For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies ...For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies bionic analytical framework based on the partial differential equation-ordinary differential equation(PDE-ODE)approach.Specifically,by designing a specialized network communication protocol and employing the spatial continuum method for densely distributed agents,this paper models the tracking errors of densely distributed agents as a PDE equivalent to a human disease transmission model,and that of sparsely distributed agents as several ODEs equivalent to the predator population models.The coupling relationship between the PDE and ODE models is established through boundary conditions of the PDE,thereby forming a PDE-ODE-based tracking error model for the considered MASs.Furthermore,by integrating adaptive neural control scheme with the aforementioned biological models,a“Flexible Neural Network”endowed with adaptive and self-stabilized capabilities is constructed,which acts upon the considered MASs,enabling their practical finite-time deployment.Finally,effectiveness of the developed approach is illustrated through a numerical example.展开更多
To solve the problem of abnormal abrasion of Cu-Based Friction Materials(CBFMs),Bionic Non-Smooth Surface(BNS)on friction surface of CBFMs was constructed based on bionic principles,and the optimal bionic prototype wa...To solve the problem of abnormal abrasion of Cu-Based Friction Materials(CBFMs),Bionic Non-Smooth Surface(BNS)on friction surface of CBFMs was constructed based on bionic principles,and the optimal bionic prototype was selected by Finite Element Method(FEM).In addition,the bionic parameters were optimized by Response Surface Method(RSM).Samples holding BNS were prepared by Laser Processing,tribological properties were tested by a Friction and Wear Tester and worn surface morphology was characterized by a Scanning Electron Microscope(SEM).The results showed that BNS on friction surface could regulate the stress distribution and alleviate the peak stress.Among all samples,the coupled texture of pit-hexagonal got the minimum peak stress.During braking,bionic texture could also collect wear debris or change the motion forms from sliding to rotation,which can reduce abnormal abrasion.The wear rate was reduced by 19.31%.The results in this paper can provide a new idea for enhancing the tribological properties of CBFMs,and can also lay the foundation for further research of bionic tribology.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
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
Humans’initial desire for flight stems from the imitation of flying creatures in nature.The excellent flight performance of flying animals will inevitably become a source of inspiration for researchers.Bio-inspired f...Humans’initial desire for flight stems from the imitation of flying creatures in nature.The excellent flight performance of flying animals will inevitably become a source of inspiration for researchers.Bio-inspired flight systems have become one of the most exciting disruptive aviation technologies.This review is focused on the recent progresses in bio-inspired flight systems and bionic aerodynamics.First,the development path of Biomimetic Air Vehicles(BAVs)for bio-inspired flight systems and the latest mimetic progress are summarized.The advances of the flight principles of several natural creatures are then introduced,from the perspective of bionic aerodynamics.Finally,several new challenges of bionic aerodynamics are proposed for the autonomy and intelligent development trend of the bio-inspired smart aircraft.This review will provide an important insight in designing new biomimetic air vehicles.展开更多
Conventional moving target detection focuses on algorithms to improve detection efficiency. These algorithms pay less attention to the image acquisition means, and usually solve specific problems. This often results i...Conventional moving target detection focuses on algorithms to improve detection efficiency. These algorithms pay less attention to the image acquisition means, and usually solve specific problems. This often results in poor flexibility and reus- ability. Insect compound eyes offer unique advantages for moving target detection and these advantages have attracted the attention of many researchers in recent years. In this paper we proposed a new system for moving target detection. We used the detection mechanism of insect compound eyes for the simulation of the characteristics of structure, control, and function. We discussed the design scheme of the system, the development of the bionic control circuit, and introduced the proposed mathe- matical model of bionic cqmpound eyes for data acquisition and object detection. After this the integrated system was described and discussed. Our paper presents a novel approach for moving target detection. This approach effectively tackles some of the well-known problems in the field of view, resolution, and real-time processing problems in moving target detection.展开更多
