Biomimetics

The recoil motions in free swimming, given by lateral and angular rigid motions due to the interaction with the surrounding water, are of great importance for a correct evaluation of both the forward locomotion speed and efficiency of a fish-like body. Their contribution is essential for calculating the actual movements of the body rear end whose prominent influence on the generation of the proper body deformation was established a long time ago. In particular, the recoil motions are found here to promote a dramatic improvement of the performance when damaged fishes, namely for a partial functionality of the tail or even for its complete loss, are considered. In fact, the body deformation, which turns out to become oscillating and symmetric in the extreme case, is shown to recover in the water frame a kind of undulation leading to a certain locomotion speed though at the expense of a large energy consumption. There has been a deep interest in the subject since the infancy of swimming studies, and a revival has recently arisen for biomimetic applications to robotic fish-like bodies. We intend here to apply a theoretical impulse model to the oscillating fish in free swimming as a suitable test case to strengthen our belief in the beneficial effects of the recoil motions. At the same time, we intend to exploit the linearity of the model to detect from the numerical simulations the intrinsic physical reasons related to added mass and vorticity release behind the experimental observations. Full article

In this work, an approach is proposed to solve binary combinatorial problems using continuous metaheuristics. It focuses on the importance of binarization in the optimization process, as it can have a significant impact on the performance of the algorithm. Different binarization schemes are presented and a set of actions, which combine different transfer functions and binarization rules, under a selector based on reinforcement learning is proposed. The experimental results show that the binarization rules have a greater impact than transfer functions on the performance of the algorithms and that some sets of actions are statistically better than others. In particular, it was found that sets that incorporate the elite or elite roulette binarization rule are the best. Furthermore, exploration and exploitation were analyzed through percentage graphs and a statistical test was performed to determine the best set of actions. Overall, this work provides a practical approach for the selection of binarization schemes in binary combinatorial problems and offers guidance for future research in this field. Full article

The ability to navigate effectively in a rich and complex world is crucial for the survival of all animals. Specialist neural structures have evolved that are implicated in facilitating this ability, one such structure being the ring attractor network. In this study, we model a trio of Spiking Neural Network (SNN) ring attractors as part of a bio-inspired navigation system to maintain an internal estimate of planar translation of an artificial agent. This estimate is dynamically calibrated using a memory recall system of landmark-free allotheic multisensory experiences. We demonstrate that the SNN-based ring attractor system can accurately model motion through 2D space by integrating ideothetic velocity information and use recalled allothetic experiences as a positive corrective mechanism. This SNN based navigation system has potential for use in mobile robotics applications where power supply is limited and external sensory information is intermittent or unreliable. Full article

Soft fingertips have distinct intrinsic features that allow robotic hands to offer adjustable and manageable stiffness for grasping. The stability of the grasp is determined by the contact stiffness between the soft fingertip and the object. Within this work, we proposed a line vector representation method based on the Winkler Model and investigated the contact stiffness between soft fingertips and objects to achieve control over the gripping force and fingertip displacement of the gripper without the need for sensors integrated in the fingertip. First, we derived the stiffness matrix of the soft fingertip, analyzed the contact stiffness, and constructed the global stiffness matrix; then, we established the grasp stiffness matrix based on the contact stiffness model, allowing for the analysis and evaluation of the soft fingertip’s manipulating process. Finally, our experiment demonstrated that the variation in object orientation caused by external forces can indicate the contact force status between the fingertip and the object. This contact force status is determined by the contact stiffness. The position error between the theoretical work and tested data was less than 9%, and the angle error was less than 5.58%. The comparison between the theoretical contact stiffness and the experimental results at the interface indicate that the present model for the contact stiffness is appropriate and the theoretical contact stiffness is consistent with the experiment data. Full article

