Complex Motion Research Articles

A Motion Planner Based on Mask-D3QN of Quadruped Robot Motion for Steam Generator.

Crawling robots are the focus of intelligent inspection research, and the main feature of this type of robot is the flexibility of in-plane attitude adjustment. The crawling robot HIT_Spibot is a new type of steam generator heat transfer tube inspection robot with a unique mobility capability different from traditional quadrupedal robots. This paper introduces a hierarchical motion planning approach for HIT_Spibot, aiming to achieve efficient and agile maneuverability. The proposed method integrates three distinct planners to handle complex motion tasks: a nonlinear optimization-based base motion planner, a TOPSIS-based base orientation planner, and a Mask-D3QN (MD3QN) algorithm-based gait motion planner. Initially, the robot's base and foot workspace were delineated through envelope analysis, followed by trajectory computation using Larangian methods. Subsequently, the TOPSIS algorithm was employed to establish an evaluation framework conducive to foundational turning planning. Finally, the MD3QN algorithm trained foot-points to facilitate robot movement along predefined paths. Experimental results demonstrated the method's adaptability across diverse tube structures, showcasing robust performance even in environments with random obstacles. Compared to the D3QN algorithm, MD3QN achieved a 100% success rate, enhanced average overall scores by 6.27%, reduced average stride lengths by 39.04%, and attained a stability rate of 58.02%. These results not only validate the effectiveness and practicality of the method but also showcase the significant potential of HIT_Spibot in the field of industrial inspection.

A Review on Recent Trends of Bioinspired Soft Robotics: Actuators, Control Methods, Materials Selection, Sensors, Challenges, and Future Prospects

Bioinspired soft robotics is an emerging field that aims to develop flexible and adaptive robots inspired by the movement and capabilities of biological organisms. This review article examines recent advances in materials, actuation mechanisms, sensors, and control strategies and discusses the challenges and future prospects of bioinspired soft robotics. Key innovations highlighted include pneumatic, elastomer actuators, variable‐length shape memory alloy tendons, closed‐loop control with soft sensors, and the incorporation of soft materials including shape memory polymers and conductive composites. Challenges in soft robotics such as achieving complex motion control, incorporating feedback systems, modeling soft material dynamics, and replicating biological muscle efficiency with artificial muscles are also discussed. Promising future directions are explored including the integration of biodegradable materials, machine learning‐based control algorithms, and leveraging data‐driven techniques for modeling and control. Building on progress in multi‐functional materials, manufacturing techniques, and bioinspired design principles, soft robots hold considerable promise for expanding robot capabilities, enhancing versatility and adaptability, enabling applications from wearable assistive devices to search and rescue operations. This review provides a holistic perspective encompassing key drivers propelling innovations in the vibrant field of bioinspired soft robotics.

Visual Performance of People With Albinism Assessed With Generalizable and Adaptive AIM and FInD Methods.

People with albinism (PwA) are known to have visual impairments; however, little is known about whether these functions are disrupted across earlier and later stages of the visual pathway. We investigated distinct perceptual functions and fixation stability within each observer and compared the data with age- (±5years) and sex-matched controls. Twenty-one self-reported PwA and twenty-one controls were recruited. Angular-indication measurement (AIM) and foraging-interactive-D-prime (FInD) psychophysical methods were deployed to measure OS, OD, and OU near visual acuity, spatial contrast sensitivity function (CSF), temporal contrast sensitivity (tCS; 0.5 c/°; horizontal grating: 0, 1, 2, 4, and 8Hz), OU glare acuity, threshold-versus-contrast (2c/° vertical grating), long, medium, and short wavelength cone-isolated color detection, color discrimination, stereoacuity across spatial frequencies (1c/°, 2c/°, 4c/°, 8c/°), horizontal, circular, radial pattern and motion coherence, and equivalent-noise motion detection. Thresholds were determined by AIM and FInD and compared using N-ANOVAs, t-tests, planned multi-comparisons, correlations, and unsupervised, agglomerative hierarchical cluster analysis for each group. We found significant differences between groups for most visual functions except for simple and complex form-coherence (two way-ANOVAs, P > 0.05) and complex motion coherence. Correlations between outcomes revealed more significant correlations for PwA and differences in the specific correlates between groups. Unsupervised hierarchical clustering revealed different functional clusters between groups. AIM and FInD successfully interrogated visual deficits in PwA. Overall, PwA showed impaired performance in achromatic, chromatic, temporal, and binocular functions, and had higher intrinsic noise levels. Midlevel vision was comparable between groups. Unsupervised cluster analysis and correlation between outcomes revealed a difference in functional outcome clusters between groups. The results may help to increase the efficiency of screening and identify target deficits for rehabilitation.

