Floating ring bearings are widely used in high-speed turbomachinery such as turbochargers and turbogenerators.Research-ers have recently explored various surface texturing strategies on the inner surface of floating r...Floating ring bearings are widely used in high-speed turbomachinery such as turbochargers and turbogenerators.Research-ers have recently explored various surface texturing strategies on the inner surface of floating rings to enhance bearing performance.In this study,the herring patterns are textured on the inner surface of the floating ring.This pattern is inspired by the secondary flight feathers of the Indian pigeon,which aid the bird in reducing viscous drag during flight.The result-ing Herringbone Textured Floating Ring Bearing(HTFRB)is investigated for its potential application in locomotive turbo-chargers.The HTFRB is numerically modeled using the Reynolds equation to evaluate the bearing's pressure distribution and static characteristics,including load-carrying capacity,power loss,and side leakage.Dynamic characteristics are determined by solving the zeroth-and first-order perturbed Reynolds equation.A Sobol sensitivity analysis is conducted to quantify the influence of groove parameters-helix angle,groove depth,groove width ratio,and number of grooves-on bearing performance metrics.An artificial intelligence-based optimization framework,integrating artificial neural networks and adaptive neuro-fuzzy inference systems,is developed to maximize load carrying capacity while minimiz-ing power loss,side leakage,and friction coefficient.The optimized texture parameters obtained from this framework are employed to validate the ANN model and evaluate the static and dynamic characteristics of the HTFRB.The dynamic coefficients of the HTFRB are further employed to evaluate the stability and robustness of the turbocharger rotor-HTFRB system.This study underscores the potential of combining bio-inspired texture design with numerical modeling and AI-based optimization to develop high-performance HTFRB.展开更多
The original online version of this article was revised:Several errors occurred in the published version of the article.These have now been corrected as follows:Page 2,section"2.2 Laser Texturing Procedure of Sur...The original online version of this article was revised:Several errors occurred in the published version of the article.These have now been corrected as follows:Page 2,section"2.2 Laser Texturing Procedure of Surfaces",line 2:The device name was corrected from"YDFLP-E-50-M8"to"YDFLP-50-M8."Page 3,Section 2.4:The phrase"95%confidence interval"has been corrected to"95%confidence level."Page 3,Figure 1 caption:The phrase"fandg"has been corrected to"f and g."The order"C4 and C12"has been reversed to"C12 and C4,"in accordance with the display order in the figure.Page 4,Figure reference:The phrase"Figs.4c and d"has been corrected to"Figs.5b and c."Page 5,paragraph starting with"The ANOVA results are presented...":The phrase"95%confidence interval"has been corrected to"95%confidence level."展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
In this study,we developed a novel bilayered scaffold consisting of a bottom layer composed of the Decellularized Bovine Pericardium(DP)coated with Polyaniline Nanoparticles(PANINPs)and a top layer made of an electros...In this study,we developed a novel bilayered scaffold consisting of a bottom layer composed of the Decellularized Bovine Pericardium(DP)coated with Polyaniline Nanoparticles(PANINPs)and a top layer made of an electrospun Poly(lactic-co-glycolic acid)/Gelatin(PLGA/Gel)membrane incorporated with Vascular Endothelial Growth Fac-tor(VEGF)and hawthorn extract.Functionally,the DP supplies native Extracellular Matrix(ECM)components and mechanical support,while PANINPs provide conductivity.The electrospun PLGA/Gel layer mimics fibrous ECM.It incorporates bioactives,with VEGF promoting pro-angiogenic stimulation and hawthorn extract enhanc-ing anticoagulant activity,as well as increasing surface hydrophilicity.The tissue adhesive ensures the interfacial integrity between the two layers.Decellularization efficiency was confirmed histologically using 4',6-diamidino-2-phenylindole(DAPI)and Hematoxylin-Eosin(H&E)staining.The DP exhibited a DNA content of 115.9±47.8 ng/mg DNA,compared to 982.88±395.42 ng/mg in Native Pericardium(NP).The PANINPs had an average par-ticle size of 104.94±13.7 nm.The conductivity of PANINPs-coated decellularized pericardium was measured to be 9.093±8.6×10-4 S/cm using the four-point probe method.PLGA/Gel membranes containing hawthorn extract(1%,5%,10%,and 15%w/v)and VEGF(0.1μg/mL,0.5μg/mL,and 1μg/mL)were fabricated by electrospinning,result-ing in fiber diameters between 850 and 1200 nm and pore sizes between 14 and 20μm.The anticoagulant efficiency of the membranes containing hawthorn extract reached 430 s in the Activated Partial Thromboplastin Time Assay(aPTT).Mechanical testing revealed a tensile strength of 22.70±6.33 MPa,an elongation of 53.58±10.63%,and Young's modulus of 0.67±0.10 MPa.The scaffold also exhibited over 91%cell viability and excellent cardiomyo-cyte adhesion.The hemolysis ratio was determined to be 0.421±0.191%,which confirms its blood compatibility.Our results indicate that the proposed bilayered scaffold can be a promising candidate for cardiac patch applications.展开更多
To address the critical challenge of risk perception and assessment for autonomous vehicles in dynamic interactive envi-ronments,this study proposes a semi-supervised spatiotemporal interaction risk cognition network ...To address the critical challenge of risk perception and assessment for autonomous vehicles in dynamic interactive envi-ronments,this study proposes a semi-supervised spatiotemporal interaction risk cognition network with attention mecha-nism(SS-SIRCN),inspired by the behavioral adaptation patterns of biological groups under external threats.First,by thoroughly analyzing the dynamic interaction characteristics exhibited by typical biological collectives when exposed to risk,the study reveals the underlying patterns of trajectory changes influenced by external danger.Then,an attention-based spatiotemporal risk cognition network is designed to establish a mapping between driving behavior features and potential driving risks.Finally,a semi-supervised learning framework is employed to enable risk assessment for autono-mous vehicles using only a small amount of labeled data.Experimental results on real-world vehicle trajectory datasets demonstrate that the proposed method achieves a risk prediction accuracy of 90.76%,outperforming other baseline models in performance.展开更多
Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This c...Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This comprehensive review analyzes the evolution of microrobotic technologies through three critical dimensions:(1)actuation modalities,including magnetic,optical,acoustic,chemical,and biological actuation,with a focus on the synergistic advantages of hybrid actuation strategies in complex internal physiological environments;(2)Fabrication methods cover technolo-gies such as photolithography,microinjection molding,self-assembly,and 3D printing,emphasizing innovative strategies involving multi-technology integration and collaborative manufacturing of bio/non-bio hybrid materials;(3)Internal phys-iological applications involve disease diagnosis,targeted drug delivery,minimally invasive surgery,tissue engineering,and cell manipulation,highlighting the broad prospects of microrobots in precision medicine.Despite remarkable progress,critical challenges remain,including low actuation efficiency,as seen in acoustic systems,limited biocompatibility,exem-plified by the toxicity of hydrogen peroxide in chemical actuation,delayed clinical translation,and other related challenges that must be addressed to advance the field.展开更多
Micro/nanorobots represent a groundbreaking advancement in nanotechnology,with applications spanning medicine,envi-ronmental remediation,and industrial processes.A major challenge in their development is achieving eff...Micro/nanorobots represent a groundbreaking advancement in nanotechnology,with applications spanning medicine,envi-ronmental remediation,and industrial processes.A major challenge in their development is achieving efficient and bio-compatible propulsion.Enzyme-driven propulsion,particularly using catalase,offers a promising solution due to its ability to decompose hydrogen peroxide(H2O2)into water and oxygen,generating thrust for autonomous movement.Compared to metal-based catalysts,catalase-powered systems exhibit superior biocompatibility and lower toxicity,making them ideal for biomedical applications.This review explores the role of catalase in micro/nanorobot propulsion,highlighting self-propulsion mechanisms,different nanorobot types,and their applications in drug delivery,infection treatment,cancer therapy,and biosensing.Additionally,recent advancements in biodegradable enzyme-powered nanorobots and their poten-tial in overcoming biological barriers are discussed.With further research,catalase-driven nanorobots could revolutionize targeted therapy and diagnostic techniques,paving the way for innovative solutions in nanomedicine.展开更多
Treating bone defects complicated by bacterial infections remains a significant clinical challenge.Drawing inspiration from the human body's bone repair mechanisms,the use of biomimetic methods to design tissue en...Treating bone defects complicated by bacterial infections remains a significant clinical challenge.Drawing inspiration from the human body's bone repair mechanisms,the use of biomimetic methods to design tissue engineering scaffolds is of great significance for bone repair.This study synthesized copper(Cu)-doped mesoporous silica nanoparticles(Cu@MSN)modified with hydroxyethyl methacrylate to obtain methacrylated Cu@MSN(Cu@MSNMA).Furtheremore,bio-mimetic nanocomposite hydrogels were prepared by adding Cu@MSNMA to a GelMA/gelatin solution.This hydrogel achieves multi-modal bone tissue biomimicry:(ⅰ)GelMA/gelatin mimics the matrix components in bone ECM,ensuring biocompatibility while promoting cellular behavior(such as adhesion,proliferation,and differentiation);(ⅱ)GelMA/gela-tin and the crosslinking sites introduced by Cu@MSNMA form a stable porous network structure,achieving structural and mechanical biomimicry to provide necessary support for bone defects;(ⅲ)The elemental biomimicry of Si and Cu in Cu@MSNMA achieves efficient osteogenic induction.The effect of different proportions of Cu@MSNMA on the physi-cal properties of the composite hydrogels was investigated to determine the optimal proportion.The results indicated that the mechanical properties of hydrogel were enhanced with the increasing Cu@MSNMA mass ratio.Notably,5%NPs/GelMA/gelatin hydrogel exhibited excellent mechanical property compared to the GelMA/gelatin hydrogel.In vitro and vivo cellular experiments demonstrated a significant enhancement in antibacterial and osteogenic induction with Cu@MSNMA addition.In conclusion,the proposed nanocomposite hydrogel with biomimetic components and ion-regulating properties can serve as a multifunctional scaffold,offering antimicrobial properties for infected bone regeneration,and guide for future research in bone regeneration and three-dimensional printing.展开更多
The original online version of this article was revised:The layout update for Article 758 has impacted the page range in the published issue,but did not affect the scholarly content.To ensure consistency with the orig...The original online version of this article was revised:The layout update for Article 758 has impacted the page range in the published issue,but did not affect the scholarly content.To ensure consistency with the originally assigned pages(2595-2614),we will need to publish an erratum to correct the article and restore the original page range.The original article has been corrected.展开更多
This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japo...This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.展开更多
The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to r...The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to reveal DOF characteristics.The method draws on the superposition mechanism of the deformation characteristics of the sarcomere in the skeletal muscles of living organisms.Firstly,the multi-DOF deformation characteristics of the soft actuator are discretized into superimposed combinations of single-DOF micro-units.Then,the soft actuator was determined to contain deformation characteristics such as extension-contraction,bending,and twisting.Eighteen types of micro-units with basic deforma-tion characteristics were obtained depending on the axis and orientation.Further,the mapping relationship between the combination of micro-units and the motion characteristics of the soft actuator based on the GF set theory was established.Finally,an active-passive DOF co-structured soft actuator(APCSA)was developed.The graphical approach analyzes the experimental results,and it can be concluded that active and passive DOFs can coexist in the composite deformation of the soft actuator.展开更多
