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A Fast Grasp Planning Algorithm for Humanoid Robot Hands. 仿人机器人手部的快速抓握规划算法
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-10-04 DOI: 10.3390/biomimetics9100599
Ziqi Liu, Li Jiang, Ming Cheng

Grasp planning is crucial for robots to perform precision grasping tasks, where determining the grasp points significantly impacts the performance of the robotic hand. Currently, the majority of grasp planning methods based on analytic approaches solve the problem by transforming it into a nonlinear constrained planning problem. This method often requires performing convex hull computations, which tend to have high computational complexity. This paper proposes a new algorithm for calculating multi-finger force-closure grasps of three-dimensional objects based on humanoid multi-fingered hands. Firstly, sufficient conditions for the multi-finger force-closure grasps of three-dimensional objects are derived from a point contact model with friction. These three-dimensional force-closure conditions are then transformed into two-dimensional plane conditions, leading to a simple algorithm for multi-finger force-closure determination. This method is purely based on geometric analysis, resulting in low computational demands and enabling the rapid assessment of force-closure grasps, which are beneficial for real-time applications. Finally, the algorithm is validated through two case studies, demonstrating its feasibility and effectiveness.

抓取规划对于机器人执行精确抓取任务至关重要,其中抓取点的确定对机器人手的性能有重大影响。目前,大多数基于分析方法的抓取规划方法都是通过将问题转化为非线性约束规划问题来解决的。这种方法通常需要进行凸壳计算,计算复杂度往往很高。本文提出了一种基于仿人多指手的三维物体多指力闭合抓取计算新算法。首先,根据带摩擦力的点接触模型推导出三维物体多指力闭合抓取的充分条件。然后,将这些三维力闭合条件转化为二维平面条件,从而得出多指力闭合确定的简单算法。该方法纯粹基于几何分析,计算需求低,可快速评估力闭合抓取情况,有利于实时应用。最后,该算法通过两个案例研究进行了验证,证明了其可行性和有效性。
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引用次数: 0
The Role of the Pancreatic Extracellular Matrix as a Tissue Engineering Support for the Bioartificial Pancreas. 胰腺细胞外基质作为生物人工胰腺组织工程支持的作用
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-10-02 DOI: 10.3390/biomimetics9100598
Thamires Santos da Silva, Leandro Norberto da Silva-Júnior, Bianca de Oliveira Horvath-Pereira, Maria Carolina Miglino Valbão, Matheus Henrique Herminio Garcia, Juliana Barbosa Lopes, Carlos Henrique Bertoni Reis, Rodrigo da Silva Nunes Barreto, Daniela Vieira Buchaim, Rogerio Leone Buchaim, Maria Angelica Miglino

Type 1 diabetes mellitus (T1DM) is a chronic condition primarily managed with insulin replacement, leading to significant treatment costs. Complications include vasculopathy, cardiovascular diseases, nephropathy, neuropathy, and reticulopathy. Pancreatic islet transplantation is an option but its success does not depend solely on adequate vascularization. The main limitations to clinical islet transplantation are the scarcity of human pancreas, the need for immunosuppression, and the inadequacy of the islet isolation process. Despite extensive research, T1DM remains a major global health issue. In 2015, diabetes affected approximately 415 million people, with projected expenditures of USD 1.7 trillion by 2030. Pancreas transplantation faces challenges due to limited organ availability and complex vascularization. T1DM is caused by the autoimmune destruction of insulin-producing pancreatic cells. Advances in biomaterials, particularly the extracellular matrix (ECM), show promise in tissue reconstruction and transplantation, offering structural and regulatory functions critical for cell migration, differentiation, and adhesion. Tissue engineering aims to create bioartificial pancreases integrating insulin-producing cells and suitable frameworks. This involves decellularization and recellularization techniques to develop biological scaffolds. The challenges include replicating the pancreas's intricate architecture and maintaining cell viability and functionality. Emerging technologies, such as 3D printing and advanced biomaterials, have shown potential in constructing bioartificial organs. ECM components, including collagens and glycoproteins, play essential roles in cell adhesion, migration, and differentiation. Clinical applications focus on developing functional scaffolds for transplantation, with ongoing research addressing immunological responses and long-term efficacy. Pancreatic bioengineering represents a promising avenue for T1DM treatment, requiring further research to ensure successful implementation.

