Design and Optimisation of Bionic Frog Hind Limbs

Jumping robots have garnered significant attention from both academia and industry due to their superior obstacle negotiation capabilities and high mobility. The bionic frog-inspired jumping robot represents a pivotal research focus within this domain. This study initiates with a biological examination of frogs, identifying two critical factors governing their jumping performance: center-of-gravity adjustment and hindlimb movement. A simplified structural model of the frog is established to inform the structural design of the bionic robot. The kinematic analysis is then prioritized, specifically targeting the jumping actuation mechanism. An analytical method is employed to develop a mathematical model of the mechanism, investigating the patterns of its output displacement, velocity, and acceleration. MATLAB simulations are conducted to generate motion sequence diagrams of the mechanism and the curves illustrating the angular displacement, angular velocity, and angular acceleration of each linkage. The results validate the rationality and feasibility of the mechanism's design, thereby laying a theoretical foundation for subsequent structural optimization efforts.

Even with the state-of-the-art technology of computer-aided design and topology optimization, the present structural design still faces the challenges of high dimensionality, multi-objectivity, and multi-constraints, making it knowledge/experience-demanding, labor-intensive, and difficult to achieve or simply lack of global optimality. Structural designers are still searching for new ways to cost-effectively to achieve a possible global optimality in a given structure design, in particular, we are looking for decreasing design knowledge/experience-requirements and reducing design labor and time. In recent years, Artificial Intelligence (AI) technology, characterized by the large language model (LLM) of Machine Learning (ML), for instance Deep Learning (DL), has developed rapidly, fostering the integration of AI technology in structural engineering design and giving rise to the concept and notion of Artificial Intelligence-Aided Design (AIAD). The emergence of AIAD has greatly alleviated the challenges faced by structural design, showing great promise in extrapolative and innovative design concept generation, enhancing efficiency while simplifying the workflow, reducing the design cycle time and cost, and achieving a truly global optimal design. In this article, we present a state-of-the-art overview of applying AIAD to enhance structural design, summarizing the current applications of AIAD in related fields: marine and naval architecture structures, aerospace structures, automotive structures, civil infrastructure structures, topological optimization structure designs, and composite micro-structure design. In addition to discussing of the AIAD application to structural design, the article discusses its current challenges, current development focus, and future perspectives.

Facing the escalating demands in both technical competence and financial accountability, practicing structural engineers are being forced into an ever-intensified fast-pace working environment. With more and more structural design codes becoming lengthy and cumbersome and, meanwhile, the time allocated for structural engineering design being drastically reduced, the quality assurance of the structural engineering design has been becoming more critical than ever for practicing structural engineers to succeed. Structural engineering design errors and failures have been observed in a variety of design phases and categories. Among them, there are several typical problems needed to be discussed and a systematical procedure of quality assurance of the structural engineering design shall be studied and developed. As a part of our collective professional effort to assure the quality of the structural engineering design, this paper will discuss following eight typical aspects related to quality control and assurance of structural engineering design and a number of real world practical examples will be presented to assist in illustrating the importance of the quality control and assurance for real world structural engineering design projects.

The jumping procedure of the human was captured with a high-speed video camera. The geometrical configurations and motion postures of the human during jumping were analyzed from the high-speed photographs. By biological observation and kinematic analysis, the human jump was divided into stance phase, flight phase and land phase. Based on the observation, the human jump was simplified and a mechanical model was put forward. The velocity and the torque of the hip joint, knee joint and ankle joint of the limb were analyzed. It was shown that the changes of hip joint angle were more remarkable, which provided the driving force for the body. The results would provide some theoretical and practical references for biomimetic design for improving the reasonable motion of the jumping robot. This work may provide the basic theory in developing human jumping robot in structural design. Besides, it provides an important reference to study the other bionic robots.