Ion-exchange Polymer-Metal Composites(IPMCs)gain huge attentions due to large deformation,rapid electromechanical response,and high energy conversion efficiency.Deflection of IPMC arises from the volumetric swelling e...Ion-exchange Polymer-Metal Composites(IPMCs)gain huge attentions due to large deformation,rapid electromechanical response,and high energy conversion efficiency.Deflection of IPMC arises from the volumetric swelling effect induced by the concentration gradient of hydrated cations between the two electrodes,thus the volume of hydrated cation deter-mines the motion magnitude and direction of IPMC.H ion is one of the most commonly used driving cations for IPMC.However,due to its unique characteristics,particularly the inability to accurately quantify its hydration volume,existing literatures primarily focus on the physical driving models for metallic cations,i.e.,Na+,no driving model for the H ion is reported until now.This paper proposes a novel model of H ion escape from the water's body-centered cubic lattice to count the hydration volume.Number(n)of water molecules carried by the H ion is solved by combining the Lennard-Jones potential energy function with Maxwell's velocity distribution.The specific n value is equivalent to 4.04 for the H ion inside Nafion electrolyte under a 3.0 V DC electric field.Substituting it into the classic Friction Model(proposed by Tadokoro et al.at 2000),actuation behaviors of H ion driven IPMC were therefore achieved through Matlab calculations and Abaqus simulations.The calculated results of dynamic displacement and force highly match to the experimental data form the Nafion IPMC actuator driven by same electric field,showing a highly reliability of the established escape model.展开更多
Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps oft...Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps often reduce coverage efficiency.To address this issue,this paper proposes a map preprocessing algorithm that linearizes boundary lines and processes concave areas into concave polygons,followed by gridding the map.Additionally,a collaborative area coverage method for UAV swarms is introduced based on region partitioning,which considers the comprehensive cost of energy consumption and time.An improved Hungarian algorithm is utilized for region partitioning,and a Dubins-A*-based plow-ing area full coverage path planning method is proposed to achieve path smoothing and collaborative coverage of each partition.Two sets of simulation experiments are conducted.The first experiment verifies the effectiveness of the map preprocessing algorithm,and the second compares the proposed collaborative area coverage algorithm with other methods,demonstrating its performance advantages.展开更多
This research presents a Human Lower Limb Activity Recognition(HLLAR)system that identifies specific activities and predicts the angles of the knees simultaneously,based on the EMG signals.The HLLAR systems streamline...This research presents a Human Lower Limb Activity Recognition(HLLAR)system that identifies specific activities and predicts the angles of the knees simultaneously,based on the EMG signals.The HLLAR systems streamlines the research on the lower limb activities.The HILLAR model includes Discrete Hermite Wavelets Transform-based Synchrosqueezing(DHWTS),Deep Two-Layer Multiscale Convolutional Neural Network(DTLMCNN),and Generalized Regression Neural Network(GRNN)as feature extraction,activity recognition,and knee angle prediction respectively.Electromyography signal-based automatic lower limb activity detection is crucial to rehabilitation and human movement analysis.Yet several of these methods face issues in feature extraction in complex data,overlapping signals,extraction of crucial parameters,and adaptation constraints.This research aims classify lower limb activities and predict knee joint angles from electromy-ography signals using HILLAR model.The model is validated on two datasets,comprising 26 subjects performing three classes of activities:walking,standing,and sitting.The proposed model obtained a classification accuracy of 99.95%,along with significant achievements in precision(99.93%),recall(99.91%),and F1-score(99.93%).The generalized regression neural network predicted angles of the knee joint with a root mean squared error of 1.25%.Robustness is demonstrated through consistent results in five-fold cross-validation and statistical significance testing(p-value=0.004,McNemar's test).Additionally,the proposed model showed superior performance over baseline methods by reducing error rates by 18%and decreasing processing time to 0.98 s.展开更多
Aberrant activation of Receptor Tyrosine Kinases(RTKs)is a well-established trigger of tumorigenesis,and the over-use of RTK inhibitors often leads to drug resistance and tumor recurrence.While current Drug-Target Int...Aberrant activation of Receptor Tyrosine Kinases(RTKs)is a well-established trigger of tumorigenesis,and the over-use of RTK inhibitors often leads to drug resistance and tumor recurrence.While current Drug-Target Interaction(DTI)prediction methods(including those based on heterogeneous information networks)have shown promise,they remain limited in their ability to fully capture the nature of DTIs and often lack interpretability.To overcome these limitations,this study introduces a novel hybrid optimization model termed MDBO-RF,which integrates a Modified Dung Beetle Optimizer(MDBO)with Random Forest(RF).The key innovation lies in the enhancement of the DBO algorithm through a quaternion-based learning mechanism and the Cauchy mutation strategy,specifically designed to overcome the slow convergence and susceptibility to local optima that plague traditional metaheuristic algorithms used for hyperparameter tuning.The model leverages commonly used molecular descriptors to enhance the prediction of Tyrosine Kinase(TK)inhibitory activity and enable efficient compound screening.Our results demonstrate that MDBO-RF achieves a 3.41%increase in prediction accuracy compared to the standard RF model and outperforms several other contemporary machine learning approaches.The model effectively streamlines the RTK inhibitor screening process by improving prediction accuracy in multi-target competitive binding scenarios and reducing false-positive screening due to off-target effects.This work underscores the value of hybrid optimization strategies in bioinformatics and provides a robust,interpretable tool for accelerating drug discovery.展开更多
This study investigated surface roughness,the wettability behavior,and surface energy of Co-based alloy specimens textured using the biomimetic Laser Surface Texturing(LST)method.The surface texture was inspired by th...This study investigated surface roughness,the wettability behavior,and surface energy of Co-based alloy specimens textured using the biomimetic Laser Surface Texturing(LST)method.The surface texture was inspired by the patterns found on marine shells.The impacts of the parameters on wettability,Surface Free Energy(SFE),surface topography,and texture roughness generated by the laser beam tracking a spiral path were investigated.Reducing spiral pitch produces more complicated and chaotic surface patterns.Most surfaces are hydrophobic,and surface roughness and topography influence the Contact Angle(CA).Topography and roughness were affected by frequency and scanning speed;a decrease in scanning speed and frequency generated more chaotic and irregular surface textures.With general factorial analysis and Analysis of Variance(ANOVA),our statistical study reveals that accounting for 88%of the influence,the scanning speed is the primary factor influencing surface roughness.On the other hand,the spiral pitch is essential for defining the struc-tural features of the surface,even if it less influences roughness.The SFE of laser-textured CoCr28Mo alloy specimens was optimizable within the range of 14-32 mN/m.The relevant findings offer valuable insights into optimizing LST for the specific surface properties of the Co-based alloy.展开更多
Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of...Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of conducting full-scale fall experiments on robots or their surrogates remain somewhat limited.This paper proposes a method for optimizing the thickness of Expandable Polyethylene(EPE),which is used as back protection for the Chubao humanoid robot,based on small-scale impact test data to predict full-scale behavior.The optimal thickness is defined as a balance between compact design and protective effectiveness.An equivalent impact model characterized by four parameters:contact area S,mass m,fall height h,and cushioning material thickness d is introduced to describe impact conditions.The relationship between the peak impact acceleration ap and material thickness d,which forms the core of the method and gives rise to the name AP-D,is analyzed through their plotted curves.After introducing three characteristic parameters and two correction fac-tors,the relationship among the aforementioned variables is derived.Subsequently,both the optimal thickness do and its corresponding peak impact acceleration aop are predicted via nonlinear and linear regression models.Finally,the accuracy and effectiveness of the theoretically derived optimal thickness are validated on both a dummy and the actual robot.With the cushioning material applied,the peak chest acceleration is reduced to 41.57g for the dummy and 32.08g for the robot.展开更多
Radiative cooling passively emits heat to outer space without energy input,offering promise for energy-efficient thermal management.It is an important solution to promote the low-carbon environmental protection strate...Radiative cooling passively emits heat to outer space without energy input,offering promise for energy-efficient thermal management.It is an important solution to promote the low-carbon environmental protection strategy.With the continuous development of radiative cooling technologies,the material selection,preparation process,structural design,and applica-tion fields have also made more diverse progress.Therefore,this review aims to systematically introduce the fundamental concepts and underlying principles of radiative cooling.A summary of the commonly used materials for radiative cooling is provided.In addition,the advanced fabrication processes and structural designs of radiative cooling materials are further explored and discussed.Subsequently,the unique functions of radiative cooling materials are highlighted to enhance their applicability and usefulness across various fields.An overview of combining radiative cooling materials with different fields is also provided.In reality,these applications hold the potential to improve thermal management across a range of fields.Finally,it summarizes the shortcomings and great potential of radiative cooling materials in various fields.It also looks forward to the future,aiming to promote the progress and widespread adoption of radiative cooling technologies.展开更多
The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varyi...The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varying degrees of degradation and damage to the main cable,necessitating regular inspections to prevent catastrophic failures.Traditional manual inspection methods not only suffer from low efficiency but also pose significant safety risks to personnel.To address these challenges and ensure the safe and effective inspection of suspension bridge main cables,this study introduces a novel cooperative climbing robot,designated as Main Cable Robot Version II(CCRobot-M-II),inspired by the locomotion of the inchworm.The robot employs an alternating opening and closing mechanism of four gripper sets,mimicking the inchworm's movement to achieve efficient crawling along the suspension bridge handrails.This paper provides a comprehensive analysis of the structural design,key components,and motion mechanisms of CCRobot-M-II.A detailed force analysis of the robot's crawling process is also presented,followed by the design of the control system and the development of an efficient motion control algorithm.Laboratory experiments demonstrate that the robot achieves a positional error of 00.64%during crawling,with a maximum average crawling speed of 7.6 m/min.Furthermore,the biomimetic design enables the robot to overcome obstacles up to 30 mm in height and possess the capability to handle suspension bridge cables with spans ranging from 740 to 1100 mm.Finally,CCRobot-M-II successfully conducted an inspection of the main cable on a suspension bridge,marking the world's first successful deployment of a climbing robot for main cable inspection on a suspension bridge.展开更多
文摘Floating ring bearings are widely used in high-speed turbomachinery such as turbochargers and turbogenerators.Research-ers have recently explored various surface texturing strategies on the inner surface of floating rings to enhance bearing performance.In this study,the herring patterns are textured on the inner surface of the floating ring.This pattern is inspired by the secondary flight feathers of the Indian pigeon,which aid the bird in reducing viscous drag during flight.The result-ing Herringbone Textured Floating Ring Bearing(HTFRB)is investigated for its potential application in locomotive turbo-chargers.The HTFRB is numerically modeled using the Reynolds equation to evaluate the bearing's pressure distribution and static characteristics,including load-carrying capacity,power loss,and side leakage.Dynamic characteristics are determined by solving the zeroth-and first-order perturbed Reynolds equation.A Sobol sensitivity analysis is conducted to quantify the influence of groove parameters-helix angle,groove depth,groove width ratio,and number of grooves-on bearing performance metrics.An artificial intelligence-based optimization framework,integrating artificial neural networks and adaptive neuro-fuzzy inference systems,is developed to maximize load carrying capacity while minimiz-ing power loss,side leakage,and friction coefficient.The optimized texture parameters obtained from this framework are employed to validate the ANN model and evaluate the static and dynamic characteristics of the HTFRB.The dynamic coefficients of the HTFRB are further employed to evaluate the stability and robustness of the turbocharger rotor-HTFRB system.This study underscores the potential of combining bio-inspired texture design with numerical modeling and AI-based optimization to develop high-performance HTFRB.