1 型糖尿病(T1DM)是一种慢性病,主要靠胰岛素替代治疗,治疗费用高昂。并发症包括血管病变、心血管疾病、肾病、神经病变和网状细胞病变。胰腺胰岛移植是一种选择,但其成功与否并不完全取决于是否有足够的血管。临床胰岛移植的主要局限性在于人类胰腺的稀缺性、免疫抑制的必要性以及胰岛分离过程的不足。尽管开展了广泛的研究,但 T1DM 仍是一个重大的全球健康问题。2015 年,约有 4.15 亿人受到糖尿病的影响,预计到 2030 年将产生 1.7 万亿美元的支出。由于器官供应有限且血管复杂,胰腺移植面临挑战。T1DM 是由产生胰岛素的胰腺细胞受到自身免疫破坏引起的。生物材料,尤其是细胞外基质(ECM)的进步为组织重建和移植带来了希望,它提供了对细胞迁移、分化和粘附至关重要的结构和调节功能。组织工程学的目标是创建生物人工胰腺,将产生胰岛素的细胞和合适的框架整合在一起。这涉及脱细胞和再细胞化技术,以开发生物支架。所面临的挑战包括复制胰腺的复杂结构以及保持细胞活力和功能。三维打印和先进生物材料等新兴技术已显示出构建生物人工器官的潜力。包括胶原蛋白和糖蛋白在内的 ECM 成分在细胞粘附、迁移和分化过程中发挥着至关重要的作用。临床应用的重点是开发用于移植的功能性支架,目前正在进行的研究涉及免疫反应和长期疗效。胰腺生物工程是治疗 T1DM 的一条前景广阔的途径,需要进一步研究以确保成功实施。
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引用次数: 0
Real-Time Home Automation System Using BCI Technology. 使用 BCI 技术的实时家庭自动化系统。
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-10-01 DOI: 10.3390/biomimetics9100594
Marius-Valentin Drăgoi, Ionuț Nisipeanu, Aurel Frimu, Ana-Maria Tălîngă, Anton Hadăr, Tiberiu Gabriel Dobrescu, Cosmin Petru Suciu, Andrei Rareș Manea

A Brain-Computer Interface (BCI) processes and converts brain signals to provide commands to output devices to carry out certain tasks. The main purpose of BCIs is to replace or restore the missing or damaged functions of disabled people, including in neuromuscular disorders like Amyotrophic Lateral Sclerosis (ALS), cerebral palsy, stroke, or spinal cord injury. Hence, a BCI does not use neuromuscular output pathways; it bypasses traditional neuromuscular pathways by directly interpreting brain signals to command devices. Scientists have used several techniques like electroencephalography (EEG) and intracortical and electrocorticographic (ECoG) techniques to collect brain signals that are used to control robotic arms, prosthetics, wheelchairs, and several other devices. A non-invasive method of EEG is used for collecting and monitoring the signals of the brain. Implementing EEG-based BCI technology in home automation systems may facilitate a wide range of tasks for people with disabilities. It is important to assist and empower individuals with paralysis to engage with existing home automation systems and gadgets in this particular situation. This paper proposes a home security system to control a door and a light using an EEG-based BCI. The system prototype consists of the EMOTIV Insight™ headset, Raspberry Pi 4, a servo motor to open/close the door, and an LED. The system can be very helpful for disabled people, including arm amputees who cannot close or open doors or use a remote control to turn on or turn off lights. The system includes an application made in Flutter to receive notifications on a smartphone related to the status of the door and the LEDs. The disabled person can control the door as well as the LED using his/her brain signals detected by the EMOTIV Insight™ headset.

脑机接口(BCI)通过处理和转换大脑信号,向输出设备发出指令,以执行特定任务。BCI 的主要目的是替代或恢复残疾人缺失或受损的功能,包括肌萎缩侧索硬化症(ALS)、脑瘫、中风或脊髓损伤等神经肌肉疾病。因此,BCI 不使用神经肌肉输出通路,而是绕过传统的神经肌肉通路,直接解读大脑信号来指挥设备。科学家们已经使用了多种技术,如脑电图(EEG)、皮质内和皮质电图(ECoG)技术来收集大脑信号,用于控制机械臂、假肢、轮椅和其他一些设备。脑电图是一种用于收集和监测大脑信号的无创方法。在家庭自动化系统中采用基于脑电图的生物识别(BCI)技术可为残疾人的各种任务提供便利。在这种特殊情况下,帮助瘫痪人士使用现有的家庭自动化系统和小工具并增强其能力非常重要。本文提出了一种使用基于脑电图的生物识别(BCI)来控制门和灯的家庭安全系统。系统原型由 EMOTIV Insight™ 耳机、Raspberry Pi 4、用于开门/关门的伺服电机和 LED 灯组成。该系统可以极大地帮助残疾人,包括无法关闭或打开门或使用遥控器开关灯的手臂截肢者。该系统包括一个用 Flutter 制作的应用程序,用于在智能手机上接收与门和 LED 指示灯状态有关的通知。残疾人可以通过 EMOTIV Insight™ 耳机检测到的大脑信号控制门和 LED 灯。
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引用次数: 0
Design and Demonstration of Hingeless Pneumatic Actuators Inspired by Plants. 受植物启发的无铰链气动执行器的设计与演示。
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-10-01 DOI: 10.3390/biomimetics9100597
Xiangli Zeng, Yingzhe Wang, Keisuke Morishima

Soft robots have often been proposed for medical applications, creating human-friendly machines, and dedicated subject operation, and the pneumatic actuator is a representative example of such a robot. Plants, with their hingeless architecture, can take advantage of morphology to achieve a predetermined deformation. To improve the modes of motion, two pneumatic actuators that mimic the principles of the plants (the birds-of-paradise plant and the waterwheel plant) were designed, simulated, and tested using physical models in this study. The most common deformation pattern of the pneumatic actuator, bending deformation, was utilized and hingeless structures based on the plants were fabricated for a more complex motion of the lobes. Here, an ABP (actuator inspired by the birds-of-paradise plant) could bend its midrib downward to open the lobes, but an AWP (actuator inspired by the waterwheel plant) could bend its midrib upward to open the two lobes. In both the computational and physical models, the associated movements of the midrib and lobes could be observed and measured. As it lacks multiple parts that have to be assembled using joints, the actuator would be simpler to fabricate, have a variety of deformation modes, and be applicable in more fields.

软机器人经常被提议用于医疗应用、创造人类友好型机器和专用的主体操作,气动执行器就是此类机器人的一个代表。植物的无铰链结构可以利用形态学的优势实现预定的变形。为了改进运动模式,本研究设计了两个模仿植物原理的气动致动器(天堂鸟植物和水车植物),并使用物理模型对其进行了模拟和测试。我们采用了气动致动器最常见的变形模式--弯曲变形,并以植物为基础制作了无铰链结构,以实现更复杂的叶片运动。在这里,ABP(受天堂鸟植物启发的致动器)可以向下弯曲中脉打开叶片,而 AWP(受水车植物启发的致动器)可以向上弯曲中脉打开两个叶片。在计算模型和物理模型中,都可以观察和测量中脉和叶片的相关运动。由于该推杆不需要使用接头组装多个部件,因此制造起来更简单,具有多种变形模式,适用于更多领域。
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引用次数: 0
Heuristic Optimization Algorithm of Black-Winged Kite Fused with Osprey and Its Engineering Application. 黑翅鸢与鹗融合的启发式优化算法及其工程应用
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-10-01 DOI: 10.3390/biomimetics9100595
Zheng Zhang, Xiangkun Wang, Yinggao Yue