Refrigerant gases, an essential cooling system component, are used in different processes according to their thermophysical properties and energy consumption values. The low global warming potential and energy consumption values of refrigerant gases are primarily preferred in terms of use. Recently, studies on modeling properties such as compressor energy consumption, efficiency coefficient, exergy, and thermophysical properties of refrigerants in refrigeration systems with artificial intelligence methods has become increasingly common. In this study, a hybrid-optimization-based artificial intelligence classification method is applied for the first time to produce explainable, interpretable, and transparent models of compressor energy consumption in a vapor compression refrigeration system operating with R600a refrigerant gas. This methodological innovation obtains models that determine the energy consumption values of R600a gas according to the operating parameters. From these models, the operating conditions with the lowest energy consumption are automatically revealed. The innovative artificial intelligence method applied for the energy consumption value determines the system’s energy consumption according to the operating temperatures and pressures of the evaporator and condenser unit. When the obtained energy consumption model results were compared with the experimental results, it was seen that it had an accuracy of 84.4%. From this explainable artificial intelligence method, which is applied for the first time in the field of refrigerant gas, the most suitable operating conditions that can be achieved based on the minimum, medium, and maximum energy consumption ranges of different refrigerant gases can be determined. Full article

The slime mold algorithm (SMA) and the arithmetic optimization algorithm (AOA) are two novel meta-heuristic optimization algorithms. Among them, the slime mold algorithm has a strong global search ability. Still, the oscillation effect in the later iteration stage is weak, making it difficult to find the optimal position in complex functions. The arithmetic optimization algorithm utilizes multiplication and division operators for position updates, which have strong randomness and good convergence ability. For the above, this paper integrates the two algorithms and adds a random central solution strategy, a mutation strategy, and a restart strategy. A hybrid slime mold and arithmetic optimization algorithm with random center learning and restart mutation (RCLSMAOA) is proposed. The improved algorithm retains the position update formula of the slime mold algorithm in the global exploration section. It replaces the convergence stage of the slime mold algorithm with the multiplication and division algorithm in the local exploitation stage. At the same time, the stochastic center learning strategy is adopted to improve the global search efficiency and the diversity of the algorithm population. In addition, the restart strategy and mutation strategy are also used to improve the convergence accuracy of the algorithm and enhance the later optimization ability. In comparison experiments, different kinds of test functions are used to test the specific performance of the improvement algorithm. We determine the final performance of the algorithm by analyzing experimental data and convergence images, using the Wilcoxon rank sum test and Friedman test. The experimental results show that the improvement algorithm, which combines the slime mold algorithm and arithmetic optimization algorithm, is effective. Finally, the specific performance of the improvement algorithm on practical engineering problems was evaluated. Full article

Optimization algorithms are popular to solve different problems in many fields, and are inspired by natural principles, animal living habits, plant pollinations, chemistry principles, and physic principles. Optimization algorithm performances will directly impact on solving accuracy. The Crow Search Algorithm (CSA) is a simple and efficient algorithm inspired by the natural behaviors of crows. However, the flight length of CSA is a fixed value, which makes the algorithm fall into the local optimum, severely limiting the algorithm solving ability. To solve this problem, this paper proposes a Variable Step Crow Search Algorithm (VSCSA). The proposed algorithm uses the cosine function to enhance CSA searching abilities, which greatly improves both the solution quality of the population and the convergence speed. In the update phase, the VSCSA increases population diversities and enhances the global searching ability of the basic CSA. The experiment used 14 test functions,2017 CEC functions, and engineering application problems to compare VSCSA with different algorithms. The experiment results showed that VSCSA performs better in fitness values, iteration curves, box plots, searching paths, and the Wilcoxon test results, which indicates that VSCSA has strong competitiveness and sufficient superiority. The VSCSA has outstanding performances in various test functions and the searching accuracy has been greatly improved. Full article

Background: Additive manufacturing (three-dimensional (3D) printing) has become a leading manufacturing technique in dentistry due to its various advantages. However, its potential applications for dental ceramics are still being explored. Zirconia, among ceramics, has increasing popularity and applications in dentistry mostly due to its excellent properties. Although subtractive manufacturing (3D milling) is considered the most advanced technology for the fabrication of zirconia restorations, certain disadvantages are associated with it. Methods: A systematic review was piloted to compare the clinical performance of zirconium crowns that were fabricated using three-dimensional (3D) milling and 3D printing. A meta-analysis was performed, and studies published up to November 2022 were identified. The terms searched were “Zirconium crowns”, “3D printing”, “CAD/CAM” (Computer-Aided Design and Computer-Aided Manufacturing), “Milling”, “dental crowns”, and “3D milling”. The characteristics that were compared were the year in which the study was published, study design, age of the patient, country, the number of crowns, the type of crown fabrication, marginal integrity, caries status, and outcomes. Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines were used to structure this systematic review. Out of eleven hundred and fifty titles identified after a primary search, nine articles were included in the quantitative analysis. The research question based on PICO/PECO (Participant, Intervention/exposure, Comparison, and Outcome) was “Do 3D-printed and milled (P) zirconia crowns and FDPs (I) have a better survival rate (O) when conventional prosthesis is also an option (C)”? The data collected were tabulated and compared, and the risk of bias and meta-analysis were later performed. Only nine articles (clinical research) were selected for the study. Since there were no clinical studies on the 3D printing of zirconium crowns, six in vitro studies were considered for the comparison. Zirconium crowns in the milling group had an average minimum follow-up of 6 months. Results: A moderate risk of bias was found, and survival was significant. A high heterogeneity level was noted among the studies. Marginal integrity, periodontal status, and survival rate were high. Linear regression depicted no statistical correlation between the type of cement used and the survival rate. Conclusions: It can be concluded that the milled crowns had a higher performance and satisfactory clinical survival. Full article