Power overhead line regulations and codes generally apply prescriptive methods to the design of structures using working loads multiplied by factors of safety. In contrast, the probabilistic method is founded on designing to a limit state in which strength is matched to stress, with the risk of failure defined by the overlap of the distributions of the limit state model. This work indicates how a stress limit state using probability concepts can be applied to the design of round pole distribution line structures. It indicates that unlike the transmission line, variations which occur in the layout of distribution lines necessitate the use of some contingency factors. Design studies of new and existing lines show that there are substantial savings to be made.

The four-legged bionic robot for agriculture has been one of the hotspots in the field of robotics. The farmland environment is complex, and the balance requirement of quadruped bionic robot is higher. However, head adjustment is a key factor affecting the balance of quadruped animals. Based on this, this study takes the four-legged animal goat as an example to investigate the effect of goat head movement adjustment on the balance of goat. In this study, the head and neck of goats were simplified to a two-link model. The kinematics model was established by D-H method. MATLAB software was used to solve it. Origin software was used to draw the movement track of the center of mass of the head. The center of mass movement of the head is a quarter ellipse. Then, the goat walking experiments were carried out on the different slopes (0°, 5°, 10°, 15°, 20°, 25°, 30°, 35° and 40°). MATLAB software was used to fit the movement data of goat head. The movement of the center of mass of the goat's head corresponds to Fourier 6. The result is: the determination coefficient is 0.8629, and the mean variance is 0.019. When the slope gradient gradually increases, the volatility gradually increases and is cyclical. The results of this study verify the rationality of the four-legged bionic mechanism under various parameters and reveal the mechanism of goat walking with an appendage at the head. Keywords: bionic four-legged robot, slope, head, center of mass, trajectory, balance DOI: 10.25165/j.ijabe.20191204.4287 Citation: Zhang F, Wang Y F, Teng S, Zheng L M, Wang J J, Chen Z J. Development of agricultural bionic four-legged robot: Effect of head movement adjustment on the stability of goats. Int J Agric & Biol Eng, 2019; 12(4): 10–15.

Merchandise management is an important part of enterprise management, information management system is an important means to achieve the modernization of management of goods. View of the current the existing in the construction which the merchandise management information system of problem, the database design, in this paper research SQL Server database management system under the support of in accordance with the database design flow carried out conceptual structure design, logical structure design and physical structure design. Conceptual structure design in part through the E-R model performance; Logical structure design part of the structural design of the choice of data types and relationships; Physical structure of the design portion of the disk hardware selection and index design. The content of this study, for the development merchandise management system to provide practical solutions for enterprises to strengthen merchandise management, improve the level of information is of great significance.

Jumping locomotion is much more effective than other locomotion means in order to tackle the unstructured and complex environment in research and rescue. Here, a bio-inspired jumping robot with a closed-chain mechanism is proposed to achieve the power amplification during taking-off. Through actuating one variable transmission mechanism to change the transmission ratio, the jumping robot reveals biological characteristics in the phase of posture adjustment when adjusting the height and distance of one jump. The kinematics and dynamics of the simplified jumping mechanism model in one jumping cycle sequence are analysed. A compliant contact model considering nonlinear damping is investigated for jumping performance under different terrain characteristics. The numerical simulation algorithm with regard to solving the dynamical equation is described and simulation results are discussed. Finally, one primary prototype and experiment are described. The experimental results show the distance of jumping in the horizontal direction increases with the increasing gear ratio, while the height of jumping decreases in reverse. The jumping robot can enhance the capability to adapt to unknown cluttered environments, such as those encountered in research and rescue, using this strategy.