Swarm intelligence optimization methods have steadily gained popularity as a solution to multi-objective optimization issues in recent years. Their study has garnered a lot of attention since multi-objective optimization problems have a hard high-dimensional goal space. The black-winged kite optimization algorithm still suffers from the imbalance between global search and local development capabilities, and it is prone to local optimization even though it combines Cauchy mutation to enhance the algorithm's optimization ability. The heuristic optimization algorithm of the black-winged kite fused with osprey (OCBKA), which initializes the population by logistic chaotic mapping and fuses the osprey optimization algorithm to improve the search performance of the algorithm, is proposed as a means of enhancing the search ability of the black-winged kite algorithm (BKA). By using numerical comparisons between the CEC2005 and CEC2021 benchmark functions, along with other swarm intelligence optimization methods and the solutions to three engineering optimization problems, the upgraded strategy's efficacy is confirmed. Based on numerical experiment findings, the revised OCBKA is very competitive because it can handle complicated engineering optimization problems with a high convergence accuracy and quick convergence time when compared to other comparable algorithms.

近年来,作为多目标优化问题的一种解决方案,群智能优化方法逐渐受到人们的青睐。由于多目标优化问题具有高维目标空间,因此对它们的研究受到了广泛关注。黑翅风筝优化算法虽然结合了考奇突变来增强算法的优化能力,但仍然存在全局搜索和局部开发能力不平衡的问题,容易出现局部优化。为了提高黑翅风筝算法(BKA)的搜索能力,提出了黑翅风筝融合鱼鹰的启发式优化算法(OCBKA),该算法通过逻辑混沌映射初始化种群,并融合鱼鹰优化算法来提高算法的搜索性能。通过对 CEC2005 和 CEC2021 基准函数以及其他群智能优化方法和三个工程优化问题的解进行数值比较,证实了升级策略的有效性。根据数值实验结果,改进后的 OCBKA 具有很强的竞争力,因为与其他同类算法相比,它能以较高的收敛精度和较快的收敛时间处理复杂的工程优化问题。
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引用次数: 0
A Reinforcement Learning-Based Bi-Population Nutcracker Optimizer for Global Optimization. 基于强化学习的双人口胡桃夹子全局优化器
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-10-01 DOI: 10.3390/biomimetics9100596
Yu Li, Yan Zhang

The nutcracker optimizer algorithm (NOA) is a metaheuristic method proposed in recent years. This algorithm simulates the behavior of nutcrackers searching and storing food in nature to solve the optimization problem. However, the traditional NOA struggles to balance global exploration and local exploitation effectively, making it prone to getting trapped in local optima when solving complex problems. To address these shortcomings, this study proposes a reinforcement learning-based bi-population nutcracker optimizer algorithm called RLNOA. In the RLNOA, a bi-population mechanism is introduced to better balance global and local optimization capabilities. At the beginning of each iteration, the raw population is divided into an exploration sub-population and an exploitation sub-population based on the fitness value of each individual. The exploration sub-population is composed of individuals with poor fitness values. An improved foraging strategy based on random opposition-based learning is designed as the update method for the exploration sub-population to enhance diversity. Meanwhile, Q-learning serves as an adaptive selector for exploitation strategies, enabling optimal adjustment of the exploitation sub-population's behavior across various problems. The performance of the RLNOA is evaluated using the CEC-2014, CEC-2017, and CEC-2020 benchmark function sets, and it is compared against nine state-of-the-art metaheuristic algorithms. Experimental results demonstrate the superior performance of the proposed algorithm.

胡桃钳优化算法(NOA)是近年来提出的一种元启发式方法。该算法模拟自然界中胡桃夹子寻找和储存食物的行为来解决优化问题。然而,传统的 NOA 难以有效平衡全局探索和局部开发,因此在解决复杂问题时容易陷入局部最优状态。针对这些不足,本研究提出了一种基于强化学习的双种群坚果钳优化算法,即 RLNOA。在 RLNOA 中,引入了一种双种群机制,以更好地平衡全局和局部优化能力。在每次迭代开始时,原始种群会根据每个个体的适应度值分为探索子种群和开发子种群。探索子种群由体能值较低的个体组成。为了提高多样性,设计了一种基于随机对立学习的改进觅食策略,作为探索子群体的更新方法。同时,Q-learning 作为开发策略的自适应选择器,可以在各种问题中对开发子群的行为进行优化调整。利用 CEC-2014、CEC-2017 和 CEC-2020 基准函数集对 RLNOA 的性能进行了评估,并与九种最先进的元启发式算法进行了比较。实验结果表明,该算法性能优越。
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引用次数: 0
A Motion Planner Based on Mask-D3QN of Quadruped Robot Motion for Steam Generator. 基于 Mask-D3QN 的蒸汽发生器四足机器人运动规划器
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-09-30 DOI: 10.3390/biomimetics9100592
Biying Xu, Xuehe Zhang, Xuan Yu, Yue Ou, Kuan Zhang, Hegao Cai, Jie Zhao, Jizhuang Fan

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.