文摘The original online version of this article was revised:Several errors occurred in the published version of the article.These have now been corrected as follows:Page 2,section"2.2 Laser Texturing Procedure of Surfaces",line 2:The device name was corrected from"YDFLP-E-50-M8"to"YDFLP-50-M8."Page 3,Section 2.4:The phrase"95%confidence interval"has been corrected to"95%confidence level."Page 3,Figure 1 caption:The phrase"fandg"has been corrected to"f and g."The order"C4 and C12"has been reversed to"C12 and C4,"in accordance with the display order in the figure.Page 4,Figure reference:The phrase"Figs.4c and d"has been corrected to"Figs.5b and c."Page 5,paragraph starting with"The ANOVA results are presented...":The phrase"95%confidence interval"has been corrected to"95%confidence level."
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
文摘In this study,we developed a novel bilayered scaffold consisting of a bottom layer composed of the Decellularized Bovine Pericardium(DP)coated with Polyaniline Nanoparticles(PANINPs)and a top layer made of an electrospun Poly(lactic-co-glycolic acid)/Gelatin(PLGA/Gel)membrane incorporated with Vascular Endothelial Growth Fac-tor(VEGF)and hawthorn extract.Functionally,the DP supplies native Extracellular Matrix(ECM)components and mechanical support,while PANINPs provide conductivity.The electrospun PLGA/Gel layer mimics fibrous ECM.It incorporates bioactives,with VEGF promoting pro-angiogenic stimulation and hawthorn extract enhanc-ing anticoagulant activity,as well as increasing surface hydrophilicity.The tissue adhesive ensures the interfacial integrity between the two layers.Decellularization efficiency was confirmed histologically using 4',6-diamidino-2-phenylindole(DAPI)and Hematoxylin-Eosin(H&E)staining.The DP exhibited a DNA content of 115.9±47.8 ng/mg DNA,compared to 982.88±395.42 ng/mg in Native Pericardium(NP).The PANINPs had an average par-ticle size of 104.94±13.7 nm.The conductivity of PANINPs-coated decellularized pericardium was measured to be 9.093±8.6×10-4 S/cm using the four-point probe method.PLGA/Gel membranes containing hawthorn extract(1%,5%,10%,and 15%w/v)and VEGF(0.1μg/mL,0.5μg/mL,and 1μg/mL)were fabricated by electrospinning,result-ing in fiber diameters between 850 and 1200 nm and pore sizes between 14 and 20μm.The anticoagulant efficiency of the membranes containing hawthorn extract reached 430 s in the Activated Partial Thromboplastin Time Assay(aPTT).Mechanical testing revealed a tensile strength of 22.70±6.33 MPa,an elongation of 53.58±10.63%,and Young's modulus of 0.67±0.10 MPa.The scaffold also exhibited over 91%cell viability and excellent cardiomyo-cyte adhesion.The hemolysis ratio was determined to be 0.421±0.191%,which confirms its blood compatibility.Our results indicate that the proposed bilayered scaffold can be a promising candidate for cardiac patch applications.
基金the Jilin Provincial Department of Science and Technology Youth Science and Technology Talent Cultivation Project(20250602051RC)Fundamental Research Funds for the Central Universities(2025-JCXK-19)National Natural Science Foundation of China under Grant 52272417.
文摘To address the critical challenge of risk perception and assessment for autonomous vehicles in dynamic interactive envi-ronments,this study proposes a semi-supervised spatiotemporal interaction risk cognition network with attention mecha-nism(SS-SIRCN),inspired by the behavioral adaptation patterns of biological groups under external threats.First,by thoroughly analyzing the dynamic interaction characteristics exhibited by typical biological collectives when exposed to risk,the study reveals the underlying patterns of trajectory changes influenced by external danger.Then,an attention-based spatiotemporal risk cognition network is designed to establish a mapping between driving behavior features and potential driving risks.Finally,a semi-supervised learning framework is employed to enable risk assessment for autono-mous vehicles using only a small amount of labeled data.Experimental results on real-world vehicle trajectory datasets demonstrate that the proposed method achieves a risk prediction accuracy of 90.76%,outperforming other baseline models in performance.
