All Outputs (26)

Investigation on a class of 2D profile amplified stroke dielectric elastomer actuators (2024)
Journal Article
Wang, X., Raimondi, L., Axinte, D., & Dong, X. (2024). Investigation on a class of 2D profile amplified stroke dielectric elastomer actuators. Journal of Mechanisms and Robotics, 1-32. https://doi.org/10.1115/1.4066131

Dielectric elastomer actuators (DEAs) have been widely studied in soft robotics due to their muscle-like movements. Linear DEAs are typically tensioned using compression springs with positive stiffness or weights directly attached to the flexible fil... Read More about Investigation on a class of 2D profile amplified stroke dielectric elastomer actuators.

Multimodal locomotion ultra-thin soft robots for exploration of narrow spaces (2024)
Journal Article
Wang, X., Li, S., Chang, J.-C., Liu, J., Axinte, D., & Dong, X. (2024). Multimodal locomotion ultra-thin soft robots for exploration of narrow spaces. Nature Communications, 15, Article 6296. https://doi.org/10.1038/s41467-024-50598-1

From power plants on land to bridges over the sea, safety-critical built environments require periodic inspections for detecting issues to avoid functional discontinuities of these installations. However, navigation paths in these environments are us... Read More about Multimodal locomotion ultra-thin soft robots for exploration of narrow spaces.

Non-Causal Control For Wave Energy Conversion Based on the Double Deep Q Network (2024)
Presentation / Conference Contribution
Wang, H., Wijaya, V. V., Zhang, Y., Zeng, T., & Dong, X. (2024, April). Non-Causal Control For Wave Energy Conversion Based on the Double Deep Q Network. Presented at CONTROL 2024: 14th United Kingdom Automatic Control Council (UKACC) International Conference on Control, Winchester, UK

To harness maximal wave energy, control and optimization for wave energy converters(WECs) have been investigated for decades. It has been long recognized that WEC control is essentially a non-causal control problem, in which future wave determines cu... Read More about Non-Causal Control For Wave Energy Conversion Based on the Double Deep Q Network.

SLAMB&MAI: a comprehensive methodology for SLAM benchmark and map accuracy improvement (2024)
Journal Article
Liu, S., Sun, E., & Dong, X. (2024). SLAMB&MAI: a comprehensive methodology for SLAM benchmark and map accuracy improvement. Robotica, https://doi.org/10.1017/S0263574724000079

SLAM Benchmark plays a pivotal role in the field by providing a common ground for performance evaluation. In this paper, a novel methodology of simultaneous localization and mapping benchmark and map accuracy improvement (SLAMB&MAI) is introduced. It... Read More about SLAMB&MAI: a comprehensive methodology for SLAM benchmark and map accuracy improvement.

Efficient and Scalable Inverse Kinematics for Continuum Robots (2023)
Journal Article
Wild, S., Zeng, T., Mohammad, A., Billingham, J., Axinte, D., & Dong, X. (2024). Efficient and Scalable Inverse Kinematics for Continuum Robots. IEEE Robotics and Automation Letters, 9(1), 375 - 381. https://doi.org/10.1109/lra.2023.3331291

With their flexible nature, continuum robots offer hyper-redundancy regarding their workspace; their backbone can take many shapes upon a single tip position and orientation. Deciphering which backbone shape to use under certain conditions is crucial... Read More about Efficient and Scalable Inverse Kinematics for Continuum Robots.

An analytical differential kinematics-based method for controlling tendon-driven continuum robots (2023)
Journal Article
Ba, W., Chang, J. C., Liu, J., Wang, X., Dong, X., & Axinte, D. (2024). An analytical differential kinematics-based method for controlling tendon-driven continuum robots. Robotics and Autonomous Systems, 171, Article 104562. https://doi.org/10.1016/j.robot.2023.104562

Generic and high-performance feedback control is still challenging for tendon-driven continuum robots. Conventional model-based controllers, based on the piecewise constant curvature (PCC) assumption, explicitly require the arc parameters (bending an... Read More about An analytical differential kinematics-based method for controlling tendon-driven continuum robots.