爬行机器人是智能检测研究的重点,这类机器人的主要特点是平面内姿态调整灵活。爬行机器人 HIT_Spibot 是一种新型的蒸汽发生器传热管检测机器人,具有不同于传统四足机器人的独特移动能力。本文介绍了一种针对 HIT_Spibot 的分层运动规划方法,旨在实现高效灵活的机动性。所提出的方法集成了三种不同的规划器来处理复杂的运动任务:基于非线性优化的基础运动规划器、基于 TOPSIS 的基础方向规划器和基于 Mask-D3QN (MD3QN) 算法的步态运动规划器。首先,通过包络分析划定机器人的底座和脚部工作空间,然后使用拉朗方法计算轨迹。随后,采用 TOPSIS 算法建立一个有利于基础转弯规划的评估框架。最后,MD3QN 算法训练了脚点,以促进机器人沿预定路径运动。实验结果表明,该方法能适应各种管道结构,即使在有随机障碍物的环境中也能表现出稳定的性能。与 D3QN 算法相比,MD3QN 的成功率达到了 100%,平均总分提高了 6.27%,平均步长缩短了 39.04%,稳定性达到了 58.02%。这些结果不仅验证了该方法的有效性和实用性,还展示了 HIT_Spibot 在工业检测领域的巨大潜力。
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引用次数: 0
Impact of Vehicle Steering Strategy on the Severity of Pedestrian Head Injury. 车辆转向策略对行人头部伤害严重程度的影响。
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-09-30 DOI: 10.3390/biomimetics9100593
Danqi Wang, Wengang Deng, Lintao Wu, Li Xin, Lizhe Xie, Honghao Zhang

In response to the sudden violation of pedestrians crossing the road, intelligent vehicles take into account factors such as the road conditions in the accident zone, traffic rules, and surrounding vehicles' driving status to make emergency evasive decisions. Thus, the collision simulation models for pedestrians and three types of vehicles, i.e., sedans, Sport Utility Vehicles (SUVs), and Multi-Purpose Vehicle (MPVs), are built to investigate the impact of vehicle types, vehicle steering angles, collision speeds, collision positions, and pedestrian orientations on head injuries of pedestrians. The results indicate that the Head Injury Criterion (HIC) value of the head increases with the increase in collision speed. Regarding the steering angles, when a vehicle's steering direction aligns with a pedestrian's position, the pedestrian remains on top of the vehicle's hood for a longer period and moves together with the vehicle after the collision. This effectively reduces head injuries to pedestrians. However, when the vehicle's steering direction is opposite to the pedestrian's position, the pedestrian directly collides with the ground, resulting in higher head injuries. Among them, MPVs cause the most severe injuries, followed by SUVs, and sedans have the least impact. Overall, intelligent vehicles have great potential to reduce head injuries of pedestrians in the event of sudden pedestrian-vehicle collisions by combining with Automatic Emergency Steering (AES) measures. In the future, efforts need to be made to establish an optimized steering strategy and optimize the handling of situations where steering is ineffective or even harmful.