基金National Natural Science Foundation of China(Grant No.61903157)the Foundation of State Key Laboratory of Robotics(Grand No.2024-O08).
文摘Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This comprehensive review analyzes the evolution of microrobotic technologies through three critical dimensions:(1)actuation modalities,including magnetic,optical,acoustic,chemical,and biological actuation,with a focus on the synergistic advantages of hybrid actuation strategies in complex internal physiological environments;(2)Fabrication methods cover technolo-gies such as photolithography,microinjection molding,self-assembly,and 3D printing,emphasizing innovative strategies involving multi-technology integration and collaborative manufacturing of bio/non-bio hybrid materials;(3)Internal phys-iological applications involve disease diagnosis,targeted drug delivery,minimally invasive surgery,tissue engineering,and cell manipulation,highlighting the broad prospects of microrobots in precision medicine.Despite remarkable progress,critical challenges remain,including low actuation efficiency,as seen in acoustic systems,limited biocompatibility,exem-plified by the toxicity of hydrogen peroxide in chemical actuation,delayed clinical translation,and other related challenges that must be addressed to advance the field.
基金The Large Research Group Project under grant number RGP.02/516/45.
文摘Micro/nanorobots represent a groundbreaking advancement in nanotechnology,with applications spanning medicine,envi-ronmental remediation,and industrial processes.A major challenge in their development is achieving efficient and bio-compatible propulsion.Enzyme-driven propulsion,particularly using catalase,offers a promising solution due to its ability to decompose hydrogen peroxide(H2O2)into water and oxygen,generating thrust for autonomous movement.Compared to metal-based catalysts,catalase-powered systems exhibit superior biocompatibility and lower toxicity,making them ideal for biomedical applications.This review explores the role of catalase in micro/nanorobot propulsion,highlighting self-propulsion mechanisms,different nanorobot types,and their applications in drug delivery,infection treatment,cancer therapy,and biosensing.Additionally,recent advancements in biodegradable enzyme-powered nanorobots and their poten-tial in overcoming biological barriers are discussed.With further research,catalase-driven nanorobots could revolutionize targeted therapy and diagnostic techniques,paving the way for innovative solutions in nanomedicine.
基金National Key R&D Program of China(grant number 2022YFA1207500)National Natural Science Foundation of China(grant number 82072412).
文摘Treating bone defects complicated by bacterial infections remains a significant clinical challenge.Drawing inspiration from the human body's bone repair mechanisms,the use of biomimetic methods to design tissue engineering scaffolds is of great significance for bone repair.This study synthesized copper(Cu)-doped mesoporous silica nanoparticles(Cu@MSN)modified with hydroxyethyl methacrylate to obtain methacrylated Cu@MSN(Cu@MSNMA).Furtheremore,bio-mimetic nanocomposite hydrogels were prepared by adding Cu@MSNMA to a GelMA/gelatin solution.This hydrogel achieves multi-modal bone tissue biomimicry:(ⅰ)GelMA/gelatin mimics the matrix components in bone ECM,ensuring biocompatibility while promoting cellular behavior(such as adhesion,proliferation,and differentiation);(ⅱ)GelMA/gela-tin and the crosslinking sites introduced by Cu@MSNMA form a stable porous network structure,achieving structural and mechanical biomimicry to provide necessary support for bone defects;(ⅲ)The elemental biomimicry of Si and Cu in Cu@MSNMA achieves efficient osteogenic induction.The effect of different proportions of Cu@MSNMA on the physi-cal properties of the composite hydrogels was investigated to determine the optimal proportion.The results indicated that the mechanical properties of hydrogel were enhanced with the increasing Cu@MSNMA mass ratio.Notably,5%NPs/GelMA/gelatin hydrogel exhibited excellent mechanical property compared to the GelMA/gelatin hydrogel.In vitro and vivo cellular experiments demonstrated a significant enhancement in antibacterial and osteogenic induction with Cu@MSNMA addition.In conclusion,the proposed nanocomposite hydrogel with biomimetic components and ion-regulating properties can serve as a multifunctional scaffold,offering antimicrobial properties for infected bone regeneration,and guide for future research in bone regeneration and three-dimensional printing.
文摘The original online version of this article was revised:The layout update for Article 758 has impacted the page range in the published issue,but did not affect the scholarly content.To ensure consistency with the originally assigned pages(2595-2614),we will need to publish an erratum to correct the article and restore the original page range.The original article has been corrected.
基金CHINA POSTDOCTORAL SCIENCE FOUNDATION(Grant No.2025M771925)Young Scientists Fund(C Class)(Grant No.32501636)Special Fund of Fundamental Scientific Research Business Expense for Higher School of Central Government(Grant No.2572025JT04).
文摘This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.
基金The Central Government Guides Local Foundation for Science and Technology Development(Grant No.YDZJSX2024B004).
文摘The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to reveal DOF characteristics.The method draws on the superposition mechanism of the deformation characteristics of the sarcomere in the skeletal muscles of living organisms.Firstly,the multi-DOF deformation characteristics of the soft actuator are discretized into superimposed combinations of single-DOF micro-units.Then,the soft actuator was determined to contain deformation characteristics such as extension-contraction,bending,and twisting.Eighteen types of micro-units with basic deforma-tion characteristics were obtained depending on the axis and orientation.Further,the mapping relationship between the combination of micro-units and the motion characteristics of the soft actuator based on the GF set theory was established.Finally,an active-passive DOF co-structured soft actuator(APCSA)was developed.The graphical approach analyzes the experimental results,and it can be concluded that active and passive DOFs can coexist in the composite deformation of the soft actuator.