Asymmetric Continuum Robots (2023)
Journal Article
Barrientos-Diez, J., Russo, M., Dong, X., Axinte, D., & Kell, J. (2023). Asymmetric Continuum Robots. IEEE Robotics and Automation Letters, 8(3), 1279-1286. https://doi.org/10.1109/LRA.2023.3238890

Continuum robots are flexible mechanisms that enable tasks in cluttered environments where conventional robots cannot operate. However, their few design parameters and task/manufacturing constraints leave small margins for optimization. In this paper... Read More about Asymmetric Continuum Robots.

Continuum Robots: An Overview (2023)
Journal Article
Russo, M., Sadati, S. H., Dong, X., Mohammad, A., Walker, I. D., Bergeles, C., …Axinte, D. A. (2023). Continuum Robots: An Overview. Advanced Intelligent Systems, 5(5), Article 2200367. https://doi.org/10.1002/aisy.202200367

In this paper, we discuss recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, ena... Read More about Continuum Robots: An Overview.

Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System (2023)
Journal Article
Fang, Y., Dong, X., Mohammad, A., & Axinte, D. (2023). Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System. IEEE/ASME Transactions on Mechatronics, 28(3), 1522-1533. https://doi.org/10.1109/TMECH.2022.3229188

After decades of development, the technology of continuum robots continues to mature gradually and is used for various applications, e.g., inspection and repair in high-value-added industries such as aerospace & nuclear. However, such robots are inva... Read More about Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System.

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing (2022)
Journal Article
Sriratanasak, N., Axinte, D., Dong, X., Mohammad, A., Russo, M., & Raimondi, L. (2022). Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing. Advanced Intelligent Systems, 4(12), Article 2200223. https://doi.org/10.1002/aisy.202200223

The application of Soft Crawling Robots (SCRs) to real-world scenarios remains a grand challenge due to their limited deployment time to reach the target and accessibility to difficult-to-reach environments by any obstacles. To overcome these limitat... Read More about Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing.

EyeGlove for Inspection and Measurement in Confined Environments (2022)
Journal Article
Sun, E., Axinte, D., Alatorre, D., & Dong, X. (2023). EyeGlove for Inspection and Measurement in Confined Environments. IEEE Transactions on Industrial Electronics, 70(3), 2718-2728. https://doi.org/10.1109/TIE.2022.3167144

A novel wearable vision system is proposed in this article. The wearable system contains a vision glove (EyeGlove) and a wearable display unit, which assists operators with inspection and measurement in confined environments. Three microcameras and a... Read More about EyeGlove for Inspection and Measurement in Confined Environments.

A class of novel underactuated positioning systems for actuating/configuring the parallel manipulators (2022)
Journal Article
Ma, N., Dong, X., Arreguin, J. C., Bishop, C., & Axinte, D. (2022). A class of novel underactuated positioning systems for actuating/configuring the parallel manipulators. Robotica, 40(10), 3631-3650. https://doi.org/10.1017/S0263574722000431

Parallel manipulators are increasingly utilized in extensive industrial applications due to their high accuracy, compact structure, and significant stiffness characteristics. However, most of the time, massive actuators are involved in constructing a... Read More about A class of novel underactuated positioning systems for actuating/configuring the parallel manipulators.

Modelling and experimental study of surface treatment in abrasive waterjet peening of Nickel-based superalloy: Inverse problem (2022)
Journal Article
Wang, Z., Liao, Z., Yang, Y., Dong, X., Augustinavicius, G., Yu, T., & Zhao, J. (2022). Modelling and experimental study of surface treatment in abrasive waterjet peening of Nickel-based superalloy: Inverse problem. Materials and Design, 215, Article 110471. https://doi.org/10.1016/j.matdes.2022.110471

Abrasive waterjet peening (AWJP) is a promising method of surface treatment for modifying mechanical properties of components by introducing compressive residual stress (CRS) to a workpiece surface. Many efforts have been paid so far to modelling and... Read More about Modelling and experimental study of surface treatment in abrasive waterjet peening of Nickel-based superalloy: Inverse problem.

Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments (2022)
Journal Article
Dong, X., Wang, M., Mohammad, A. E. K., Ba, W., Russo, M., Norton, A., …Axinte, D. (2022). Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments. IEEE/ASME Transactions on Mechatronics, 27(5), 4217-4220. https://doi.org/10.1109/TMECH.2021.3138222

This letter presents two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 °C) flame for coating repair on aeroengines without the need of their disassembly... Read More about Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments.

Analytical model for predicting residual stresses in abrasive waterjet peening (2021)
Journal Article
Wang, Z., Liao, Z., Axinte, D., Dong, X., Xu, D., & Augustinavicius, G. (2021). Analytical model for predicting residual stresses in abrasive waterjet peening. Materials and Design, 212, Article 110209. https://doi.org/10.1016/j.matdes.2021.110209

Abrasive waterjet peening (AWJP) is a new mechanical surface treatment where particles are delivered by a waterjet to induce plastic deformation and achieve surface strengthening effects on a workpiece. Although fatigue strength can be improved by in... Read More about Analytical model for predicting residual stresses in abrasive waterjet peening.

Real-Time Kinematics of Continuum Robots: Modelling and Validation (2021)
Journal Article
Barrientos-Diez, J., Dong, X., Axinte, D., & Kell, J. (2021). Real-Time Kinematics of Continuum Robots: Modelling and Validation. Robotics and Computer-Integrated Manufacturing, 67, Article 102019. https://doi.org/10.1016/j.rcim.2020.102019

© 2020 Elsevier Ltd Kinematics of flexible backbone continuum robots is highly non linear and its complexity quickly escalates with the number of sections of the robot, which is usually more than three. This paper introduces a kinematic modelling of... Read More about Real-Time Kinematics of Continuum Robots: Modelling and Validation.

Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020: Proceedings (2020)
Book
Mohammad, A., Dong, X., & Russo, M. (Eds.). (2020). Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020: Proceedings. Springer. https://doi.org/10.1007/978-3-030-63486-5

Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility (2020)
Journal Article
Russo, M., Raimondi, L., Dong, X., Axinte, D., & Kell, J. (2021). Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility. Robotics and Computer-Integrated Manufacturing, 69, Article 102096. https://doi.org/10.1016/j.rcim.2020.102096

© 2020 In this article, an optimization method is proposed for the dimensional synthesis of robotic manipulators with limited mobility, i.e. with less than 6 degrees-of-freedom (“DoF”), with a prescribed set of tasks in a constrained environment. Sin... Read More about Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility.

A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems (2020)
Presentation / Conference Contribution
Fang, Y., Bishop, C., Ba, W., Díez, J. B., Mohammad, A., & Dong, X. (2020). A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems. In Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings (15-24). https://doi.org/10.1007/978-3-030-63486-5_2

© 2020, Springer Nature Switzerland AG. Continuum robots have been utilized for several light-duty applications, such as minimally invasive surgery in the medical field and inspection in the industry. However, the existing design solutions do not off... Read More about A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems.

Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator (2020)
Journal Article
Ma, N., Dong, X., & Axinte, D. (2020). Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator. IEEE/ASME Transactions on Mechatronics, 25(3), 1409-1421. https://doi.org/10.1109/TMECH.2020.2976140

© 1996-2012 IEEE. Parallel kinematic manipulators (PKMs) are increasingly used in a wide range of industrial applications due to the characteristics of high accuracy and compact structure. However, most of the existing PKMs are structured with heavy... Read More about Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator.