This article is devoted to the control of bio-inspired robots that are underactuated. These robots are composed of tensegrity joints remotely actuated with cables, which mimic the musculoskeletal system of the bird neck. A computed torque control (CTC) is applied to these robots as well as an original control called pseudo computed torque control (PCTC). This new control uses the dynamics and the pseudo-inverse of the Jacobian matrix. The stability of the two proposed controls is then analyzed through linearization of the dynamic model and expression of the closed-loop transfer function in the Laplace domain. We show that, depending on the desired trajectory, the CTC can be unstable when the controlled variables are the end effector position and orientation. For a robot with many joints and a limited number of cables, the CTC is always unstable. Instead, the PCTC shows a large domain of stability. The analysis is complemented by experimental tests demonstrating that the CTC and PCTC exhibit similar performance when the CTC is stable. Furthermore, the PCTC maintains stability on trajectories where the CTC becomes unstable, showing robustness to perturbations as well.

Energy efficiency is inherent for autonomous robotic device. Snakes are well known for their ability to low energy consumption when swimming. However, the swimming know-how is poorly understood. Designing a snake robot inspired by snakes as a tool to find out the swimming energy efficiency crucial point will lead to the development of hyper efficient undulating locomotors. In this article, we introduce a four tendons driven continuum robot made of bio-inspired compliant vertebrae to assess the energy consumption of a planar and a spatial snake motion. The tendon-driven continuum robot constitutes the head–neck part of a locomotor snake robot. A static modeling coupled with an optimization method was implemented to generate bio-inspired motions recorded on snake swimming head. A friction model describing the friction between cables and the disks is investigated and compared to a frictionless model. The proposed prototype is equipped with exteroceptive sensors to record motion and proprioceptive sensors to measure cable forces applied at the tip of the robot. Hence, the work of the forces, thus the energy required to execute a trajectory are computed and analyzed. The energy is introduced as a key criterion to assess the swimming motion of a locomotor snake robot.

We discuss the complexity of completions of partial combinatory algebras, in particular, of Kleene’s first model. Various completions of this model exist in the literature, but all of them have high complexity. We show that although there are no computable completions, there exist completions of low Turing degree. We use this construction to relate completions of Kleene’s first model to complete extensions of $\mathrm{PA}$. We also discuss the complexity of pcas defined from nonstandard models of $\mathrm{PA}$.

Designing autonomous robotic systems for monitoring tasks in critical security scenarios requires more rigorous verification criteria. The losses associated with unsuccessful practical experiments are immeasurable, ranging from the simple loss of high-value-added equipment to those related to loss of life. This reality justifies the need to adopt an extensive framework of tools for realistic, efficient, and responsive computer simulation. This article proposes a novel integration architecture and combines open-source tools to promote the successful implementation of autonomous robotic systems in monitoring tasks. The proposed solution relies on consolidated tools like Robot Operating System (ROS), Gazebo Simulator, and ArduPilot FCU (Flight Control Unit). It includes full support for implementing XITL techniques (such as Model, Software, and Hardware) – in the Loop. Experimental results demonstrate the proposal’s effectiveness for a new model of autonomous surface vehicles (ASVs) in a realistic environment, dedicated to environmental monitoring in challenging natural conditions, commonly found in a stretch of the Madeira River – Brazil, specifically at Santo Antônio hydroelectric plant.

Soft robotic devices are designed for applications such as exploration, manipulation, search and rescue, medical surgery, rehabilitation, and assistance. Due to their complex kinematics, various and often hard-to-define degrees of freedom, and nonlinear properties of their material, designing and operating these devices can be quite challenging. Using tools such as optimization methods can improve the efficiency of these devices and help roboticists manufacture the robots they need. In this work, we present an extensive and systematic literature search on the optimization methods used for the mechanical design of soft robots, particularly focusing on literature exploiting evolutionary computation (EC). We completed the search in the IEEE, ACM, Springer, SAGE, Elsevier, MDPI, Scholar, and Scopus databases between 2009 and 2024 using the keywords “soft robot,” “design,” and “optimization.” We categorized our findings in terms of the type of soft robot (i.e., bio-inspired, cable-driven, continuum, fluid-driven, gripper, manipulator, modular), its application (exploration, manipulation, surgery), the optimization metrics (topology, force, locomotion, kinematics, sensors, and energy), and the optimization method (categorized as EC or non-EC methods). After providing a road map of our findings in the state of the art, we offer our observations concerning the implementation of the optimization methods and their advantages. We then conclude our paper with suggestions for future research.