基金National Natural Science Foundations of China(52275295)Central Plains Science and Technology Innovation Leading Talents(234200510026).
文摘Ion-exchange Polymer-Metal Composites(IPMCs)gain huge attentions due to large deformation,rapid electromechanical response,and high energy conversion efficiency.Deflection of IPMC arises from the volumetric swelling effect induced by the concentration gradient of hydrated cations between the two electrodes,thus the volume of hydrated cation deter-mines the motion magnitude and direction of IPMC.H ion is one of the most commonly used driving cations for IPMC.However,due to its unique characteristics,particularly the inability to accurately quantify its hydration volume,existing literatures primarily focus on the physical driving models for metallic cations,i.e.,Na+,no driving model for the H ion is reported until now.This paper proposes a novel model of H ion escape from the water's body-centered cubic lattice to count the hydration volume.Number(n)of water molecules carried by the H ion is solved by combining the Lennard-Jones potential energy function with Maxwell's velocity distribution.The specific n value is equivalent to 4.04 for the H ion inside Nafion electrolyte under a 3.0 V DC electric field.Substituting it into the classic Friction Model(proposed by Tadokoro et al.at 2000),actuation behaviors of H ion driven IPMC were therefore achieved through Matlab calculations and Abaqus simulations.The calculated results of dynamic displacement and force highly match to the experimental data form the Nafion IPMC actuator driven by same electric field,showing a highly reliability of the established escape model.
基金National Natural Science Foundation of China(62402020,62303022)Beijing Nova Program(20240484720)+1 种基金Project of Cultivation for Young Top-Notch Talents of Beijing Municipal Institutions(BPHR202203043)BTBU Digital Business Platform Project byBMEC.
文摘Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps often reduce coverage efficiency.To address this issue,this paper proposes a map preprocessing algorithm that linearizes boundary lines and processes concave areas into concave polygons,followed by gridding the map.Additionally,a collaborative area coverage method for UAV swarms is introduced based on region partitioning,which considers the comprehensive cost of energy consumption and time.An improved Hungarian algorithm is utilized for region partitioning,and a Dubins-A*-based plow-ing area full coverage path planning method is proposed to achieve path smoothing and collaborative coverage of each partition.Two sets of simulation experiments are conducted.The first experiment verifies the effectiveness of the map preprocessing algorithm,and the second compares the proposed collaborative area coverage algorithm with other methods,demonstrating its performance advantages.
文摘This research presents a Human Lower Limb Activity Recognition(HLLAR)system that identifies specific activities and predicts the angles of the knees simultaneously,based on the EMG signals.The HLLAR systems streamlines the research on the lower limb activities.The HILLAR model includes Discrete Hermite Wavelets Transform-based Synchrosqueezing(DHWTS),Deep Two-Layer Multiscale Convolutional Neural Network(DTLMCNN),and Generalized Regression Neural Network(GRNN)as feature extraction,activity recognition,and knee angle prediction respectively.Electromyography signal-based automatic lower limb activity detection is crucial to rehabilitation and human movement analysis.Yet several of these methods face issues in feature extraction in complex data,overlapping signals,extraction of crucial parameters,and adaptation constraints.This research aims classify lower limb activities and predict knee joint angles from electromy-ography signals using HILLAR model.The model is validated on two datasets,comprising 26 subjects performing three classes of activities:walking,standing,and sitting.The proposed model obtained a classification accuracy of 99.95%,along with significant achievements in precision(99.93%),recall(99.91%),and F1-score(99.93%).The generalized regression neural network predicted angles of the knee joint with a root mean squared error of 1.25%.Robustness is demonstrated through consistent results in five-fold cross-validation and statistical significance testing(p-value=0.004,McNemar's test).Additionally,the proposed model showed superior performance over baseline methods by reducing error rates by 18%and decreasing processing time to 0.98 s.
基金National Key Research and Development Program of China(No.2022YFD1802104).
文摘Aberrant activation of Receptor Tyrosine Kinases(RTKs)is a well-established trigger of tumorigenesis,and the over-use of RTK inhibitors often leads to drug resistance and tumor recurrence.While current Drug-Target Interaction(DTI)prediction methods(including those based on heterogeneous information networks)have shown promise,they remain limited in their ability to fully capture the nature of DTIs and often lack interpretability.To overcome these limitations,this study introduces a novel hybrid optimization model termed MDBO-RF,which integrates a Modified Dung Beetle Optimizer(MDBO)with Random Forest(RF).The key innovation lies in the enhancement of the DBO algorithm through a quaternion-based learning mechanism and the Cauchy mutation strategy,specifically designed to overcome the slow convergence and susceptibility to local optima that plague traditional metaheuristic algorithms used for hyperparameter tuning.The model leverages commonly used molecular descriptors to enhance the prediction of Tyrosine Kinase(TK)inhibitory activity and enable efficient compound screening.Our results demonstrate that MDBO-RF achieves a 3.41%increase in prediction accuracy compared to the standard RF model and outperforms several other contemporary machine learning approaches.The model effectively streamlines the RTK inhibitor screening process by improving prediction accuracy in multi-target competitive binding scenarios and reducing false-positive screening due to off-target effects.This work underscores the value of hybrid optimization strategies in bioinformatics and provides a robust,interpretable tool for accelerating drug discovery.
基金the Scientific and Technological Research Council of Türkiye(TÜBiTAK).