Soft robotic artificial left ventricle simulator capable of reproducing myocardial biomechanics.

The heart's intricate myocardial architecture has been called the Gordian knot of anatomy, an impossible tangle of intricate muscle fibers. This complexity dictates equally complex cardiac motions that are difficult to mimic in physical systems. If these motions could be generated by a robotic system, then cardiac device testing, cardiovascular disease studies, and surgical procedure training could reduce their reliance on animal models, saving time, costs, and lives. This work introduces a bioinspired soft robotic left ventricle simulator capable of reproducing the minutiae of cardiac motion while providing physiological pressures. This device uses thin-filament artificial muscles to mimic the multilayered myocardial architecture. To demonstrate the device's ability to follow the cardiac motions observed in the literature, we used canine myocardial strain data as input signals that were subsequently applied to each artificial myocardial layer. The device's ability to reproduce physiological volume and pressure under healthy and heart failure conditions, as well as effective simulation of a cardiac support device, were experimentally demonstrated in a left-sided mock circulation loop. This work also has the potential to deliver faithful simulated cardiac motion for preclinical device and surgical procedure testing, with the potential to simulate patient-specific myocardial architecture and motion.

Complex motion design and control of aircraft model suspended with cable-driven parallel robot at high AoAs

Complex motion design and control of aircraft model suspended with cable-driven parallel robot at high AoAs

Settling of two rigidly connected spheres

Laboratory experiments and particle-resolved simulations are employed to investigate the settling dynamics of a pair of rigidly connected spherical particles of unequal size. They yield a detailed picture of the transient evolution and the terminal values of the aggregate's orientation angle and its settling and drift velocities as functions of the aspect ratio and the Galileo number $Ga$ , which denotes the ratio of buoyancy and viscous forces acting on the aggregate. At low to moderate values of $Ga$ , the aggregate's orientation and velocity converge to their terminal values monotonically, whereas for higher $Ga$ -values the aggregate tends to undergo a more complex motion. If the aggregate assumes an asymmetric terminal orientation, it displays a non-zero terminal drift velocity. For diameter ratios much larger than one and small $Ga$ , the terminal orientation of the aggregate becomes approximately vertical, whereas when $Ga$ is sufficiently large for flow separation to occur, the aggregate orients itself such that the smaller sphere is located at the separation line. Empirical scaling laws are obtained for the terminal settling velocity and orientation angle as functions of the aspect ratio and $Ga$ for diameter ratios from 1 to 4 and particle-to-fluid density ratios from 1.3 to 5. An analysis of the accompanying flow field shows the formation of vortical structures exhibiting complex topologies in the aggregate's wake, and indicates the formation of a horizontal pressure gradient across the larger sphere, which represents the main reason for the emergence of the drift velocity.

ExTraCT - Explainable trajectory corrections for language-based human-robot interaction using textual feature descriptions.

In human-robot interaction (HRI), understanding human intent is crucial for robots to perform tasks that align with user preferences. Traditional methods that aim to modify robot trajectories based on language corrections often require extensive training to generalize across diverse objects, initial trajectories, and scenarios. This work presents ExTraCT, a modular framework designed to modify robot trajectories (and behaviour) using natural language input. Unlike traditional end-to-end learning approaches, ExTraCT separates language understanding from trajectory modification, allowing robots to adapt language corrections to new tasks-including those with complex motions like scooping-as well as various initial trajectories and object configurations without additional end-to-end training. ExTraCT leverages Large Language Models (LLMs) to semantically match language corrections to predefined trajectory modification functions, allowing the robot to make necessary adjustments to its path. This modular approach overcomes the limitations of pre-trained datasets and offers versatility across various applications. Comprehensive user studies conducted in simulation and with a physical robot arm demonstrated that ExTraCT's trajectory corrections are more accurate and preferred by users in 80% of cases compared to the baseline. ExTraCT offers a more explainable approach to understanding language corrections, which could facilitate learning human preferences. We also demonstrated the adaptability and effectiveness of ExTraCT in a complex scenarios like assistive feeding, presenting it as a versatile solution across various HRI applications.