With the increase in mining depth,mine heat harm has appeared to be more prominent.The mine heat harm could be resolvedor reduced by ice refrigeration.Thus,ice transportation through pipeline becomes a critical proble...With the increase in mining depth,mine heat harm has appeared to be more prominent.The mine heat harm could be resolvedor reduced by ice refrigeration.Thus,ice transportation through pipeline becomes a critical problem;typically flowresistance occurs in the elbow.In the present study,according to the analysis of the surface morphology of fish scale,abiomimetic functional surface structure for the interior wall of elbow is designed.Based on the theory of liquid-solid two phaseflow,a CFD numerical simulation of ice-water mixture flowing through the elbow is carried out using finite element method.Conventional experiments of pressure drop and flow resistance for both bionic and common elbows are conducted to test theeffect of the bionic elbow on flow resistance reduction.It is found that with the increase in the ice mass fraction in the ice-watermixture,the effect of bionic elbow on resistance reduction becomes more obvious.展开更多
Previous studies of nerve conduits have investigated numerous properties, such as conduit luminal structure and neurotrophic factor incorporation, for the regeneration of nerve defects. The present study used a poly（...Previous studies of nerve conduits have investigated numerous properties, such as conduit luminal structure and neurotrophic factor incorporation, for the regeneration of nerve defects. The present study used a poly（lactic-co-glycolic acid） （PLGA） copolymer to construct a three-dimensional （3D） bionic nerve conduit, with two channels and multiple microtubule lumens, and incorporating two neurotrophic factors, each with their own delivery system, as a novel environment for peripheral nerve regeneration. The efficacy of this conduit in repairing a 1.5 cm sciatic nerve defect was compared with PLGA-alone and PLGA-microfilament conduits, and autologous nerve transplantation. Results showed that compared with the other groups, the 3D bionic nerve conduit had the fastest nerve conduction velocity, largest electromyogram amplitude, and shortest electromyogram latency. In addition, the nerve fiber density, myelin sheath thickness and axon diameter were significantly increased, and the recovery rate of the triceps surae muscle wet weight was lowest. These findings suggest that 3D bionic nerve conduits can provide a suitable microenvironment for peripheral nerve regeneration to efficiently repair sciatic nerve defects. p展开更多
We propose a new structure for artificial joints with a joint capsule which is designed to overcome the drawback of current prostheses that omit many functions of the lubricant and the joint capsule. The new structure...We propose a new structure for artificial joints with a joint capsule which is designed to overcome the drawback of current prostheses that omit many functions of the lubricant and the joint capsule. The new structure is composed of three components： lubricant, artificial joint and artificial joint capsule. The lubricant sealed in the capsule can not only reduce the wear of the artificial joint but also prevents the wear particles leaking into the body. So unexpected reactions between the wear particles and body can be avoided completely. A three-dimensional （3-D） finite element analysis （FEA） model was created for a bionic knee joint with capsule. The stresses and their distribution in the artificial capsule were simulated with different thickness, loadings, and flexion angles. The results show that the maximum stress occurs in the area between the artificial joint and the capsule. The effects of capsule thickness and the angles of flexion on stress are discussed in detail.展开更多
This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspa...This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspace of the single leg mechanism in the quadruped robot were established.A single leg complex dynamic model of the quadruped robot is derived,considering the mass and inertial force of all the components in the mechanical leg.Combined with the human jumping law in situ,the jumping trajectory of the single leg was planned.To reduce landing impact,a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action.The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied,and the influencing factors of jump height were analyzed to realize the height control of the jump.Single leg jumping dynamics model was established,and a dynamic control strategy for trajectory tracking with foot force compensation was proposed.In Adams and MATLAB/Simulink software,the jump simulation of single leg mechanism was carried out.The prototype of quadruped robot was developed,and the jumping experiment of the single leg mechanism was tested.The robot's single leg bionic jumping and soft landing control are realized.展开更多
A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller...A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller,by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*p , Ti* and T*d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , Ti*and Td* and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.展开更多