文摘This study investigated surface roughness,the wettability behavior,and surface energy of Co-based alloy specimens textured using the biomimetic Laser Surface Texturing(LST)method.The surface texture was inspired by the patterns found on marine shells.The impacts of the parameters on wettability,Surface Free Energy(SFE),surface topography,and texture roughness generated by the laser beam tracking a spiral path were investigated.Reducing spiral pitch produces more complicated and chaotic surface patterns.Most surfaces are hydrophobic,and surface roughness and topography influence the Contact Angle(CA).Topography and roughness were affected by frequency and scanning speed;a decrease in scanning speed and frequency generated more chaotic and irregular surface textures.With general factorial analysis and Analysis of Variance(ANOVA),our statistical study reveals that accounting for 88%of the influence,the scanning speed is the primary factor influencing surface roughness.On the other hand,the spiral pitch is essential for defining the struc-tural features of the surface,even if it less influences roughness.The SFE of laser-textured CoCr28Mo alloy specimens was optimizable within the range of 14-32 mN/m.The relevant findings offer valuable insights into optimizing LST for the specific surface properties of the Co-based alloy.
基金Natural Science Foundation of Beijing Municipality under Grant L243004the National Natural Science Foundation of China under Grant 62403060.
文摘Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of conducting full-scale fall experiments on robots or their surrogates remain somewhat limited.This paper proposes a method for optimizing the thickness of Expandable Polyethylene(EPE),which is used as back protection for the Chubao humanoid robot,based on small-scale impact test data to predict full-scale behavior.The optimal thickness is defined as a balance between compact design and protective effectiveness.An equivalent impact model characterized by four parameters:contact area S,mass m,fall height h,and cushioning material thickness d is introduced to describe impact conditions.The relationship between the peak impact acceleration ap and material thickness d,which forms the core of the method and gives rise to the name AP-D,is analyzed through their plotted curves.After introducing three characteristic parameters and two correction fac-tors,the relationship among the aforementioned variables is derived.Subsequently,both the optimal thickness do and its corresponding peak impact acceleration aop are predicted via nonlinear and linear regression models.Finally,the accuracy and effectiveness of the theoretically derived optimal thickness are validated on both a dummy and the actual robot.With the cushioning material applied,the peak chest acceleration is reduced to 41.57g for the dummy and 32.08g for the robot.
基金National Natural Science Foundation of China Excellent Youth Fund(No.52222509)the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(No.52021003)+3 种基金National Key Research and Development Program of China(No.2018YFA0703300)National Natural Science Foundation of China(No.52105298)Science and Technology Development Program of Jilin Province(No.SKL202402005)"Fundamental Research Funds for the Central Universities".
文摘Radiative cooling passively emits heat to outer space without energy input,offering promise for energy-efficient thermal management.It is an important solution to promote the low-carbon environmental protection strategy.With the continuous development of radiative cooling technologies,the material selection,preparation process,structural design,and applica-tion fields have also made more diverse progress.Therefore,this review aims to systematically introduce the fundamental concepts and underlying principles of radiative cooling.A summary of the commonly used materials for radiative cooling is provided.In addition,the advanced fabrication processes and structural designs of radiative cooling materials are further explored and discussed.Subsequently,the unique functions of radiative cooling materials are highlighted to enhance their applicability and usefulness across various fields.An overview of combining radiative cooling materials with different fields is also provided.In reality,these applications hold the potential to improve thermal management across a range of fields.Finally,it summarizes the shortcomings and great potential of radiative cooling materials in various fields.It also looks forward to the future,aiming to promote the progress and widespread adoption of radiative cooling technologies.
基金Shenzhen Science and Technology Program(Grant No.20220817171811004)(Grant No.RCBS20231211090816033)+4 种基金the Major Key Project of PCL,China under Grant PCL2025A13Longgang District,Shenzhen's"Ten-Action Plan"for Supporting Innovation Projects(Grant No.LGKCSDPT2024002,LGKCSDPT2024003,LGKCSDPT2024004)the"Zhiguo"Action of Guangxi Science and Technology Program(Grant No.ZG2503980003)Guangdong S&T Program under(Grant No.2025B0909040003)Guangdong Provincial Leading Talent Program(Grant No.2024TX08Z319).
文摘The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varying degrees of degradation and damage to the main cable,necessitating regular inspections to prevent catastrophic failures.Traditional manual inspection methods not only suffer from low efficiency but also pose significant safety risks to personnel.To address these challenges and ensure the safe and effective inspection of suspension bridge main cables,this study introduces a novel cooperative climbing robot,designated as Main Cable Robot Version II(CCRobot-M-II),inspired by the locomotion of the inchworm.The robot employs an alternating opening and closing mechanism of four gripper sets,mimicking the inchworm's movement to achieve efficient crawling along the suspension bridge handrails.This paper provides a comprehensive analysis of the structural design,key components,and motion mechanisms of CCRobot-M-II.A detailed force analysis of the robot's crawling process is also presented,followed by the design of the control system and the development of an efficient motion control algorithm.Laboratory experiments demonstrate that the robot achieves a positional error of 00.64%during crawling,with a maximum average crawling speed of 7.6 m/min.Furthermore,the biomimetic design enables the robot to overcome obstacles up to 30 mm in height and possess the capability to handle suspension bridge cables with spans ranging from 740 to 1100 mm.Finally,CCRobot-M-II successfully conducted an inspection of the main cable on a suspension bridge,marking the world's first successful deployment of a climbing robot for main cable inspection on a suspension bridge.