Hydrodynamics and Sediment Transport Under Solitary Waves in the Swash Zone

Swash–swash interaction is a common natural phenomenon in the nearshore region, characterized by complex fluid motion. The characteristics of swash–swash interaction are crucial to sediment transport, subsequently affecting the beach morphology. This study investigates the hydrodynamics and sediment transport in swash–swash interaction under two successive solitary waves using a two-phase Smoothed Particle Hydrodynamics (SPH) model. The effects of the time interval between the two waves are examined. It is shown that the time interval has a minor effect on the breaking and swash–swash interacting patterns as well as the final beach morphology but influences the run-up of the second wave and the instantaneous sediment flux. Under wave breaking in the swash–swash interaction, there is significant sediment suspension due to strong vortices, and the suspended sediment forms a plume upward from the bed. The sediment plumes gradually settle down as the vortices decay. These insights enhance the understanding of sediment transport and beach morphology under complex swash–swash interaction.

Fluid flow between two parallel active plates

This paper investigates the fluid flow phenomenon arising from the combined action of two parallel plates, which can expand/squeeze, absorb/inject, and stretch/shrink at different rates. These physical mechanisms are incorporated into the governing unsteady Navier–Stokes equations, which are then reduced to a fourth-order nonlinear differential equation with boundary conditions reflecting the imposed wall constraints. By letting the permeable Reynolds number (controlling the nonlinear convective terms) limit to zero, we demonstrate the existence of exact solutions expressed in terms of advanced mathematical functions. Additionally, in the absence of wall expansion/contraction, elementary exponential solutions are obtained under particular relationships between the stretching/shrinking and permeability parameters. A shear-like exact solution with broader applicability across various physical parameters is also identified. For moderate values of the expansion/squeezing parameters and permeable Reynolds numbers, we propose an efficient double-expansion perturbation analysis to approximate the flow behavior. Otherwise, for general physical parameters, a comprehensive mathematical analysis is provided and numerical simulations are employed to extract insights into the complex fluid motion between the parallel plates.

Spin Dynamics of Radical Pairs Using the Stochastic Schrödinger Equation in MolSpin.

The chemical reactivity of radical pairs is strongly influenced by the interactions of electronic and nuclear spins. A detailed understanding of these effects requires a quantum description of the spin dynamics that considers spin-dependent reaction rates, interactions with external magnetic fields, spin-spin interactions, and the loss of spin coherence caused by coupling to a fluctuating environment. Modeling real chemical and biochemical systems, which frequently involve radicals with multinuclear spin systems, poses a severe computational challenge. Here, we implement a method based on the stochastic Schrödinger equation in the software package MolSpin. Large electron-nuclear spin systems can be simulated efficiently, with asymmetric spin-selective recombination reactions, anisotropic hyperfine interactions, and nonzero exchange and dipolar couplings. Spin-relaxation can be modeled using the stochastic time-dependence of spin interactions determined by molecular dynamics and quantum chemical calculations or by allowing rate coefficients to be explicitly time-dependent. The flexibility afforded by this approach opens new avenues for exploring the effects of complex molecular motions on the spin dynamics of chemical transformations.

Intrinsically Multi-Stable Spatial Linkages.

