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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

《机械工程前沿（英文）》 2022年第17卷第2期 doi: 10.1007/s11465-022-0678-2

摘要： Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles soft robot modeling approach principle of virtual work external load

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Fabrication of ionic polymer-metal composites (IPMCs) and robot design

Hanmin PENG, Qingjun Ding, Huafeng LI

《机械工程前沿（英文）》 2009年第4卷第3期页码 332-338 doi: 10.1007/s11465-009-0046-5

摘要： This paper describes a method for preliminary manufacturing experiments on a type of smart materials—ionic polymer-metal composites (IPMCs). They belong to EAP materials and are famous for their capability of huge displacement within a low voltage (1–3 V). With best operation quality in the humid environment, they can be made as underwater robots in simple structures. In this paper, two purposes are embodied. One focuses on the research on the IPMCs characteristics, including the actuating principle, manufacturing process, and parameters of performance. The other is that a relevant robot driven by IPMCs strips is designed. According to imitation propulsion mechanism of undulatory fins, IPMCs are designed for a novel bionic water vehicle propelled by undulatory multiple fish-like fins (made by IPMCs). The robot consists of three fins on the bottom tightly contacting by plastic foils with each other.

关键词： ionic polymer-metal composites (IPMCs) artificial muscles actuator bionic robot platinum-plated

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IPMC gripper static analysis based on finite element analysis

Hanmin PENG, Yao HUI, Qingjun DING, Huafeng LI, Chunsheng ZHAO,

《机械工程前沿（英文）》 2010年第5卷第2期页码 204-211 doi: 10.1007/s11465-010-0005-1

摘要： Recently, a type of flexible grippers with low power supply (0–5 V) has been designed and developed for grasping small but precision parts. In previous work, the authors manufactured a soft gripper whose actuating components are made of ionic polymer-metal composite (IPMC) materials; however, there is not a comprehensive model to analyze the complete mechanics for this IPMC gripper. Therefore, this paper provides a finite element method for analyzing its static mechanics characteristics in the state with maximal stress and strain (i.e., the gripper opening largest, including the IPMC deformation, stress, and strain). Further, these electromechanical coupling relationships can be simulated by using the piezoelectric analysis module based on ANSYS software. The simulation results show that the maximal tip displacement of IPMC strips can nearly reach their own free length, the maximal stress is 54 MPa in the center of copper electrodes, and the maximal strain is 0.0286 on the IPMC strip. The results provide detailed numerical solutions and appropriate finite element analysis methodologies beneficial for further research on the optimization design, forecast analysis, and control field.

关键词： ionic polymer-metal composite (IPMC) artificial muscles actuator flexible gripper finite element analysis electromechanical coupling

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用于可穿戴式人体助力和运动康复的人工肌肉 Review

Tian-yun DONG, Xiang-liang ZHANG, Tao LIU

《信息与电子工程前沿（英文）》 2018年第19卷第11期页码 1303-1315 doi: 10.1631/FITEE.1800618

摘要：传统外骨骼在可穿戴式人体助力和运动康复领域做出巨大贡献。然而，外骨骼仍然面临一些挑战，如质量大、结构复杂、刚度高、噪音大，且关节处有固定旋转中心，给老年人和肌肉虚弱者带来使用困难。相反，基于柔性智能材料的人工肌肉具有质量轻、结构紧凑、刚度低和静音驱动等特性，被认为是与天然肌肉最相似的材料。介电弹性体（dielectric elastomers，DE）和聚氯乙烯（polyvinyl chloride，PVC）凝胶致动应变和致动应力大，响应速度快，驱动寿命长，在可穿戴式人体助力和运动康复领域具有很大应用潜力。然而，这两种材料在这些领域少有研究。在这篇综述中，我们首先分别介绍DE和PVC凝胶的工作原理。接着，总结常用DE材料和PVC凝胶材料。然后，回顾这两种材料所需要的驱动电极和自传感系统。最后，介绍这两种材料在可穿戴式人体助力和运动康复领域的初步应用。

关键词：人工肌肉；智能材料；介电弹性体（DE）；聚氯乙烯（PVC）凝胶；执行器；可穿戴式人体助力；运动康复

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Simultaneous quantification of several classes of antibiotics in water, sediments, and fish muscles by