Existing swarm intelligence (SI) optimization algorithms applied to node localization optimization (NLO) and node coverage optimization (NCO) problems have low accuracy. In this study, a novel balanced butterfly optimizer (BBO) is proposed which comprehensively considers that butterflies in nature have both smell-sensitive and light-sensitive characteristics. These smell-sensitive and light-sensitive characteristics are used for the global and local search strategies of the proposed algorithm, respectively. Notably, the value of individuals’ smell-sensitive characteristic is generally positive, which is a point that cannot be ignored. The performance of the proposed BBO is verified by twenty-three benchmark functions and compared to other state-of-the-art (SOTA) SI algorithms, including particle swarm optimization (PSO), differential evolution (DE), grey wolf optimizer (GWO), artificial butterfly optimization (ABO), butterfly optimization algorithm (BOA), Harris hawk optimization (HHO), and aquila optimizer (AO). The results demonstrate that the proposed BBO has better performance with the global search ability and strong stability. In addition, the BBO algorithm is used to address NLO and NCO problems in wireless sensor networks (WSNs) used in environmental monitoring, obtaining good results. Full article

High-strength grout is specified to increase the bond between grout and bar in grouted connections and to ensure that the forces in the bars can be transferred to the surrounding material accordingly. Although polymer grout is fast setting and rapid in strength development, the use of polymer mortar in grouted connections is still limited because of the lack of information and familiarity practitioners have regarding the product. The goal of this work is to investigate the mechanical characteristics and performance of polyester grout containing fly ash that can be used as an infill material for grouted connections. This study focused on the composition of polymer grout, which typically consists of a binder, hardener, and filler. In this particular case, the binder was made of unsaturated polyester resin and hardener, while the filler was fine sand. The aim of the research was to investigate the potential benefits of incorporating fly ash as an additional filler in polymer resin grout and examine the mechanical properties of polymer resin grout. To this end, varying amounts of fly ash were added to the mix, ranging from 0% to 32% of the total filler by volume, with a fixed polymer content of 40%. The performance of the resulting grout was evaluated through flowability, compression, and splitting tensile tests. The results of the experiments showed that, at a fly ash volume of 28%, the combination of fine sand and fly ash led to an improvement in grout strength; specifically, at this volume of fly ash, the compressive and tensile strengths increased by 24.7% and 124%, respectively, compared to the control mix. However, beyond a fly ash volume of 28%, the mechanical properties of the grout started to deteriorate. Due its superior properties in terms of compressive and flexural strengths over all examined mixes, the PRG-40-28 mix is ideal for use in the infill material for mechanical connections. Full article

Flexible nonvolatile memristors have potential applications in wearable devices. In this work, a helical polymer, poly (N, N-diphenylanline isocyanide) (PPIC), was synthesized as the active layer, and flexible electronic devices with an Al/PPIC/ITO architecture were prepared on a polyethylene terephthalate (PET) substrate. The device showed typical nonvolatile rewritable memristor characteristics. The high-molecular-weight helical structure stabilized the active layer under different bending degrees, bending times, and number of bending cycles. The memristor was further employed to simulate the information transmission capability of neural fibers, providing new perspectives for the development of flexible wearable memristors and biomimetic neural synapses. This demonstration highlights the promising possibilities for the advancement of artificial intelligence skin and intelligent flexible robots in the future. Full article

