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Advances in the Model Structure of In Vitro Vascularized Organ-on-a-Chip

Cyborg and Bionic Systems 2024年第1期5卷 491-513页

作者： Hongze Yin Yue Wang Na Liu Songyi Zhong Long Li Quan Zhang Zeyang Liu Tao Yue School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444China School of Future Technology Shanghai UniversityShanghaiChina Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghai 200444China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghaiChina Department of Bioengineering University of California Los AngelesLos AngelesCA 90095USA

Microvasculature plays a crucial role in human physiology and is closely related to various human *** in vitro vascular networks is essential for studying vascular tissue behavior with repeatable morphology and signaling *** 3D microvascular network models,developed through advanced microfluidic-based techniques,provide accurate and reproducible platforms for studying the microvasculature in vitro,an essential component for designing organ-on-chips to achieve greater biological *** optimizing the microstructure of microfluidic devices to closely mimic the in vivo microenvironment,organ-specific models with healthy and pathological microvascular tissues can be *** review summarizes recent advancements in in vitro strategies for constructing microvascular tissue and microfluidic *** discusses the static vascularization chips’classification,structural characteristics,and the various techniques used to build them:growing blood vessels on chips can be either static or dynamic,and in vitro blood vessels can be grown in microchannels,elastic membranes,and ***,the paper discusses the application scenarios and key technical issues of existing vascularization *** also explores the potential for a novel organoid chip vascularization approach that combines organoids and organ chips to generate better vascularization chips.

关键词： studying microvasculature microvascular network microvasculature microfluidic devices static vascularization chips studying vascular tissue behavior vitro vascularized organ chip d microvascular network modelsdeveloped

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Transient Dynamic Analysis of A Variable-Length Rope-Driven Wave Energy System

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China Ocean Engineering 2022年第3期36卷 474-487页

作者： QUAN Wei-cai OU Ding-chao XU Jing-wei HUO Liang-qing XI Yi National-local Joint Engineering Laboratory for Marine Mineral Resources Exploration Equipment and Safety Technology Hunan University of Science and TechnologyXiangtan 411201China State key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China

A new dynamic model of a variable-length rope,which could be used for the transient analysis of a buoy-rope-generator(BRG)wave energy system,was proposed in this *** model started from the basic dynamic equations of variable mass system,and took into account the physical properties such as axial force,shear and *** to the principle of D'Alembert-Lagrange,the equivalent integral weak formulation was firstly obtained,and through consistent linearization and isoparametric discretization,the finite element model of the variable-length rope was then *** Bathe scheme was employed to solve the model numerically,based on its excellent performance in solving nonlinear dynamic problems,and an automatic time step size algorithm was designed according to the number of iterations of the two substeps of Bathe *** procedures of rope mesh regeneration were also put forward,where only one variable-length element was always located at the top end of the rope,and the rest were all fixed-length *** proposed variable-length rope model and solution schemes were verified through comparison with the results of a tank ***,the transient dynamics of a kind of BRG system was analyzed and discussed.

关键词： cable dynamics variable-length buoy-rope-generator numerical analysis

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Fractional-Order Global Fast Terminal Sliding Mode Control Strategy for Fractional-Order Hydraulic Turbine Regulating System 42

Fractional-Order Global Fast Terminal Sliding Mode Control S...

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42nd Chinese Control Conference, CCC 2023

作者： Xi, Shiyu Chen, Zhihuan Engineering Research Center for Metallurgical Automation and Measurement Technology Ministry of Education Wuhan430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (纸本)9789887581543

Hydraulic turbine regulating system (HTRS) directly affects the safety and stability of hydro-generator units. In this paper, the control and modeling problems of the HTRS are mainly investigated based on the fractional-order theory, aiming to design a novel control strategy to raise the dynamic response of the HTRS and ensure the frequency stability of the hydro-generator units. Firstly, a nonlinear model of the fractional-order HTRS is established mathematically. Secondly, a fractional-order global fast terminal sliding mode controller is designed to improve the dynamic performance as well as the robustness of the system. Finally, relevant simulations are carried out to illustrate the effectiveness and rationality of the proposed control strategy in comparison with two other fractional-order control strategies. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Hydraulic motors

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Beyond Feasibility: Efficiently Planning Robotic Assembly Sequences That Minimize Assembly Path Lengths

Beyond Feasibility: Efficiently Planning Robotic Assembly Se...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Alexander Cebulla Tamim Asfour Torsten Kröger Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology (KIT)