A variety of prosthetic ankles have been successfully developed to reproduce the locomotor ability for lower limb amputees in daily lives. However, they have not been shown to sufficiently improve the natural gait mec...A variety of prosthetic ankles have been successfully developed to reproduce the locomotor ability for lower limb amputees in daily lives. However, they have not been shown to sufficiently improve the natural gait mechanics commonly observed in comparison to the able-bodied, perhaps due to over-simplified designs of functional musculoskeletal structures in prostheses. In this study, a flexible bionic ankle prosthesis with joints covered by soft material inclusions is developed on the basis of the human musculoskeletal system. First, the healthy side ankle–foot bones of a below-knee amputee were reconstructed by CT imaging. Three types of polyurethane rubber material configurations were then designed to mimic the soft tissues around the human ankle, providing stability and flexibility. Finite element simulations were conducted to determine the proper design of the rubber materials, evaluate the ankle stiffness under different external conditions, and calculate the rotation axes of the ankle during walking. The results showed that the bionic ankle had variable stiffness properties and could adapt to various road surfaces. It also had rotation axes similar to that of the human ankle, thus restoring the function of the talocrural and subtalar joints. The inclination and deviation angles of the talocrural axis, 86.2° and 75.1°, respectively, as well as the angles of the subtalar axis, 40.1° and 29.9°, were consistent with the literature. Finally, dynamic characteristics were investigated by gait measurements on the same subject, and the flexible bionic ankle prosthesis demonstrated natural gait mechanics during walking in terms of ankle angles and moments.展开更多
This study addresses the modified bionic vibration isolation technology by introducing the electromagnetic system to simulate biological damping characteristics.It has been proven effective in improving the vibration ...This study addresses the modified bionic vibration isolation technology by introducing the electromagnetic system to simulate biological damping characteristics.It has been proven effective in improving the vibration environment.By assuming the spacecraft-adapter system as a two-degree-of-freedom system,an excellent simplified model can be derived.The novel bionic vibration isolation device(ABVS-EMVI),which combines an active bionic variable-stiffness device(ABVSVI)with the electromagnetic system,is proposed for the purpose of isolating vibration and harvesting energy at the same time.The dynamic equations of the spacecraft-adapter system with ABVS-EMVI are obtained using the Taylor expansion within the framework of the Lagrange equation,and the harmonic balance method is introduced to acquire the amplitude and voltage response of the system.The results indicate that the electromagnetic system can enhance the vibration isolation performance and provide energy harvesting capabilities.After confirming the ability of ABVS-EMVI to deal with different forms and amplitudes of excitation,the performance of vibration isolation and energy harvesting is investigated in terms of various parameters,and several new conclusions have been drawn.展开更多
Multi Access Interference (MAI) is the main source limiting the capacity and quality of the Multiple-Input Multiple-Output Orthogonal Frequency Division Multiplexing (MIMO-OFDM) system which fulfills the demand of hig...Multi Access Interference (MAI) is the main source limiting the capacity and quality of the Multiple-Input Multiple-Output Orthogonal Frequency Division Multiplexing (MIMO-OFDM) system which fulfills the demand of high-speed transmission rate and high quality of service for future underwater acoustic (UWA) communication. Multi User Detection (MUD) is needed to overcome the performance degradation caused by MAI. In this research, both local and global optimal solutions are obtained in Bionic Binary Spotted Hyena Optimizer (BBSHO) algorithm using the Position Coordinate Vectors (PCVs) of the social behavior of spotted hyenas to achieve MUD. Further, Extremal Optimization (EO) is introduced in BBSHO algorithm to improve the local search ability within the search space. Hence, a hybrid BBSHO algorithm is proposed for achieving MUD at the receiver of the MIMO-OFDM system whose transceiver model in underwater is implemented using BELLHOP simulation system. By MATLAB simulation, it is shown that the Bit Error Rate (BER) performance of the proposed hybrid algorithm outperforms with best optimal solution within the search space towards MUD for Interference to Noise Ratio (INR) at 10 dB, 20 dB, and 40 dB over conventional detectors and metaheuristic approaches such as Binary Spotted Hyena Optimizer (BSHO), Binary Particle Swarm Optimization (BPSO) in the UWA network.展开更多
Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exo...Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exoskeleton robots also has problems such as excessive inertia of exoskeleton robots,poor system integration and difficult human–computer interaction control.To solve these problems,this paper independently develops a tendon driving robotic system composed of a tendon driving robotic arm and an upper limb exoskeleton,and studies its control technology.First,the robot system is selected,configured,and constructed.Second,the kinematics of the robot is analyzed,and then the dynamics are studied,and the parameter identification experiment of single degree of freedom is completed.Finally,the research on zero-force control and impedance control of the robot has effectively improved the robot’s human–machine integration ability,ensured the flexibility and compliance in the process of human–computer interaction.The compliant control problem expands the usage scenarios and application scope of robots and contributes to the realization of complex operations of this group of robots in unstructured environments.展开更多