Multi-stable structures can be reconfigured with fewer, lightweight, and less accurate actuators. This is because the attraction domain in the multi-stable energy landscape provides both reconfiguration guidance and shape accuracy. Additionally, such structures can generate impulsive motion due to structural instability. Most multi-stable units are planar structures, while spatial linkages can generate complex 3D motion and hold a more promising potential for applications. This study proposes a generalized approach to design a type of intrinsically multi-stable spatial (IMSS) linkages with multiple prescriptible configurations, which are structurally compatible, and naturally stable at these states. It reveals that all over-constrained mechanisms can be transformed into multi-stable structures with the same design method. Single-loop bi-stable 4R and quadra-stable 6R spatial linkages modules with intrinsic non-symmetric stable states, which are transformed from fundamental kinematic linkage mechanisms unit such as Bennett and Bricard linkages, are designed to illustrate the basic idea and the superiority over the ordinary methods. Multi-loop assembly by these IMSS linkage modules shows potential for practical applications that are required for the deployability and impulsivity of reconfiguration. Two preliminary design cases of a deployable tube and an impulsive gripper are experimentally presented to validate this applicability. Further promisingly, this design method of IMSS linkages paves the way for morphing platforms with lightweight actuation, high shape accuracy, high stiffness, and prescribed impulsive 3Dmotion.

Vertical vibration analysis of rolling interface based on dynamic rolling force with variable friction characteristics

This study investigates the impact of variable friction characteristics at the rolling interface on the vertical vibration of plate and strip rolling mills. Based on the optimized Karman equilibrium theory, a dynamic rolling force model considering the front and back tension, elastic stretching, and rolling speed was established. The amplitude-frequency response equation of rolling mill system is solved by multi-scale method, and the influence of main parameters on vertical vibration of rolling mill system is analyzed. The results show that the increase of the first stiffness coefficient of dynamic rolling force leads to the decrease of the principal common amplitude of the system. On the contrary, when the third stiffness coefficient increases, the system exhibits a jump phenomenon. When the third stiffness coefficient of dynamic rolling force is reduced within a certain range, a stable and unique solution is obtained without jumping phenomenon. Moreover, the smaller the damping coefficient of the upper and lower roller system is, the larger the vibration amplitude is and the jump phenomenon occurs. Decreasing the external disturbance force can effectively reduce the system’s vertical vibration amplitude and suppress the resonance. In addition, with the change of external disturbance force, the roll system of the rolling mill shows a variety of complex motion states, such as periodic motion, double-periodic motion, and chaotic motion. The research results provide an effective theoretical reference for the suppression of vertical vibration of rolling mill.

Chaotic systems based on higher-order oscillatory equations

This paper discusses the design process toward new lumped chaotic systems that originates in higher-order ordinary differential equations commonly used as description of ideal oscillators. In investigated third-order case, two chaotic oscillators were constructed. These systems are dual in the sense of vector field geometry local to fixed points. The existence of robust chaos was proved by both standard routines of numerical analysis and practical measurement. For the fourth-order oscillatory equation, the concept based on interaction between superinductor and supercapacitor was examined in detail. Since both “superelements” are active, the nonlinearity essential to the evolution of chaos is fully passive. It is demonstrated that complex motion is robust and does not represent long transient behavior or numerical artefact. The existence of chaos was verified using standard quantifiers of the flow, such as the largest Lyapunov exponents, recurrence plots, approximate entropy and sensitivity calculation. A good final agreement between theoretical assumptions and practical results will be concluded, on a visual comparison basis.

3D Printing-Induced Hierarchically Aligned Nanocomposites With Exceptional Multidirectional Strain Sensing Performance.

High-performance sensors capable of detecting multidirectional strains are indispensable to understand the complex motions involved in flexible electronics. Conventional isotropic strain sensors can only measure uniaxial deformations or single stimuli, hindering their practical application fields. The answer to such challenge resides in the construction of engineered anisotropic sensing structures. Herein, a hierarchically aligned carbon nanofiber (CNF)/polydimethylsiloxane nanocomposite strain sensor is developed by one-step 3D printing. The precisely controlled printing path and shear flow bring about highly aligned nanocomposite filaments at macroscale and orientated CNF network within each filament at microscale. The periodically orientated nanocomposite filaments along with the inner aligned CNF network successfully control the strain distribution and the appearance of microcracks, giving rise to anisotropic structural response to external deformations. The synergetic effect of the multiscale structural design leads to distinguishable gauge factors of 164 and 0.5 for applied loadings along and transverse to the alignment direction, leading to an exceptional selectivity of 3.77. The real-world applications of the hierarchically aligned sensors in multiaxial movement detector and posture-correction device are further demonstrated. The above findings propose new ideas for manufacturing nanocomposites with engineered anisotropic structure and properties, verifying promising applications in emerging wearable electronics and soft robotics.