The evolution of bionic machines into intelligent robots to adapt to real scenarios is inseparable from positioning sensors. However, traditional positioning methods such as camera arrays, ultrasound, or GPS are limited in narrow concealed spaces, harsh temperatures, or dynamic light fields, which hinder the practical application of special robots. Here, we report a flexible sensor inspired by Gnathonemus petersii that enables robots to achieve contactless and high-precision spatial localization independent of the unstructured features of the environment. Sensors are obtained from low-cost materials (carbon nanotubes and polyimides) and simple structures (fibers) and preparation processes (spin-coating). Experiments and simulations confirmed the high resolution (<1 mm) of the sensor over a large distance detection range (>150 mm) and high bandwidth (0-520 MPa) of contact force. Moreover, the sensing capability is still feasible when the sensor is bent to various curvatures and not affected under harsh conditions such as ultralow temperatures (below -78 °C), ultrahigh temperatures (over 250 °C), darkness, or brightness. We demonstrate the practical potential of the proposed sensors for a biomimetic hyper-redundant continuum robot to locate and avoid collisions in unstructured environments.

Inspired by the agility of mantis shrimp, this paper presents the development of a novel bionic mantis shrimp robot with multiple pleopods coupled motion for underwater target recognition and tracking. Firstly, the novel bionic robot is constructed based on the inspiration from biological mantis shrimp. Secondly, a Kalman filter-based algorithm, namely MobileNet-YOLO (KMY), is created to collect datasets and train neural networks. Thirdly, a moving target following system is developed for the bionic mantis shrimp robot, in which a dual PID controller is used to track underwater moving targets. The real robot testing results show that the proposed control system can enable our bionic robot to follow a specific moving target in a narrow pool (2m × 1m × 1m), and the minimum turning radius can be up to 0.55m when the angle between the robot's initial motion and the motion of target is 90°.

Protein-based emulsion gels as materials for delivery of bioactive substances: Formation, structures, applications and challenges

In order to improve the efficiency of dredging, reduce the cost of dredging and ensure the safety of operation, this paper designs an underwater building surface dredging robot (hereinafter referred to as "underwater dredging robot"), which mainly includes the following aspects. The structure of underwater dredging robot is planned and divided into dredging system, walking system, driving system and support system. According to the actual work situation and the characteristics of each system, the scheme selection and structure design are carried out, and the overall layout scheme is obtained. The materials of the support system are selected and its force under different working conditions is analyzed. Through finite element analysis and modal analysis, it is verified that its reliability meets the requirements and there is no resonance phenomenon in the work.

Structural optimization design of ice abrasive water jet nozzle based on multi-objective algorithm

In this paper, according to the design technical requirements, the completion of the structural scheme design of compound-driven in-pipe robot, the establishment of the cam active support diameter reducing mechanism mathematical model, obtain the relationship curve between its parameters, and completed the optimization of the cam contour. The resident performance of the robot in the pipeline is analyzed, and the feasibility of the robot's active resident in the pipeline is verified. This paper explores the relationship between the running speed of the robot in the pipeline and the leakage clearance under the condition of the fluid driven, and through the analysis and calculation of the different fluid velocity in the pipe, the reasonable range of the leakage clearance of the robot can be determined, for this range the robot can run smoothly. It has important theoretical value and engineering practical significance for the design and practical application of compound-driven pipeline robot.

The main aim of structural engineer is to design the structure for a serviceable, safe, durable and economical. The entire process of structural planning and design is required imagination and sound knowledge. Analysis and design of G+10 storey residential building structure as per IS Code methods. Analysis and design of entire structure have been completed by manual design and verifies using STAAD.PRO V8i Software. Now a day large number of application software’s are available in the civil engineering field. All these software’s are developed as the basis of advanced. Finite element analysis which includes the effect of dynamic load such as wind effect, effect bets etc. in the present work, an attempt has been made to study the efficiency of certain civil engineering applications software’s such as STAAD.PRO V8i and ETABS. All the drafting and detailing was done by using AutoCAD 2021. In this project, the design of beam, column, slab, staircase, shear wall is calculated by “Limit State Method” using IS: 456-2000 IS code book. Different loads active on the member are consider according to IS:875-1987(part1,part2,part-3). Hence residential building is properly planned in accordance with Indian Standard Codes of India. KEY WORDS :- Analysis of structure(G+10) ,Design of structure (G+10), Auto cad 2021 ,STAAD.PRO V8i.