This research is based on the detailed design and study of a plant power generation system for green building roofs based on the combination of bionics and design science.The selection of power generation plants is ca...This research is based on the detailed design and study of a plant power generation system for green building roofs based on the combination of bionics and design science.The selection of power generation plants is carried out through experiments and research,and based on which the connection between the plant power generation unit and the internal circuit of the building is studied to generate a complete building roof plant power generation system.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
Inspired by the remarkable electromagnetic response capabilities of the complex morphologies and subtle microstructures evolved by natural organisms,this paper delves into the research advancements and future applicat...Inspired by the remarkable electromagnetic response capabilities of the complex morphologies and subtle microstructures evolved by natural organisms,this paper delves into the research advancements and future application potential of bionic microwave-absorbing materials(BMAMs).It outlines the significance of achieving high-performance microwave-absorbing materials through ingenious microstructural design and judicious composition selection,while emphasizing the innovative strategies offered by bionic manufacturing.Furthermore,this work meticulously analyzes how inspiration can be drawn from the intricate structures of marine organisms,plants,animals,and nonmetallic minerals in nature to devise and develop BMAMs with superior electromagnetic wave absorption properties.Additionally,the paper provides an in-depth exploration of the theoretical underpinnings of BMAMs,particularly the latest breakthroughs in broadband absorption.By incorporating advanced methodologies such as simulation modeling and bionic gradient design,we unravel the scientific principles governing the microwave absorption mechanisms of BMAMs,thereby furnishing a solid theoretical foundation for understanding and optimizing their performance.Ultimately,this review aims to offer valuable insights and inspiration to researchers in related fields,fostering the collective advancement of research on BMAMs.展开更多
基金The National Key R&D Program of China(2021ZD0201300)the National Natural Science Foundation of China(624B2058,U1913602 and 61936004)+1 种基金the Innovation Group Project of the National Natural Science Foundation of China(61821003)the 111 Project on Computational Intelligence and Intelligent Control(B18024).
文摘For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies bionic analytical framework based on the partial differential equation-ordinary differential equation(PDE-ODE)approach.Specifically,by designing a specialized network communication protocol and employing the spatial continuum method for densely distributed agents,this paper models the tracking errors of densely distributed agents as a PDE equivalent to a human disease transmission model,and that of sparsely distributed agents as several ODEs equivalent to the predator population models.The coupling relationship between the PDE and ODE models is established through boundary conditions of the PDE,thereby forming a PDE-ODE-based tracking error model for the considered MASs.Furthermore,by integrating adaptive neural control scheme with the aforementioned biological models,a“Flexible Neural Network”endowed with adaptive and self-stabilized capabilities is constructed,which acts upon the considered MASs,enabling their practical finite-time deployment.Finally,effectiveness of the developed approach is illustrated through a numerical example.
基金Wuxi University Research Start-up Fund for Introduced Talents(Grant No:2024r031)Technology Development Contract(Contract Registration Number:2024320205000963)+1 种基金National Natural Science Foundation of China(Grant No.52275288)Ningbo Key Research and Development Plan(Grant No.2023Z022).
文摘To solve the problem of abnormal abrasion of Cu-Based Friction Materials(CBFMs),Bionic Non-Smooth Surface(BNS)on friction surface of CBFMs was constructed based on bionic principles,and the optimal bionic prototype was selected by Finite Element Method(FEM).In addition,the bionic parameters were optimized by Response Surface Method(RSM).Samples holding BNS were prepared by Laser Processing,tribological properties were tested by a Friction and Wear Tester and worn surface morphology was characterized by a Scanning Electron Microscope(SEM).The results showed that BNS on friction surface could regulate the stress distribution and alleviate the peak stress.Among all samples,the coupled texture of pit-hexagonal got the minimum peak stress.During braking,bionic texture could also collect wear debris or change the motion forms from sliding to rotation,which can reduce abnormal abrasion.The wear rate was reduced by 19.31%.The results in this paper can provide a new idea for enhancing the tribological properties of CBFMs,and can also lay the foundation for further research of bionic tribology.
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.
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.
基金This work was supported by the National Natural Science Foundation of China(Nos.11872293,11672225 and 11602199)China Postdoctoral Science Foundation(No.2017M623184)+1 种基金the National Key Laboratory of Science and Technology on Aerodynamic Design and Research of China(No.6142201190408)the Key Laboratory of Aerodynamics Noise Control of China(Nos.1801ANCL20180103,1901ANCL20190108),Australian Research Council(Nos.DP200101500 and DE160101098),and the Program of Introducing Talents of Discipline to Universities of China(known as the‘‘111”Program,No.B18040).