Recognition of precession angles of non-cooperative targets based on deep learning with privileged information

With an increasing number of countries engaging in space activities worldwide, space non-cooperative target tracking and identification technology has become a prerequisite for safely conducting space operations. In order to the identify distant non-cooperative targets performing complex motions, this paper proposes a method to recognize difficult parameters by using easily available signal labels as privileged information, which is named Pi-FcResNet. The privileged information is connected to the output end of the network through a fully connected network and coupled with the linear layer of the main network. Through testing, our network achieved a recognition accuracy of 94.45 % for precession angles under high signal-to-noise ratio conditions. After incorporating the Convolutional Block Attention Module (CBAM), our method demonstrates fast fitting speed and robust performance. Testing on experimental data shows that, compared to traditional methods, our approach offers better stability and reproducibility in recognizing micro-motion parameters. This approach of using known information as additional information for deep learning networks holds great potential in the field of feature extraction for space non-cooperative targets undergoing complex motions.

Smooth joint motion planning for redundant fiber placement manipulator based on improved RRT*

In automated fiber placement (AFP), addressing the continuous motion planning challenge of redundant layup manipulators in complex environments, this paper proposes an offline redundancy optimization algorithm based on improved RRT* (Rapidly-exploring Random Trees). This algorithm maximizes the utilization of kinematic redundancy to derive smooth joint trajectories devoid of collisions and singularities. Firstly, the algorithm entails constructing a search map by eliminating joint configurations that violate constraints, and subsequently planning and optimizing the joint path by minimizing a multi-objective cost under the map constraint. Furthermore, several strategies are introduced to enhance RRT* for redundancy optimization. These strategies include a piecewise Gaussian sampling strategy (PGSS) to guide efficient tree growth within complex channels and enable joint sampling constrained by task coordinates. Additionally, the improved Steering and Local Optimization method are proposed to plan joint motion while considering intermediate task sequences. The effectiveness of the proposed algorithm is demonstrated in handling complex motion planning scenarios, such as layup involving complex path curves or dense obstacles. Experimental results validate the algorithm's capability to find feasible collision-free and singularity-free paths in relevant scenarios, provided such paths exist. Moreover, trajectory smoothness is optimized with increasing iterations.

Numerical study on the motion characteristics of free fall lifeboats entering calm water and rough sea

As ocean engineering operations extend into deeper seas, the working environment becomes increasingly complex, making free fall lifeboats (FFLBs) more vital for maritime disaster rescues. Unlike traditional davit-launched lifeboats, FFLBs are propelled into the water at a specific velocity and angle, engaging in a complex motion process of launch, impact, submersion, and resurfacing. Therefore, to assess the safety of FFLBs, this paper regarding the lifeboat as a rigid body aims to investigate the six-degree-of-freedom motion characteristics of lifeboat entering the water with different entry angles θ and wave environment, with a specific focus on analyzing the primary causes of capsizing. The numerical simulations of water entry with various θ, wave heights H, and relative entry positions are carried out by combining large eddy simulation and overset mesh technology. The free surface is captured by the volume of fluid method, and the attitude change, acceleration change, motion trajectory, and free surface evolution law of lifeboats are analyzed. The findings suggest that lifeboats can enter calm water safely at θ of 20°–50° and maintain a stable posture. Moreover, in extreme conditions where θ is either 0° or 90°, there is a high risk of entry failure due to excessive vertical acceleration and poor motion attitude, respectively. Furthermore, when facing waves, lifeboats experience reduced horizontal displacement when entering at peak and downward zero point compared to calm water conditions, which poses challenges for avoiding potential dangers.