WEI Yimei,ZHANG Yuan,XU Jian,GUO Changsheng,LI Lei,FAN Wenhong

《环境科学与工程前沿（英文）》 2014年第8卷第3期页码 357-371 doi: 10.1007/s11783-013-0580-6

摘要： Precise and sensitive methods for the simultaneous determination of different classes of antibiotics, including sulphonamides, fluoroquinolones, macrolides, tetracyclines, and trimethoprim in surface water, sediments, and fish muscles were developed. In water samples, drugs were extracted with solid-phase extraction (SPE) by passing 1000 mL of water through hydrophilic lipophilic balanced (HLB) SPE cartridges. Sediment samples were solvent-extracted, followed by tandem SPE (strong anion exchange (SAX) + HLB) clean-ups. Fish muscles were extracted by a mixture of acetonitrile and citric buffer (80:20, v/v) solution, and cleaned by SPE. Liquid chromatography–tandem mass spectrometry (LC-MS/MS) with multiple reaction monitoring (MRM) detection was employed to quantify all compounds. The recoveries for the antibiotics in the spiked water, sediment, and fish samples were 60.2%–95.8%, 48.1%–105.3%, and 59.8%–103.4%, respectively. The methods were applied to samples taken from Dianchi Lake, China. It showed that concentrations of the detected antibiotics ranged from limits of quantification (LOQ) to 713.6 ng·L (ofloxacin) in surface water and from less than LOQ to 344.8 μg·kg (sulphamethoxazole) in sediments. The number of detected antibiotics and the overall antibiotic concentrations were higher in the urban area than the rural area, indicating the probable role of livestock and human activities as important sources of antibiotic contamination. In fish muscles, the concentration of norfloxacin was the highest (up to 38.5 μg·kg ), but tetracyclines and macrolides were relatively low. Results showed that the methods were rapid and sensitive, and capable of determining several classes of antibiotics from each of the water, sediment, and fish matrices in a single run.

关键词： antibiotics liquid chromatography–tandem mass spectrometry (LC-MS/MS) water sediment fish muscle

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Applications of traditional pump design theory to artificial heart and CFD simulation

WANG Yingpeng, SONG Xinwei, YING Chuntong

《能源前沿（英文）》 2008年第2卷第4期页码 504-507 doi: 10.1007/s11708-008-0059-5

摘要： A novel heart pump model was obtained by improving the traditional axial pump design theory with the consideration of working and hydraulic situations for artificial hearts. The pump head range and the velocity triangle were introduced and an iterative approach was utilized for the initial model. Moreover, computational fluid dynamics (CFD) simulations were performed to determine relevant model parameters. The results show that this procedure can be used for designing a series of high-efficiency artificial heart pumps.

关键词： computational high-efficiency artificial iterative approach artificial traditional

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INTERACTIVE KNOWLEDGE LEARNING BY ARTIFICIAL INTELLIGENCE FOR SMALLHOLDERS

《农业科学与工程前沿（英文）》 2023年第10卷第4期页码 648-653 doi: 10.15302/J-FASE-2023505

摘要：

Enhancement of farming management relies heavily on enhancing farmer knowledge. In the past, both the direct learning approach and the personnel extension system for improving fertilization practices of smallholders has proven insufficiently effective. Therefore, this article proposes an interactive knowledge learning approach using artificial intelligence as a promising alternative. The system consists of two parts. The first is a dialog interface that accepts information from farmers about their current farming practices. The second part is an intelligent decision system, which categorizes the information provided by farmers in two categories. The first consists of on-farm constraints, such as fertilizer resources, split application times and seasons. The second comprises knowledge-based practices by farmers, such as nutrient in- and output balance, ratios of different nutrients and the ratios of each split nutrient amount to the total nutrient input. The interactive knowledge learning approach aims to identify and rectify incorrect practices in the knowledge-based category while considering the farmer’s available finance, labor, and fertilizer resources. Investigations show that the interactive knowledge learning approach can make a strong contribution to prevention of the overuse of nitrogen and phosphorus fertilizers, and mitigating agricultural non-point source pollution.

关键词： artificial intelligence extension system non-point source pollution control smallholders fertilization

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Artificial intelligence in gastroenterology: where are we heading?

Joseph JY Sung, Nicholas CH Poon

《医学前沿（英文）》 2020年第14卷第4期页码 511-517 doi: 10.1007/s11684-020-0742-4

摘要： Artificial intelligence (AI) is coming to medicine in a big wave. From making diagnosis in various medical conditions, following the latest advancements in scientific literature, suggesting appropriate therapies, to predicting prognosis and outcome of diseases and conditions, AI is offering unprecedented possibilities to improve care for patients. Gastroenterology is a field that AI can make a significant impact. This is partly because the diagnosis of gastrointestinal conditions relies a lot on image-based investigations and procedures (endoscopy and radiology). AI-assisted image analysis can make accurate assessment and provide more information than conventional analysis. AI integration of genomic, epigenetic, and metagenomic data may offer new classifications of gastrointestinal cancers and suggest optimal personalized treatments. In managing relapsing and remitting diseases such as inflammatory bowel disease, irritable bowel syndrome, and peptic ulcer bleeding, convoluted neural network may formulate models to predict disease outcome, enhancing treatment efficacy. AI and surgical robots can also assist surgeons in conducting gastrointestinal operations. While the advancement and new opportunities are exciting, the responsibility and liability issues of AI-assisted diagnosis and management need much deliberations.