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Advancements in Industry 4.0 demand sophisticated solutions for automatic robotic assembly sequence planning (RASP), capable of handling the diversity and complexity of modern manufacturing tasks. One approach to RASP is Assembly-by-Disassembly (AbD). It first searches for a disassembly sequence that is then inverted to obtain an assembly sequence. One of the challenges of AbD, however, is the exponential number of potential assembly sequences for any given assembly. To mitigate this challenge, we propose to transfer knowledge obtained during previous planning attempts. Specifically, we present an approach that combines Monte Carlo Tree Search (MCTS) with deep Q-learning to optimize the total length of robotic assembly paths. We use a graph-based representation of disassembly states in combination with a graph neural network to learn the Q-function. We further discuss a principled approach to generate 3D assemblies out of aluminium profiles that a single robot manipulator can assemble. With this approach, we generated two datasets consisting of 14 assemblies with 21 removable parts and 7 assemblies with 30 removable parts. Using leave-one-out cross-validation, we were able to demonstrate how our approach outperformed an unmodified MCTS. Moreover, we successfully transferred knowledge between datasets.

关键词： Robotic assembly Three-dimensional displays Q-learning Monte Carlo methods Manipulators Graph neural networks Planning Fourth Industrial Revolution Assembly Intelligent robots

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Person Re-Identification Based on Spatial Feature Learning and Multi-Granularity Feature Fusion

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Journal of Shanghai Jiaotong university(Science) 2025年第2期30卷 363-374页

作者： DIAO Zijian CAO Shuai LI Wenwei LIANG Jianan WEN Guilin HUANG Weici ZHANG Shouming Faculty of Information Engineering and Automation Kunming University of Science and TechnologyKunming 650500China Robotic Laboratory South China Robotics Innovation Research InstituteFoshan 528300GuangdongChina Foshan Zhiyouren Technology Co. Ltd.Foshan 528300GuangdongChina Robotic Laboratory Institute of Intelligent ManufacturingGuangdong Academy of SciencesGuangzhou 510070China

In view of the weak ability of the convolutional neural networks to explicitly learn spatial invariance and the probabilistic loss of discriminative features caused by occlusion and background interference in pedestrian re-identification tasks,a person re-identification method combining spatial feature learning and multi-granularity feature fusion was ***,an attention spatial transformation network(A-STN)is proposed to learn spatial features and solve the problem of misalignment of pedestrian spatial *** the network was divided into a global branch,a local coarse-grained fusion branch,and a local fine-grained fusion branch to extract pedestrian global features,coarse-grained fusion features,and fine-grained fusion features,*** them,the global branch enriches the global features by fusing different pooling *** local coarse-grained fusion branch uses an overlay pooling to enhance each local feature while learning the correlation relationship between multi-granularity *** local fine-grained fusion branch uses a differential pooling to obtain the differential features that were fused with global features to learn the relationship between pedestrian local features and pedestrian global ***,the proposed method was compared on three public datasets:Market1501,DukeMTMC-ReID and *** experimental results were better than those of the comparative methods,which verifies the effectiveness of the proposed method.

关键词： pedestrian re-identification spatial features attention spatial transformation network multi-branch network relation features

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The Development of Ultrasonic C-Scan for Ferrous Wall Surface using the Climbing Robot 7

The Development of Ultrasonic C-Scan for Ferrous Wall Surfac...

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7th International Conference on Communication and Electronics Systems, ICCES 2022

作者： Jose, Jaise Elankavi, Rajendran Sugin Dinakaran, D. Ramya, M.M. Chetty, R M. Kuppan Hindustan Institute of Technology and Science Centre for Automation and Robotics School of Mechanical Sciences Chennai603103 India

ISBN: (数字)9781665496346

ISBN: (纸本)9781665496346

This paper describes the use of a wall-climbing robot for performing the ultrasonic C-Scan of the vertical surface. The robot utilizes permanent magnetic adhesion and can climb the ferrous surface to inspect the ferrous infrastructures like oil tanks. With the wheeled locomotion, encoders in the wheel can be used for locating the robot on the vertical surface. A specially designed housing is fabricated for the robot to hold a 2 MHz probe to perform the ultrasonic testing of the surface that is climbed. The probe holder movement is controlled through a motorized belt drive, enabling the probe to establish contact with the surface and retract. This paper details how the C-Scan is built using the position and A-Scan data thus obtained. Each scan data is processed individually using the MATLAB signal analyzer. It is evident from the results that the defect has a different frequency reflection and is visible from the C-Scan developed. The final C-Scan image was checked by superimposing on with the test surface and the defect was found to agree with the obtained scan image. © 2022 IEEE.

