The development of soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible is described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into 3D structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while being light in weight. These soft actuators can manipulate objects with moderate performance; for example, they can lift loads up to 120 times their weight. They can also be combined with other components, for example, electrical components, to increase their functionality.

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Elastomeric Origami: Programmable Paper-Elastomer Composites as Pneumatic Actuators

A review on signal processing techniques utilized in the fault diagnosis of rolling element bearings

In this paper, biomimetic underwater robots built using smart actuators, e.g., a shape memory alloy (SMA), an ionic polymer metal composite (IPMC), lead zirconate titanate (PZT), or a hybrid SMA and IPMC actuator, are reviewed. The effects of underwater environment were also considered because smart actuators are often affected by their external environment. The characteristics of smart actuators are described based on their actuating conditions and motion types. Underwater robots are classified based on different swimming modes. We expanded our classification to non-fish creatures based on their swimming modes. The five swimming modes are body/caudal actuation oscillatory (BCA-O), body/caudal actuation undulatory (BCA-U), median/paired actuation oscillatory (MPA-O), median/paired actuation undulatory (MPA-U), and jet propulsion (JET). The trends of biomimetic underwater robots were analyzed based on robot speed (body length per second, BL/s). For speed per body length, robots using an SMA as an actuator are faster than robots using an IPMC when considering a similar length or weight. Robots using a DC motor are longer while their speeds per body length are similar, which means that robots using smart actuators have an advantage of compactness. Finally, robots (using smart actuators or a motor) were compared with underwater animals according to their speed and different swimming modes. This review will help in setting guidelines for the development of future biomimetic underwater robots, especially those that use smart actuators.

Review of biomimetic underwater robots using smart actuators

Advancements in the field of autonomous underwater vehicle

Part I of this paper proposed a development process and a system platform for the development of autonomous cars based on a distributed system architecture. The proposed development methodology enabled the design and development of an autonomous car with benefits such as a reduction in computational complexity, fault-tolerant characteristics, and system modularity. In this paper (Part II), a case study of the proposed development methodology is addressed by showing the implementation process of an autonomous driving system. In order to describe the implementation process intuitively, core autonomous driving algorithms (localization, perception, planning, vehicle control, and system management) are briefly introduced and applied to the implementation of an autonomous driving system. We are able to examine the advantages of a distributed system architecture and the proposed development process by conducting a case study on the autonomous system implementation. The validity of the proposed methodology is proved through the autonomous car A1 that won the 2012 Autonomous Vehicle Competition in Korea with all missions completed.

Development of Autonomous Car—Part II: A Case Study on the Implementation of an Autonomous Driving System Based on Distributed Architecture

https://research.tees.ac.uk/ws/files/9903105/Application_of_soft_computing_techniques_to_multiphase_flow_measurement.pdf

Application of soft computing techniques to multiphase flow measurement: A review

A new type of vision-based autonomous robotic fish capable of 3-D locomotion is developed in this paper. Based on our robotic fish prototype, the forces and moments acting on its fins and body are analyzed, and the governing motion equations are derived. We further investigate a decentralized control method in target-tracking and collision-avoidance task for two autonomous robotic fish. Most of previous work on the task strategies of autonomous robots is focused on terrestrial robots and seldom deals with underwater applications due to the uncertainties and complexity in a hydro environment. To address this challenge in such an underwater task, a situated-behavior-based decentralized control is employed on each robotic fish according to its visual data. On dealing with motion planning of the fish during target tracking and collision avoidance, a control law by a combination of an attractive force toward a target and a repulsive force for collision avoidance is utilized. Experimental results of the task performed by two autonomous robotic fish validate the effectiveness of the proposed method.

Vision-Based Target Tracking and Collision Avoidance for Two Autonomous Robotic Fish

Rotational speed is a key parameter for the condition monitoring and control of rotating machineries, such as generators, electromotors, and centrifugal and machine tool spindles. It is essential for precision machining and early warning of faults to measure rotational speed in real time. This paper presents the principle and application of electrostatic sensors and correlation signal processing techniques to real-time measurement of rotational speed. The electrostatic sensors and signal conditioning and processing units were designed and implemented. Experimental tests were conducted on a laboratory-scale test rig under a range of conditions including different diameters of the shaft. The results obtained suggest that the distance between the electrodes and the surface of the rotating object is a key factor affecting the performance of the measurement system. The system performs better in terms of accuracy and repeatability at a higher rotational speed as more electrostatic charge is produced on the rotating surface. High and stable correlation coefficients acquired during the tests suggest that the measurement system is capable of providing reliable measurement of rotational speed under realistic industrial conditions.

Rotational Speed Measurement Through Electrostatic Sensing and Correlation Signal Processing

This paper presents a numerical method for parameter synthesis of a central pattern generator (CPG) network to acquire desired locomotor patterns. The CPG network is modeled as a chain of unidirectionally or bidirectionally coupled Hopf oscillators with a novel coupling scheme that eliminates the influence of afferent signals on amplitude of the oscillator. The method converts the related CPG parameters into dynamic systems that evolve as part of the CPG network dynamics. The frequency, amplitude, and phase relations of teaching signals can be encoded by the CPG network with the proposed learning rules. The ability of the method to learn instructed locomotor pattern is proven with simulations. Application of the proposed method to online gait synthesis of a robotic fish is also presented.

Yonghui Hu

Papers

Application of soft computing techniques to multiphase flow measurement: A review

Vision-Based Target Tracking and Collision Avoidance for Two Autonomous Robotic Fish

Rotational Speed Measurement Through Electrostatic Sensing and Correlation Signal Processing

Parameter Synthesis of Coupled Nonlinear Oscillators for CPG-Based Robotic Locomotion

Dolphin-like propulsive mechanism based on an adjustable Scotch yoke