关键词： artificial intelligence endoscopy robotics gastrointestinal diseases

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Visible light responsive photocatalysts developed by substitution with metal cations aiming at artificial

《能源前沿（英文）》 2021年第15卷第3期页码 568-576 doi: 10.1007/s11708-021-0774-8

摘要： To solve resource, energy, and environmental issues, development of sustainable clean energy system is strongly required. In recent years, hydrogen has been paid much attention to as a clean energy. Solar hydrogen production by water splitting using a photocatalyst as artificial photosynthesis is a promising method to solve these issues. Efficient utilization of visible light comprised of solar light is essential for practical use. Three strategies, i.e., doping, control of valence band, and formation of solid solution are often utilized as the useful methods to develop visible light responsive photocatalysts. This mini-review introduces the recent work on visible-light-driven photocatalysts developed by substitution with metal cations of those strategies.

关键词： visible light responsive photocatalyst water splitting artificial photosynthesis: metal ion substitution

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Special issue: Innovative applications of big data and artificial intelligence

《工程管理前沿（英文）》 2022年第9卷第4期页码 517-519 doi: 10.1007/s42524-022-0234-0

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What will the future hold for artificial organs in the service of assisted reproduction: prospects and

Mara Simopoulou, Konstantinos Sfakianoudis, Petroula Tsioulou, Anna Rapani, Polina Giannelou, Nikolaos Kiriakopoulos, Agni Pantou, Nikolaos Vlahos, George Anifandis, Stamatis Bolaris, Konstantinos Pantos, Michael Koutsilieris

《医学前沿（英文）》 2019年第13卷第6期页码 627-638 doi: 10.1007/s11684-019-0697-5

摘要： Assisted reproduction provides a wide spectrum of treatments and strategies addressing infertility. However, distinct groups of infertile patients with unexplained infertility, congenital disorders, and other complex cases pose a challenge in fertilization (IVF) practices. This special cohort of patients is associated with futile attempts, IVF overuse, and dead ends in management. Cutting edge research on animal models introduced this concept, along with the development of artificial organs with the aim to mimic the respective physiological functions in reproduction. Extrapolation on clinical application leads to the future use of infertility management in humans. To date, the successful clinical application of artificial reproductive organs in humans is not feasible because further animal model studies are required prior to clinical trials. The application of these artificial organs could provide a solution to infertility cases with no other options. This manuscript presents an overview on the current status, future prospects, and considerations on the potential clinical application of artificial ovary, uterus, and gametes in humans. This paper presents how the IVF practice landscape may be shaped and challenged in the future, along with the subsequent concerns in assisted reproductive treatments.

关键词： artificial ovary artificial uterus artificial gametes assisted reproduction considerations in vitro fertilization

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HIGH-PERFORMANCE COMPUTATION AND ARTIFICIAL INTELLIGENCE IN PESTICIDE DISCOVERY: STATUS AND OUTLOOK

《农业科学与工程前沿（英文）》 2022年第9卷第1期页码 150-154 doi: 10.15302/J-FASE-2021419

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Special issue: Toward carbon neutrality by artificial photosynthesis

《能源前沿（英文）》 2024年第18卷第1期页码 54-55 doi: 10.1007/s11708-024-0936-6

摘要： Special issue: Toward carbon neutrality by artificial photosynthesis

关键词： photosynthesis

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Artificial intelligence in infrastructure construction: A critical review

《工程管理前沿（英文）》 doi: 10.1007/s42524-024-3128-5

摘要： Artificial intelligence (AI) has emerged as a promising technological solution for addressing critical infrastructure construction challenges, such as elevated accident rates, suboptimal productivity, and persistent labor shortages. This review aims to thoroughly analyze the contemporary landscape of AI applications in the infrastructure construction sector. We conducted both quantitative and qualitative analyses based on 594 and 91 selected papers, respectively. The results reveal that the primary focus of current AI research in this field centers on safety monitoring and control, as well as process management. Key technologies such as machine learning, computer vision, and natural language processing are prominent, with significant attention given to the development of smart construction sites. Our review also highlights several areas for future research, including broadening the scope of AI applications, exploring the potential of diverse AI technologies, and improving AI applications through standardized data sets and generative AI models. These directions are promising for further advancements in infrastructure construction, offering potential solutions to its significant challenges.

关键词： infrastructure construction artificial intelligence literature review quantitative analysis qualitative analysis

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Predicting the strength properties of slurry infiltrated fibrous concrete using artificial neural network

T. Chandra Sekhara REDDY

《结构与土木工程前沿（英文）》 2018年第12卷第4期页码 490-503 doi: 10.1007/s11709-017-0445-3

摘要： This paper is aimed at adapting Artificial Neural Networks (ANN) to predict the strength properties of SIFCON containing different minerals admixture. The investigations were done on 84 SIFCON mixes, and specimens were cast and tested after 28 days curing. The obtained experimental data are trained using ANN which consists of 4 input parameters like Percentage of fiber (PF), Aspect Ratio (AR), Type of admixture (TA) and Percentage of admixture (PA). The corresponding output parameters are compressive strength, tensile strength and flexural strength. The predicted values obtained using ANN show a good correlation between the experimental data. The performance of the 4-14-3 architecture was better than other architectures. It is concluded that ANN is a highly powerful tool suitable for assessing the strength characteristics of SIFCON.

关键词： artificial neural networks root mean square error SIFCON silica fume metakaolin steel fiber