关键词： Probes

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RDDS: Road Disease Detection Model Based on YOLOv5 14

RDDS: Road Disease Detection Model Based on YOLOv5

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14th IEEE International Conference on Cyber technology in automation, Control, and Intelligent Systems, CYBER 2024

作者： Han, Zhiqiang Gong, Jun Qiao, Yu School of Vehicle and Transportation Engineering Taiyuan University of Science and Technology Taiyuan030024 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China

ISBN: (纸本)9798331506056

The utilization of intelligent vehicles for detecting road anomalies has become a relatively common phenomenon. The existing road disease detection workload is large, the robustness is not high, and small diseases are easily ignored, which brings huge challenges to road disease detection. A road disease detection model named RDDS based on YOLOv5 is proposed. Based on the YOLOv5 algorithm, we incorporate Transformer encoder blocks into the head part to form Transformer Prediction Heads (TFE), expanding their number to four. This enhancement aims to improve the model's capability to detect small targets and road diseases of different scales. In addition, we introduce the convolutional block attention model (CBAM) to make the network pay more attention to important channels and spatial locations, thereby improving the performance and generalization ability of the model. Aiming at the problems of low resolution and insufficient data volume in current road disease data sets, we propose a new road disease detection data set RDDSC. Finally, we conducted experiments on the RDDSC data set. The experimental results showed that compared with the original YOLOv5, the RDDS parameters increased slightly, while the detection accuracy was significantly improved. Compared with existing detection algorithms, RDDS has obvious advantages in road disease detection. © 2024 IEEE.

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MVSOP: A new framework for integrating MVS into SLAM based on ORB and PF 38

MVSOP: A new framework for integrating MVS into SLAM based o...

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38th Youth Academic Annual Conference of Chinese Association of automation, YAC 2023

作者： Zhang, Zhihui Tang, Fengzhen Li, Yiping Feng, Xisheng University of Science and Technology of China China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China

ISBN: (纸本)9798350303636

Currently, the sparse map generated by simultaneous localization and mapping (SLAM) based on features is insufficient for practical use. To acquire a dense map, the model of dense reconstruction is usually appended to the SLAM system. One of the issues is that the dense reconstruction is fully independent of the SLAM system. In other words, the dense reconstruction hardly utilizes any information from the SLAM. To sufficiently integrate the dense reconstruction with traditional visual SLAM frameworks, in this paper, a new framework for integrating dense reconstruction into SLAM based on ORB and PF is proposed. It combines the ORB features that have been utilized in the visual odometry of SLAM with multi-view stereo (MVS) for dense map reconstruction. To incorporate ORB features, a new particle filter model is designed. The model includes an observation model based on ORB features to rectify the estimation errors by the MVS method. In addition, A new asynchronous fusion algorithm is proposed to update the proposed model. Finally, the proposed framework is evaluated on a public dataset that includes several subsets, which demonstrates its rationality and effiency. © 2023 IEEE.

关键词： Dense reconstruction multi-view stereo Particle filter SLAM

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A 3D Streamline Selection Algorithm Based on Comprehensive Similarity 3

A 3D Streamline Selection Algorithm Based on Comprehensive S...

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3rd International Conference on Artificial Intelligence and Computer Engineering, ICAICE 2022

作者： Hu, Xiaomei Weng, Jiahong Chai, Jianfei Zhang, Mingnan Li, Yilin Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Information Technology Office School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

ISBN: (纸本)9781510663473

In order to avoid the occlusion problems and missing important features of streamlines in the flow field, this paper proposes a 3D streamline selection algorithm based on comprehensive similarity. The method starts with a hierarchical clustering of streamline sets and then extracts streamlines with high similarity based on their comprehensive similarity. The comprehensive similarity of streamlines requires the calculation of the distance and contour similarity of the streamlines. In this paper, the Hausdorff distance is improved by proposing a partially matched Hausdorff distance to reduce the influence of streamline length on the similarity calculation. Then the contour similarity is calculated according to the ICP algorithm and the entropy weighting method is used to calculate the weights to obtain the combined similarity. The final comparison with the result of another algorithm shows that the flow field structure is clearer, more complete and more evenly distributed when the streamlines are selected using this algorithm. © 2023 SPIE.

关键词： Flow fields

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AMR Navigation Based on Dynamic Control Sampling Space

AMR Navigation Based on Dynamic Control Sampling Space

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2023 International Conference on Advances in Electronics, Control and Communication Systems, ICAECCS 2023

作者： Bouraine, Sara Hasani, Idriss Djoudi, Alla Gourine, Ahmed Kazed, Boualem Center for Development of Advanced Technologies Division Robotics and Industrial Automation Baba Hassen Algeria University BLIDA-1 Electronic and Automation Department Blida Algeria University of Science and Technology Houari Boumedienne Bab ezzouar Algeria

ISBN: (纸本)9781665463102

This paper addresses the problem of local navigation for autonomous mobile robots in partially observable dynamic environments. The main contribution of this work is the expansion of a sampling based approach to deal with the robot and environment dynamic constraints and integrate a safety distance to keep the robot away from collisions. The developed algorithm has been implemented on a robotic platform with a Robot Operating System based embedded architecture, where it has been tested and validated in an indoor environment. © 2023 IEEE.

关键词： Navigation

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