is designed to passively tighten and attach to a variety of branch diameters and shapes. The grapple is paired with a hybrid force-motion controller which allows the cable tension to be regulated as the vehicle achieves the desired attitude. The hybrid control approach exploits the mechanical compliance of the system to ensure reliable, stable attachment to irregular natural structures, and the addition of a winch allows the robot to stably orient itself in any position or orientation relative to the branch. This approach demonstrates tensile perching using adaptive anchors. The presented subsystems can be applied to other robots where high force authority is required.

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Robert Siddall

Papers

Launching the AquaMAV: bioinspired design for aerial-aquatic robotic platforms

Wind and water tunnel testing of a morphing aquatic micro air vehicle.

Fast Aquatic Escape With a Jet Thruster

Consecutive aquatic jump-gliding with water-reactive fuel

A Passively Adaptive Microspine Grapple for Robust, Controllable Perching