We derive a sufficient condition for a sparse random matrix with given numbers of non-zero entries in the rows and columns having full row rank. The result covers both matrices over finite fields with independent non-zero entries and $\{0,1\}$-matrices over the rationals. The sufficient condition is generally necessary as well.

Parallel manipulators with flexible morphing platform (FMP) provide potential solution in various application fields, such as shape-morphing underwater robot, deformable wings, and human–machine interfaces. However, there is still lack of effective approach for the design and analysis of such novel type of parallel manipulator. In this article, a 9-UPS redundant actuation parallel manipulator with flexible morphing moving platform is designed as a representative of this kind of manipulator. Correspondingly, a deformation estimation and shape control approach for the FMP is presented. The proposed deformation estimation approach is designed based on the bending energy, which can achieve high calculation efficiency and avoid complex mechanical definition and calculation. And the proposed shape control approach is realized by utilizing a nonrigid ICP match algorithm, which can continuously deform the morphing platform to an arbitrary target surface. A prototype of the 9-UPS parallel manipulator is fabricated and analyzed as verification. The experiment results show that the proposed approach offers a promising avenue for the deformation estimation and shape control of the morphing platform.

The two-wheeled legged robot combines the advantages of legged robot and wheeled robot and has high terrain adaptability. Spherical robots are highly resistant to interference during detection. In this paper, a new sphere-wheel-legged robot is designed by combining these three motion modes. This paper begins by introducing the mechanical design, hardware, and software. Then, kinematics and dynamics of wheel-legged motion and spherical motion are analyzed in detail. Subsequently, the controllers for wheel-legged balancing motion, wheel-legged jumping motion, and sphere rolling motion are developed, respectively. Finally, experiments are carried out for different modes. The results demonstrate that the designed robot has excellent locomotor capabilities over different terrains.

Computational simplification tools can make complex information sources easier to read for engineering designers. To guide and evaluate such approaches, it is necessary to understand how designers process information and how that information can be enhanced and measured. Here, we establish an approach for enhancing and measuring the comprehensibility of technical information for engineering designers. It is grounded in theories of document search and comprehension and provides theoretically supported principles for enhancing information and methods for measuring comprehension experimentally. It is tailored for engineering design in that it (i) does not summarize or remove potentially important information, (ii) is suitable for long, complex sources of information, (iii) can be applied in experiments that simulate real-life information sharing scenarios, and (iv) enables the measurement of domain-specific comprehension. The feasibility of the approach was tested by using patent documents as a test case since they represent a valuable but underutilized source of technical information. A 2 (patent documents) × 2 (conditions: control vs. modified) experiment was conducted with 28 professional engineering designers. Two patent documents were modified with six information design principles. Comprehension scores were higher for the modified patent than for the control, but the change was not statistically significant (p = 0.073). We attribute this either to redundancy effects causing a smaller than expected overall improvement in performance, or differences in prior knowledge for each patent. Overall, this approach offers a novel method for investigating and measuring information comprehensibility in engineering design; however, its effectiveness in enhancing information comprehensibility remains unvalidated.