A unified optimization design method for multi-stage non-circular gear transmission based on periodic B-spline interpolation

This research introduces a novel and unified optimization design method for multi-stage non-circular gear transmission (MNCGT) to address the challenges in designing MNCGT for complex motion requirements. The method optimizes non-circular gears comprehensively, reducing design and manufacturing difficulties while ensuring the realization of specified transmission requirements. A unified parameterization method, grounded on periodic B-spline interpolation, is introduced to establish the transmission function of non-circular gears and map it to a finite unified variable space. This innovative approach effectively reduces the difficulty and constraints of MNCGT optimization design. The proposed method takes into account crucial factors such as non-circularity, smoothness, processing conditions, and contact ratio, which significantly impact the transmission performance and manufacturing feasibility of non-circular gears. The effectiveness and superiority of this method are demonstrated through two practical examples and a real-world application in a planetary gear transplant mechanism, highlighting its potential for solving complex engineering problems.

Evaluation of Load on Cervical Disc Prosthesis by Imposing Complex Motion: Multiplanar Motion and Combined Rotational-Translational Motion.

(1) Background: The kinematic characteristics of disc prosthesis undergoing complex motion are not well understood. Therefore, examining complex motion may provide an improved understanding of the post-operative behavior of spinal implants. (2) Methods: The aim of this study was to develop kinematic tests that simulate multiplanar motion and combined rotational-translational motion in a disc prosthesis. In this context, five generic zirconia-toughened alumina (BIOLOX®delta, CeramTec, Germany) ball and socket samples were tested in a 6 DOF spine simulator under displacement control with an axial compressive force of 100 N in five motion modes: (1) flexion-extension (FE = ± 7.5°), (2) lateral bending (LB = ± 6°), (3) combined FE-LB (4) combined FE and anteroposterior translation (AP = 3 mm), and (5) combined LB and lateral motion (3 mm). For combined rotational-translational motion, two scenarios were analyzed: excessive translational movement after sample rotation (scenario 1) and excessive translational movement during rotation (scenario 2). (3) Results: For combined FE-LB, the resultant forces and moments were higher compared to the unidirectional motion modes. For combined rotational-translational motion (scenario 1), subluxation occurred at FE = 7.5° with an incremental increase in AP translation = 1.49 ± 0.18 mm, and LB = 6° with an incremental increase of lateral translation = 2.22 ± 0.16 mm. At the subluxation point, the incremental increase in AP force and lateral force were 30.4 ± 3.14 N and 40.8 ± 2.56 N in FE and LB, respectively, compared to the forces at the same angles during unidirectional motion. For scenario 2, subluxation occurred at FE = 4.93° with an incremental increase in AP translation = 1.75 mm, and LB = 4.52° with an incremental increase in lateral translation = 1.99 mm. At the subluxation point, the incremental increase in AP force and lateral force were 39.17 N and 38.94 N in FE and LB, respectively, compared to the forces in the same angles during the unidirectional motion. (4) Conclusions: The new test protocols improved the understanding of in vivo-like behavior from in vitro testing. Simultaneous translation-rotation motion was shown to provoke subluxation at lower motion extents. Following further validation of the proposed complex motion testing, these new methods can be applied future development and characterization of spinal motion-preserving implants.

Case study of the validity of truncation schemes of kinetic equations of motion: Few magnetic impurities in a semiconductor quantum ring

We carry out a study on the validity and limitations of truncation schemes customarily employed to treat the quantum kinetic equations of motion of complex interacting systems. Our system of choice is a semiconductor quantum ring with one electron interacting with few magnetic impurities via a Kondo-like Hamiltonian. This system is an interesting prototype which displays the necessary complexity when suitably scaled (large number of magnetic impurities) but can also be solved exactly when few impurities are present. The complexity in this system comes from the indirect electron-mediated impurity–impurity interaction and is reflected in the Heisenberg equations of motion, which form an infinite hierarchy. For the cases of two and three magnetic impurities, we solve for the quantum dynamics of our system both exactly and following a truncation scheme developed for diluted magnetic semiconductors in the bulk. We find an excellent agreement between the two approaches when physical observables like the impurities’ spin angular momentum are computed for times that well exceed the time window of validity of perturbation theory. On the other hand, we find that within time ranges of physical interest, the truncation scheme introduces negative populations which represents a serious methodological drawback.