文摘Humans’initial desire for flight stems from the imitation of flying creatures in nature.The excellent flight performance of flying animals will inevitably become a source of inspiration for researchers.Bio-inspired flight systems have become one of the most exciting disruptive aviation technologies.This review is focused on the recent progresses in bio-inspired flight systems and bionic aerodynamics.First,the development path of Biomimetic Air Vehicles(BAVs)for bio-inspired flight systems and the latest mimetic progress are summarized.The advances of the flight principles of several natural creatures are then introduced,from the perspective of bionic aerodynamics.Finally,several new challenges of bionic aerodynamics are proposed for the autonomy and intelligent development trend of the bio-inspired smart aircraft.This review will provide an important insight in designing new biomimetic air vehicles.
基金The work presented in this paper is supported by the Scholarship for International Young Scientists of NSFC （National Natural Science Foundation of China） （1D： 41050110441）.
文摘Conventional moving target detection focuses on algorithms to improve detection efficiency. These algorithms pay less attention to the image acquisition means, and usually solve specific problems. This often results in poor flexibility and reus- ability. Insect compound eyes offer unique advantages for moving target detection and these advantages have attracted the attention of many researchers in recent years. In this paper we proposed a new system for moving target detection. We used the detection mechanism of insect compound eyes for the simulation of the characteristics of structure, control, and function. We discussed the design scheme of the system, the development of the bionic control circuit, and introduced the proposed mathe- matical model of bionic cqmpound eyes for data acquisition and object detection. After this the integrated system was described and discussed. Our paper presents a novel approach for moving target detection. This approach effectively tackles some of the well-known problems in the field of view, resolution, and real-time processing problems in moving target detection.
基金supported bv the National Natural Science Foundation of China(Grant No.50975164)the Science and Technology Planning Project of Shandong Proyince(Grant No.J09LD05)the Foundation of Key LaboratOry of Mine Hazard Prevention and Control(Grant No.MDPC0810)
文摘With the increase in mining depth,mine heat harm has appeared to be more prominent.The mine heat harm could be resolvedor reduced by ice refrigeration.Thus,ice transportation through pipeline becomes a critical problem;typically flowresistance occurs in the elbow.In the present study,according to the analysis of the surface morphology of fish scale,abiomimetic functional surface structure for the interior wall of elbow is designed.Based on the theory of liquid-solid two phaseflow,a CFD numerical simulation of ice-water mixture flowing through the elbow is carried out using finite element method.Conventional experiments of pressure drop and flow resistance for both bionic and common elbows are conducted to test theeffect of the bionic elbow on flow resistance reduction.It is found that with the increase in the ice mass fraction in the ice-watermixture,the effect of bionic elbow on resistance reduction becomes more obvious.
基金the National Natural Science Foundation of Hunan Province,No. 06JJ4022
文摘Previous studies of nerve conduits have investigated numerous properties, such as conduit luminal structure and neurotrophic factor incorporation, for the regeneration of nerve defects. The present study used a poly（lactic-co-glycolic acid） （PLGA） copolymer to construct a three-dimensional （3D） bionic nerve conduit, with two channels and multiple microtubule lumens, and incorporating two neurotrophic factors, each with their own delivery system, as a novel environment for peripheral nerve regeneration. The efficacy of this conduit in repairing a 1.5 cm sciatic nerve defect was compared with PLGA-alone and PLGA-microfilament conduits, and autologous nerve transplantation. Results showed that compared with the other groups, the 3D bionic nerve conduit had the fastest nerve conduction velocity, largest electromyogram amplitude, and shortest electromyogram latency. In addition, the nerve fiber density, myelin sheath thickness and axon diameter were significantly increased, and the recovery rate of the triceps surae muscle wet weight was lowest. These findings suggest that 3D bionic nerve conduits can provide a suitable microenvironment for peripheral nerve regeneration to efficiently repair sciatic nerve defects. p
基金This work has been financially supported by the National Science Foundation of China through the grant number of 50105014,"Bionic Lubrication System of Artificial Joints"The corresponding author,Dr.J H Zhang,would also like to acknowledge the financial support provided by the Science and Technology Committee of Shanghai under the grant number of 04 QMX1442partially financial support by Shanghai Leading Academic Discipline Project,Project Number:Y0102.