One of the elegant achievements in the history of proof theory is the characterization of the provably total recursive functions of an arithmetical theory by its proof-theoretic ordinal as a way to measure the time complexity of the functions. Unfortunately, the machinery is not sufficiently fine-grained to be applicable on the weak theories, on the one hand and to capture the bounded functions with bounded definitions of strong theories, on the other. In this paper, we develop such a machinery to address the bounded theorems of both strong and weak theories of arithmetic. In the first part, we provide a refined version of ordinal analysis to capture the feasibly definable and bounded functions that are provably total in $\textrm{PA}+\bigcup _{\beta \prec \alpha } \textrm{TI}({\prec_{\beta}})$, the extension of Peano arithmetic by transfinite induction up to the ordinals below $\alpha$. Roughly speaking, we identify the functions as the ones that are computable by a sequence of $\textrm{PV}$-provable polynomial time modifications on an initial polynomial time value, where the computational steps are indexed by the ordinals below $\alpha$, decreasing by the modifications. In the second part, and choosing $l \leq k$, we use similar technique to capture the functions with bounded definitions in the theory $T^k_2$ (resp. $S^k_2$) as the functions computable by exponentially (resp. polynomially) long sequence of $\textrm{PV}_{k-l +1}$-provable reductions between $l$-turn games starting with an explicit $\textrm{PV}_{k-l +1}$-provable winning strategy for the first game.

This paper studies a bi-dimensional compound risk model with quasi-asymptotically independent and consistently varying-tailed random numbers of claims and establishes an asymptotic formula for the finite-time sum-ruin probability. Additionally, some results related to tail probabilities of random sums are presented, which are of significant interest in their own right. Some numerical studies are carried out to check the accuracy of the asymptotic formula.

We propose a systematic design approach for the precast concrete industry to promote sustainable construction practices. By employing a holistic optimization procedure, we combine the concrete mixture design and structural simulations in a joint, forward workflow that we ultimately seek to invert. In this manner, new mixtures beyond standard ranges can be considered. Any design effort should account for the presence of uncertainties which can be aleatoric or epistemic as when data are used to calibrate physical models or identify models that fill missing links in the workflow. Inverting the causal relations established poses several challenges especially when these involve physics-based models which more often than not, do not provide derivatives/sensitivities or when design constraints are present. To this end, we advocate Variational Optimization, with proposed extensions and appropriately chosen heuristics to overcome the aforementioned challenges. The proposed approach to treat the design process as a workflow, learn the missing links from data/models, and finally perform global optimization using the workflow is transferable to several other materials, structural, and mechanical problems. In the present work, the efficacy of the method is exemplarily illustrated using the design of a precast concrete beam with the objective to minimize the global warming potential while satisfying a number of constraints associated with its load-bearing capacity after 28 days according to the Eurocode, the demolding time as computed by a complex nonlinear finite element model, and the maximum temperature during the hydration.

Retrieval-augmented generation (RAG) adds a simple but powerful feature to chatbots, the ability to upload files just-in-time. Chatbots are trained on large quantities of public data. The ability to upload files just-in-time makes it possible to reduce hallucinations by filling in gaps in the knowledge base that go beyond the public training data such as private data and recent events. For example, in a customer service scenario, with RAG, we can upload your private bill and then the bot can discuss questions about your bill as opposed to generic FAQ questions about bills in general. This tutorial will show how to upload files and generate responses to prompts; see https://github.com/kwchurch/RAG for multiple solutions based on tools from OpenAI, LangChain, HuggingFace transformers and VecML.

Given a family of graphs $\mathcal{F}$ and an integer $r$, we say that a graph is $r$-Ramsey for $\mathcal{F}$ if any $r$-colouring of its edges admits a monochromatic copy of a graph from $\mathcal{F}$. The threshold for the classic Ramsey property, where $\mathcal{F}$ consists of one graph, in the binomial random graph was located in the celebrated work of Rödl and Ruciński.

In this paper, we offer a twofold generalisation to the Rödl–Ruciński theorem. First, we show that the list-colouring version of the property has the same threshold. Second, we extend this result to finite families $\mathcal{F}$, where the threshold statements might also diverge. This also confirms further special cases of the Kohayakawa–Kreuter conjecture. Along the way, we supply a short(-ish), self-contained proof of the $0$-statement of the Rödl–Ruciński theorem.