In nature, some animals, such as snakes and octopuses, use their limited body structure to conduct various complicated tasks not only for locomotion but also for hunting. Their body segments seem to possess the intelligence to adapt to environments and tasks. Inspired by nature, a modular soft robot with integrated locomotion and manipulation abilities is presented in this paper. A soft modular robot is assembled using several homogeneous cubic pneumatic soft actuator units made of silicone rubber. Both a mathematical model and backpropagation neural network are established to describe the nonlinear deformation of the soft actuator unit. The locomotion process of the chain-type soft robot is analyzed to provide a general rhythmic control principle for modular soft robots. A vision sensor is adopted to control the locomotion and manipulation processes of the modular soft robot in a closed loop. The experimental results indicate that the modular soft robot put forward in this paper has both locomotion and manipulation abilities. Full article

Many approaches inspired by brain science have been proposed for robotic control, specifically targeting situations where knowledge of the dynamic model is unavailable. This is crucial because dynamic model inaccuracies and variations can occur during the robot’s operation. In this paper, inspired by the central nervous system (CNS), we present a CNS-based Biomimetic Motor Control (CBMC) approach consisting of four modules. The first module consists of a cerebellum-like spiking neural network that employs spiking timing-dependent plasticity to learn the dynamics mechanisms and adjust the synapses connecting the spiking neurons. The second module constructed using an artificial neural network, mimicking the regulation ability of the cerebral cortex to the cerebellum in the CNS, learns by reinforcement learning to supervise the cerebellum module with instructive input. The third and last modules are the cerebral sensory module and the spinal cord module, which deal with sensory input and provide modulation to torque commands, respectively. To validate our method, CBMC was applied to the trajectory tracking control of a 7-DoF robotic arm in simulation. Finally, experiments are conducted on the robotic arm using various payloads, and the results of these experiments clearly demonstrate the effectiveness of the proposed methodology. Full article

Open or short-circuit faults, as well as discrete parameter faults, are the most commonly used models in the simulation prior to testing methodology. However, since analog circuits exhibit continuous responses to input signals, faults in specific circuit elements may not fully capture all potential component faults. Consequently, diagnosing faults in analog circuits requires three key aspects: identifying faulty components, determining faulty element values, and considering circuit tolerance constraints. To tackle this problem, a methodology is proposed and implemented for fault diagnosis using swarm intelligence. The investigated optimization techniques are Particle Swarm Optimization (PSO) and the Bat Algorithm (BA). In this methodology, the nonlinear equations of the tested circuit are employed to calculate its parameters. The primary objective is to identify the specific circuit component that could potentially exhibit the fault by comparing the responses obtained from the actual circuit and the responses obtained through the optimization process. Two circuits are used as case studies to evaluate the performance of the proposed methodologies: the Tow–Thomas Biquad filter (case study 1) and the Butterworth filter (case study 2). The proposed methodologies are able to identify or at least reduce the number of possible faulty components. Four main performance metrics are extracted: accuracy, precision, sensitivity, and specificity. The BA technique demonstrates superior performance by utilizing the maximum combination of accessible nodes in the tested circuit, with an average accuracy of 95.5%, while PSO achieved only 93.9%. Additionally, the BA technique outperforms in terms of execution time, with an average time reduction of 7.95% reduction for the faultless circuit and an 8.12% reduction for the faulty cases. Compared to the machine-learning-based approach, using BA with the proposed methodology achieves similar accuracy rates but does not require any datasets nor any time-demanding training to proceed with circuit diagnostic. Full article

The electric eel has an organ made up of hundreds of electrocytes, which is called the electric organ. This organ is used to sense and detect weak electric field signals. By sensing electric field signals, the electric eel can identify changes in their surroundings, detect potential prey or other electric eels, and use it for navigation and orientation. Path-finding algorithms are currently facing optimality challenges such as the shortest path, shortest time, and minimum memory overhead. In order to improve the search performance of a traditional A* algorithm, this paper proposes a bidirectional jump point search algorithm (BJPS+) based on the electricity-guided navigation behavior of electric eels and map preprocessing. Firstly, a heuristic strategy based on the electrically induced navigation behavior of electric eels is proposed to speed up the node search. Secondly, an improved jump point search strategy is proposed to reduce the complexity of jump point screening. Then, a new map preprocessing strategy is proposed to construct the relationship between map nodes. Finally, path planning is performed based on the processed map information. In addition, a rewiring strategy is proposed to reduce the number of path inflection points and path length. The simulation results show that the proposed BJPS+ algorithm can generate optimal paths quickly and with less search time when the map is known. Full article