文摘We propose a new structure for artificial joints with a joint capsule which is designed to overcome the drawback of current prostheses that omit many functions of the lubricant and the joint capsule. The new structure is composed of three components： lubricant, artificial joint and artificial joint capsule. The lubricant sealed in the capsule can not only reduce the wear of the artificial joint but also prevents the wear particles leaking into the body. So unexpected reactions between the wear particles and body can be avoided completely. A three-dimensional （3-D） finite element analysis （FEA） model was created for a bionic knee joint with capsule. The stresses and their distribution in the artificial capsule were simulated with different thickness, loadings, and flexion angles. The results show that the maximum stress occurs in the area between the artificial joint and the capsule. The effects of capsule thickness and the angles of flexion on stress are discussed in detail.
基金This work was supported by the National Nature Science Foundation of China(Grant No.51905367)the Foundation of Applied Basic Research General Youth Program of Shanxi(Grant No.201901D211011)the Scientific and Technological Innovation Programs of Higher Education Institutions of Shanxi(Grant No.2019L0176).
文摘This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspace of the single leg mechanism in the quadruped robot were established.A single leg complex dynamic model of the quadruped robot is derived,considering the mass and inertial force of all the components in the mechanical leg.Combined with the human jumping law in situ,the jumping trajectory of the single leg was planned.To reduce landing impact,a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action.The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied,and the influencing factors of jump height were analyzed to realize the height control of the jump.Single leg jumping dynamics model was established,and a dynamic control strategy for trajectory tracking with foot force compensation was proposed.In Adams and MATLAB/Simulink software,the jump simulation of single leg mechanism was carried out.The prototype of quadruped robot was developed,and the jumping experiment of the single leg mechanism was tested.The robot's single leg bionic jumping and soft landing control are realized.
文摘A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller,by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*p , Ti* and T*d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , Ti*and Td* and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.
基金supported by the National Key Research and Development Program of China(No.2018YFC2001300)the National Natural Science Foundation of China(No.52005209,91948302,No.91848204,No.52021003)the Natural Science Foundation of Jilin Province(No.20210101053JC,No.20220508130RC).
文摘A variety of prosthetic ankles have been successfully developed to reproduce the locomotor ability for lower limb amputees in daily lives. However, they have not been shown to sufficiently improve the natural gait mechanics commonly observed in comparison to the able-bodied, perhaps due to over-simplified designs of functional musculoskeletal structures in prostheses. In this study, a flexible bionic ankle prosthesis with joints covered by soft material inclusions is developed on the basis of the human musculoskeletal system. First, the healthy side ankle–foot bones of a below-knee amputee were reconstructed by CT imaging. Three types of polyurethane rubber material configurations were then designed to mimic the soft tissues around the human ankle, providing stability and flexibility. Finite element simulations were conducted to determine the proper design of the rubber materials, evaluate the ankle stiffness under different external conditions, and calculate the rotation axes of the ankle during walking. The results showed that the bionic ankle had variable stiffness properties and could adapt to various road surfaces. It also had rotation axes similar to that of the human ankle, thus restoring the function of the talocrural and subtalar joints. The inclination and deviation angles of the talocrural axis, 86.2° and 75.1°, respectively, as well as the angles of the subtalar axis, 40.1° and 29.9°, were consistent with the literature. Finally, dynamic characteristics were investigated by gait measurements on the same subject, and the flexible bionic ankle prosthesis demonstrated natural gait mechanics during walking in terms of ankle angles and moments.
基金supported by the National Natural Science Foundation of China(Grant Nos.12022213,12002329,and 12272240).
文摘This study addresses the modified bionic vibration isolation technology by introducing the electromagnetic system to simulate biological damping characteristics.It has been proven effective in improving the vibration environment.By assuming the spacecraft-adapter system as a two-degree-of-freedom system,an excellent simplified model can be derived.The novel bionic vibration isolation device(ABVS-EMVI),which combines an active bionic variable-stiffness device(ABVSVI)with the electromagnetic system,is proposed for the purpose of isolating vibration and harvesting energy at the same time.The dynamic equations of the spacecraft-adapter system with ABVS-EMVI are obtained using the Taylor expansion within the framework of the Lagrange equation,and the harmonic balance method is introduced to acquire the amplitude and voltage response of the system.The results indicate that the electromagnetic system can enhance the vibration isolation performance and provide energy harvesting capabilities.After confirming the ability of ABVS-EMVI to deal with different forms and amplitudes of excitation,the performance of vibration isolation and energy harvesting is investigated in terms of various parameters,and several new conclusions have been drawn.