This work investigates the use of a fuzzy logic controller (FLC) for two-wheeled differential drive mobile robot trajectory tracking control. Due to the inherent complexity associated with tuning the membership functions of an FLC, this work employs a particle swarm optimization algorithm to optimize the parameters of these functions. In order to automate and reduce the number of rule bases, the genetic algorithm is also employed for this study. The effectiveness of the proposed approach is validated through MATLAB simulations involving diverse path tracking scenarios. The performance of the FLC is compared against established controllers, including minimum norm solution, closed-loop inverse kinematics, and Jacobian transpose-based controllers. The results demonstrate that the FLC offers accurate trajectory tracking with reduced root mean square error and controller effort. An experimental, hardware-based investigation is also performed for further verification of the proposed system. In addition, the simulation is conducted for various paths in the presence of noise in order to assess the proposed controller’s robustness. The proposed method is resilient against noise and disturbances, according to the simulation outcomes.

In this study, we present a hybrid kinematic modeling approach for serial robotic manipulators, which offers improved accuracy compared to conventional methods. Our method integrates the geometric properties of the robot with ground truth data, resulting in enhanced modeling precision. The proposed forward kinematic model combines classical kinematic modeling techniques with neural networks trained on accurate ground truth data. This fusion enables us to minimize modeling errors effectively. In order to address the inverse kinematic problem, we utilize the forward hybrid model as feedback within a non-linear optimization process. Unlike previous works, our formulation incorporates the rotational component of the end effector, which is beneficial for applications involving orientation, such as inspection tasks. Furthermore, our inverse kinematic strategy can handle multiple possible solutions. Through our research, we demonstrate the effectiveness of the hybrid models as a high-accuracy kinematic modeling strategy, surpassing the performance of traditional physical models in terms of positioning accuracy.

This paper introduces a simplified matrix method for balancing forces and moments in planar parallel manipulators. The method resorts to Newton’s second law and the concept of angular momentum vector, yet it is not necessary to perform the velocity and acceleration analyses, tasks that were normally unavoidable in seminal contributions. With the introduction of natural matrices, the proposed balancing method is independent of the time and the trajectory generated by the moving links of parallel manipulators. The effectiveness of the method is exemplified by balancing two planar parallel manipulators.

The authors have studied models and control methods for legged robots without having active ankle joints that can not only walk efficiently but also stop and developed a method for generating a gait that starts from an upright stationary state and returns to the same state in one step for a simple walker with one control input. It was clarified, however, that achieving a perfect upright stationary state including zero dynamics is impossible. Based on the observation, in this paper we propose a novel robotic walker with parallel linkage legs that can return to a perfect stationary standing posture in one step while simultaneously controlling the stance-leg motion and zero-moment point (ZMP) using two control inputs. First, we introduce a model of a planar walker that consists of two eight-legged rimless wheels, a body frame, a reaction wheel, and massless rods and describe the system dynamics. Second, we consider two target control conditions; one is control of the stance-leg motion, and the other is control of the ZMP to stabilize zero dynamics. We then determine the control input based on the two conditions with the target control period derived from the linearized model and consider adding a sinusoidal control input with an offset to correct the resultant terminal state of the reaction wheel. The validity of the proposed method is investigated through numerical simulations.

We take another look at the construction by Hofmann and Streicher of a universe $(U,{\mathcal{E}l})$ for the interpretation of Martin-Löf type theory in a presheaf category $[{{{\mathbb{C}}}^{\textrm{op}}},\textsf{Set}]$. It turns out that $(U,{\mathcal{E}l})$ can be described as the nerve of the classifier $\dot{{\textsf{Set}}}^{\textsf{op}} \rightarrow{{\textsf{Set}}}^{\textsf{op}}$ for discrete fibrations in $\textsf{Cat}$, where the nerve functor is right adjoint to the so-called “Grothendieck construction” taking a presheaf $P :{{{\mathbb{C}}}^{\textrm{op}}}\rightarrow{\textsf{Set}}$ to its category of elements $\int _{\mathbb{C}} P$. We also consider change of base for such universes, as well as universes of structured families, such as fibrations.