针对行人突然违规横穿马路的情况,智能车辆会综合考虑事故区域的路况、交通规则以及周围车辆的行驶状态等因素,做出紧急避让决策。因此,建立了行人与轿车、运动型多用途车(SUV)和多功能车(MPV)三种车辆的碰撞模拟模型,研究车辆类型、车辆转向角、碰撞速度、碰撞位置和行人方向对行人头部伤害的影响。结果表明,头部伤害标准值(HIC)随着碰撞速度的增加而增加。在转向角方面,当车辆的转向方向与行人的位置一致时,行人在车辆引擎盖上停留的时间较长,碰撞后与车辆一起移动。这就有效地减少了对行人头部的伤害。然而,当车辆的转向方向与行人的位置相反时,行人会直接与地面相撞,从而导致更高的头部伤害。其中,MPV 造成的伤害最严重,其次是 SUV,轿车受到的影响最小。总体而言,智能汽车与自动紧急转向(AES)措施相结合,在减少行人与车辆突发碰撞时对行人头部造成的伤害方面具有很大的潜力。未来,需要努力建立优化的转向策略,优化处理转向无效甚至有害的情况。
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引用次数: 0
Effects of Coaxial Nozzle's Inner Nozzle Diameter on Filament Strength and Gelation in Extrusion-Based 3D Printing with In Situ Ionic Crosslinking. 同轴喷嘴的内喷嘴直径对基于原位离子交联的挤压式三维打印中丝线强度和凝胶化的影响
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-09-29 DOI: 10.3390/biomimetics9100589
Taieba Tuba Rahman, Al Mazedur Rahman, Zhijian Pei, Nathan Wood, Hongmin Qin

This study systematically investigates the effects of the coaxial nozzle's inner nozzle diameter on the strength and gelation of filaments produced via extrusion-based 3D printing with in situ ionic crosslinking. In this system, bioink (sodium alginate solution) was extruded through the outer nozzle, and the ionic crosslinking solution (calcium chloride solution) was extruded through the inner nozzle. The outer nozzle diameter was fixed at 2.16 mm, and the inner nozzle diameter was varied among 1.19, 0.84, and 0.584 mm. The results indicate that, as the inner nozzle diameter decreased, filament strength decreased, and filament gelation became poorer. These findings highlight the importance of optimizing inner nozzle diameter for improved filament strength and gelation in extrusion-based 3D printing with in situ ionic crosslinking.

本研究系统地探讨了同轴喷嘴的内喷嘴直径对通过挤出式三维打印与原位离子交联生产的长丝的强度和凝胶化的影响。在该系统中,生物墨水(海藻酸钠溶液)通过外喷嘴挤出,离子交联溶液(氯化钙溶液)通过内喷嘴挤出。外喷嘴直径固定为 2.16 毫米,内喷嘴直径在 1.19、0.84 和 0.584 毫米之间变化。结果表明,随着内喷嘴直径的减小,长丝强度降低,长丝凝胶化程度变差。这些发现凸显了优化喷嘴内径以提高原位离子交联挤出式三维打印的长丝强度和凝胶化的重要性。
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引用次数: 0
A Flexible Hierarchical Framework for Implicit 3D Characterization of Bionic Devices. 用于仿生设备隐式三维特征描述的灵活分层框架
IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Pub Date : 2024-09-29 DOI: 10.3390/biomimetics9100590
Yunhong Lu, Xiangnan Li, Mingliang Li

In practical applications, integrating three-dimensional models of bionic devices with simulation systems can predict their behavior and performance under various operating conditions, providing a basis for subsequent engineering optimization and improvements. This study proposes a framework for characterizing three-dimensional models of objects, focusing on extracting 3D structures and generating high-quality 3D models. The core concept involves obtaining the density output of the model from multiple images to enable adaptive boundary surface detection. The framework employs a hierarchical octree structure to partition the 3D space based on surface and geometric complexity. This approach includes recursive encoding and decoding of the octree structure and surface geometry, ultimately leading to the reconstruction of the 3D model. The framework has been validated through a series of experiments, yielding positive results.

在实际应用中,将仿生设备的三维模型与仿真系统相结合,可以预测其在各种操作条件下的行为和性能,为后续工程优化和改进提供依据。本研究提出了一种表征物体三维模型的框架,重点是提取三维结构和生成高质量的三维模型。其核心理念包括从多幅图像中获取模型的密度输出,从而实现自适应边界表面检测。该框架采用分层八叉树结构,根据表面和几何复杂度划分三维空间。这种方法包括八叉树结构和表面几何的递归编码和解码,最终导致三维模型的重建。该框架已通过一系列实验进行了验证,并取得了积极的成果。
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引用次数: 0
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