文摘Multi Access Interference (MAI) is the main source limiting the capacity and quality of the Multiple-Input Multiple-Output Orthogonal Frequency Division Multiplexing (MIMO-OFDM) system which fulfills the demand of high-speed transmission rate and high quality of service for future underwater acoustic (UWA) communication. Multi User Detection (MUD) is needed to overcome the performance degradation caused by MAI. In this research, both local and global optimal solutions are obtained in Bionic Binary Spotted Hyena Optimizer (BBSHO) algorithm using the Position Coordinate Vectors (PCVs) of the social behavior of spotted hyenas to achieve MUD. Further, Extremal Optimization (EO) is introduced in BBSHO algorithm to improve the local search ability within the search space. Hence, a hybrid BBSHO algorithm is proposed for achieving MUD at the receiver of the MIMO-OFDM system whose transceiver model in underwater is implemented using BELLHOP simulation system. By MATLAB simulation, it is shown that the Bit Error Rate (BER) performance of the proposed hybrid algorithm outperforms with best optimal solution within the search space towards MUD for Interference to Noise Ratio (INR) at 10 dB, 20 dB, and 40 dB over conventional detectors and metaheuristic approaches such as Binary Spotted Hyena Optimizer (BSHO), Binary Particle Swarm Optimization (BPSO) in the UWA network.
基金the National Key R&D Program of China(Grant No.2021YFB3201600).
文摘Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exoskeleton robots also has problems such as excessive inertia of exoskeleton robots,poor system integration and difficult human–computer interaction control.To solve these problems,this paper independently develops a tendon driving robotic system composed of a tendon driving robotic arm and an upper limb exoskeleton,and studies its control technology.First,the robot system is selected,configured,and constructed.Second,the kinematics of the robot is analyzed,and then the dynamics are studied,and the parameter identification experiment of single degree of freedom is completed.Finally,the research on zero-force control and impedance control of the robot has effectively improved the robot’s human–machine integration ability,ensured the flexibility and compliance in the process of human–computer interaction.The compliant control problem expands the usage scenarios and application scope of robots and contributes to the realization of complex operations of this group of robots in unstructured environments.
文摘This research is based on the detailed design and study of a plant power generation system for green building roofs based on the combination of bionics and design science.The selection of power generation plants is carried out through experiments and research,and based on which the connection between the plant power generation unit and the internal circuit of the building is studied to generate a complete building roof plant power generation system.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
基金the financial support provided by Graduate Scientific Research and Innovation Foundation of Chongqing,China(CYB22007,CYS22005)Projects(No.2020CDJXZ001)supported by the Fundamental Research Funds for the Central Universities+2 种基金the Technology Innovation and Application Development Special Project of Chongqing(Z20211350 and Z20211351)Scientific Research Project of Chongqing Ecological Environment Bureau(No.CQEE2022STHBZZ118)Fundamental Research Funds for the Central Universities(Grant No.2024IAIS-QN008)。
文摘Inspired by the remarkable electromagnetic response capabilities of the complex morphologies and subtle microstructures evolved by natural organisms,this paper delves into the research advancements and future application potential of bionic microwave-absorbing materials(BMAMs).It outlines the significance of achieving high-performance microwave-absorbing materials through ingenious microstructural design and judicious composition selection,while emphasizing the innovative strategies offered by bionic manufacturing.Furthermore,this work meticulously analyzes how inspiration can be drawn from the intricate structures of marine organisms,plants,animals,and nonmetallic minerals in nature to devise and develop BMAMs with superior electromagnetic wave absorption properties.Additionally,the paper provides an in-depth exploration of the theoretical underpinnings of BMAMs,particularly the latest breakthroughs in broadband absorption.By incorporating advanced methodologies such as simulation modeling and bionic gradient design,we unravel the scientific principles governing the microwave absorption mechanisms of BMAMs,thereby furnishing a solid theoretical foundation for understanding and optimizing their performance.Ultimately,this review aims to offer valuable insights and inspiration to researchers in related fields,fostering the collective advancement of research on BMAMs.