In this research article, we uphold the principles of the No Free Lunch theorem and employ it as a driving force to introduce an innovative game-based metaheuristic technique named Golf Optimization Algorithm (GOA). The GOA is meticulously structured with two distinctive phases, namely, exploration and exploitation, drawing inspiration from the strategic dynamics and player conduct observed in the sport of golf. Through comprehensive assessments encompassing fifty-two objective functions and four real-world engineering applications, the efficacy of the GOA is rigorously examined. The results of the optimization process reveal GOA’s exceptional proficiency in both exploration and exploitation strategies, effectively striking a harmonious equilibrium between the two. Comparative analyses against ten competing algorithms demonstrate a clear and statistically significant superiority of the GOA across a spectrum of performance metrics. Furthermore, the successful application of the GOA to the intricate energy commitment problem, considering network resilience, underscores its prowess in addressing complex engineering challenges. For the convenience of the research community, we provide the MATLAB implementation codes for the proposed GOA methodology, ensuring accessibility and facilitating further exploration. Full article

Stroke patients cannot use their hands as freely as usual. However, recovery after a stroke is a long road for many patients. If artificial intelligence can assist human arm movement, it is believed that the possibility of stroke patients returning to normal hand movement can be significantly increased. In this study, the artificial neuromolecular system (ANM system) developed by our laboratory is used as the core motion control system to learn to control the mechanical arm, produce similar human rehabilitation actions, and assist patients in transiting between different activities. The strength of the ANM system lies in its ability to capture and process spatiotemporal information by exploiting the dynamic information processing inside neurons. Five experiments are conducted in this research: continuous learning, dimensionality reduction, moving problem domains, transfer learning, and fault tolerance. The results show that the ANM system can find out the arm movement trajectory when people perform different rehabilitation actions through the ability of continuous learning and reduce the activation of multiple muscle groups in stroke patients through the learning method of reducing dimensions. Finally, using the ANM system can reduce the learning time and performance required to switch between different actions through transfer learning. Full article

Colour assessment using digital methods can yield varying results, and it is important for clinicians to recognize the potential variability intra and inter-device. This study aimed to compare the L*a*b* values of VITA Classical (VC) and VITA Toothguide 3D-MASTER (VM) guides using two methods, SpectroShade (SS) and eLAB. Thirty-four measurements per tab were performed by a single operator across three batches of each guide. Intraclass correlation coefficients (ICC) between batches were calculated. Values <0.5, 0.5–0.75, 0.75–0.9, and >0.90 were classified as poor, moderate, good, and excellent reliability, respectively. Results were reported as mean and standard deviation of the L*a*b* values and respective colour differences (ΔE₀₀) for each tab and method. Statistical analyses were performed with an independent t-test, α = 0.05. ICC values between batches were excellent for all L*a*b*, except for a* component in eLAB. There were statistically significant differences between methods in most L*a*b* values. The intra-device mean ΔE₀₀ was 0.5 ± 0.6 for VC, 0.5 ± 0.8 for VM in SS, 1.1 ± 0.8 for VC, 1.1 ± 0.9 for VM in eLAB. The mean ΔE₀₀ inter-device was 4.9 ± 1.7 for VC, 5.0 ± 1.7 for VM. Both methods demonstrated good internal consistency, with high ICC values and low intra-device colour differences, but exhibited high variability between methods, higher for a* the component. Full article

The equilibrium optimizer (EO) is a recently developed physics-based optimization technique for complex optimization problems. Although the algorithm shows excellent exploitation capability, it still has some drawbacks, such as the tendency to fall into local optima and poor population diversity. To address these shortcomings, an enhanced EO algorithm is proposed in this paper. First, a spiral search mechanism is introduced to guide the particles to more promising search regions. Then, a new inertia weight factor is employed to mitigate the oscillation phenomena of particles. To evaluate the effectiveness of the proposed algorithm, it has been tested on the CEC2017 test suite and the mobile robot path planning (MRPP) problem and compared with some advanced metaheuristic techniques. The experimental results demonstrate that our improved EO algorithm outperforms the comparison methods in solving both numerical optimization problems and practical problems. Overall, the developed EO variant has good robustness and stability and can be considered as a promising optimization tool. Full article