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arXiv 2025年

作者： Yao, Tianliang Lu, Bo Kowarschik, Markus Yuan, Yixuan Zhao, Hubin Ourselin, Sebastien Althoefer, Kaspar Ge, Junbo Qi, Peng Department of Control Science and Engineering College of Electronic and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electronic Engineering Faculty of Engineering The Chinese University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electrical Engineering Soochow University Suzhou215131 China Bavaria Forchheim91301 Germany CREATe Division of Surgery & Interventional Science UCL LondonHA7 4LP United Kingdom School of Biomedical Engineering & Imaging Sciences King’s College London LondonSE1 7EH United Kingdom Centre for Advanced Robotics @ Queen Mary School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Cardiology Zhongshan Hospital Fudan University Shanghai Institute of Cardiovascular Diseases Shanghai200032 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Endovascular procedures have revolutionized the treatment of vascular diseases thanks to minimally invasive solutions that significantly reduce patient recovery time and enhance clinical outcomes. However, the precision and dexterity required during these procedures poses considerable challenges for interventionists. Robotic systems have emerged offering transformative solutions, addressing issues such as operator fatigue, radiation exposure, and the inherent limitations of human precision. The integration of Embodied Intelligence (EI) into these systems signifies a paradigm shift, enabling robots to navigate complex vascular networks and adapt to dynamic physiological conditions. Data-driven approaches, advanced computer vision, medical image analysis, and machine learning techniques, are at the forefront of this evolution. These methods augment procedural intelligence by facilitating real-time vessel segmentation, device tracking, and anatomical landmark detection. Reinforcement learning and imitation learning further refine navigation strategies and replicate experts’ techniques. This review systematically examines the integration of EI principles into robotic technologies, in relation to endovascular procedures. We discuss recent advancements in intelligent perception and data-driven control, and their practical applications in robot-assisted endovascular procedures. By critically evaluating current limitations and emerging opportunities, this review establishes a framework for future developments, emphasizing the potential for greater autonomy and improved clinical outcomes. Emerging trends and specific areas of research, such as federated learning for medical data sharing, explainable AI for clinical decision support, and advanced human-robot collaboration paradigms, are also explored, offering insights into the future direction of this rapidly evolving field. © 2025, CC BY.

关键词： Medical robotics

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Automatic Cell Assembly by Two-fingered Microhand

Automatic Cell Assembly by Two-fingered Microhand

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2019 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

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Encoding Space to Count Multi-Targets with Multiplexed Binary Infrared Sensors

Encoding Space to Count Multi-Targets with Multiplexed Binar...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Longxiang Luo Yang Xiao Wei Liang Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Department of Computer Science The University of Alabama Tuscaloosa AL USA

ISBN: (数字)9781728152127

ISBN: (纸本)9781728152134

Recently, many researchers multiplex binary infrared sensors in object tracking, habitat monitoring, and atypical behavior detection. Due to the binary digit output of binary sensors, multiplex binary sensors may lead to count the wrong number of targets when three or more targets present in the field of interest (FOI). We call this as the invisible targets' problem. To enhance the sensing results of sensors, a reference structure tomography technique is used to segment and code the FOI by modulating the sensing view of sensors. In this paper, we propose a subregion coding method to count targets moving in the FOI. Hexagon modulators are designed to make their projections segment the FOI into hexagon cells. We also propose a signature construct scheme to code cells and a encoder to count the number of targets in the FOI. Experiment results show that the accuracy to correctly count targets of our method is around 90% which is much better than 45% of a conventional method.

关键词： Modulation Monitoring Shape Sensor systems Encoding intelligent sensors

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Recognition of patient groups with sleep related disorders using bio-signal processing and deep learning

arXiv

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arXiv 2021年

作者： Jarchi, Delaram Andreu-Perez, Javier Kiani, Mehrin Vysata, Oldrich Kuchynka, Jiri Prochazka, Ales Sanei, Saeid Smart Health Technologies Group School of Computer Science and Electronic Engineering University of Essex ColchesterCO4 3SQ United Kingdom Embedded and Intelligent Systems Laboratory School of Computer Science and Electronics University of Essex ColchesterCO4 3SQ United Kingdom Department of Computing and Control Engineering University of Chemistry and Technology in Prague Prague 6166 28 Czech Republic Department of Neurology Faculty of Medicine in Hradec Králové Charles University Hradec Králové500 05 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6160 00 Czech Republic School of Science and Technology Nottingham Trent University NottinghamNG11 8NS United Kingdom

Accurately diagnosing sleep disorders is essential for clinical assessments and treatments. Polysomnography (PSG) has long been used for detection of various sleep disorders. In this research, electrocardiography (ECG) and electromayography (EMG) have been used for recognition of breathing and movement-related sleep disorders. Bio-signal processing has been performed by extracting EMG features exploiting entropy and statistical moments, in addition to developing an iterative pulse peak detection algorithm using synchrosqueezed wavelet transform (SSWT) for reliable extraction of heart rate and breathing-related features from ECG. A deep learning framework has been designed to incorporate EMG and ECG features. The framework has been used to classify four groups: healthy subjects, patients with obstructive sleep apnea (OSA), patients with restless leg syndrome (RLS) and patients with both OSA and RLS. The proposed deep learning framework produced a mean accuracy of 72% and weighted F1 score of 0.57 across subjects for our formulated four-class problem. © 2021, CC BY-NC-ND.

关键词： Wavelet transforms

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Remote control library and GUI development for Russian crawler robot Servosila Engineer 13

Remote control library and GUI development for Russian crawl...

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13th International Conference on Electromechanics and robotics "Zavalishin's Readings", ER(ZR) 2018

作者： Mavrin, Ilya Lavrenov, Roman Svinin, Mikhail Sorokin, Sergey Magid, Evgeni Intelligent Robotics Department Higher School of Information Technology and Information Systems Kazan Federal University Russia Robot Dynamics and Control Laboratory College of Information Science and Engineering Ritsumeikan University Japan Mechanical Engineering Department Chuvash State University Russia

Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot. © The Authors, published by EDP Sciences.

关键词： Graphical user interfaces

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Development of a digital platform for the implementation of distributed control and navigation systems for underwater robotic systems performing technological operations in Arctic

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IOP Conference Series: Earth and Environmental Science 2021年第1期816卷

作者： V F Filaretov D A Yukhimets A V Zuev A S Gubankov D D Minaev Department of Automation and Robotics Far Eastern Federal University Vladivostok Russia Robotic Lab Institute of Automation and Control Processes Far Eastern Branch of Russian Academy of Science Vladivostok Russia Laboratory of intelligent information systems for marine robots Institute of Marine Technology Problems Far Eastern Branch of Russian Academy of Science Vladivostok Russia PAO 'Dalpribor' Vladivostok Russia

The paper proposes the architecture of a digital platform for the implementation of distributed control and navigation systems for underwater robotic systems that perform technological operations in Arctic. A system of command has been developed for this platform, which provides flexible assignment of various types and purposes of underwater robots missions. The concept of creating distributed control systems of the underwater robots is proposed. It provides the compatibility of existing on-board underwater robots systems with the proposed solution based on compact hydroacoustic systems of global hydroacoustic navigation developed in PAO 'Dalpribor' (Vladivostok).

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Coordinated Optimization Method of Dual Head Gasoline Blending Under Strict Constraint Conditions

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Shiyou Xuebao, Shiyou Jiagong/Acta Petrolei Sinica (Petroleum Processing Section) 2019年第2期35卷 337-347页

作者： He, Renchu Chen, Haiquan Zhang, Weidong Zhu, Wenqi Key Laboratory of Advanced Control and Optimization Technology for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200072 China Information and Measurement Center Jinling Company SINOPEC Nanjing210033 China Storage and Transportation Department Zhenhai Refining&Chemical Company SINOPEC Ningbo315207 China

For the upcoming China Ⅵ gasoline standard with much more strictly controlled properties, and high requirements for blending efficiency, a blending process and coordinated optimization algorithm for blending multiple brands of gasoline at the same time were developed. Octane number model, vapor pressure model, density model, distillation range model and content attribute model were established. The calculation process of octane number model and distillation range model have been improved, and 12 quality indicators of gasoline can be precisely monitored during the blending process. Considering the actual accumulative blending process, the properties of gasoline in the tank during the blending process should be converted into instantaneous properties zone at the blending head. The optimized properties of the blending head are used to compensate the properties deviation of the amount of blending and the tank bottom oil. Meanwhile, a reasonable and efficient coordination optimization algorithm is used to coordinate the upper limit of the common component oil, which solves the problem of scramble for the common component oil flow in the double blending head in the blending process. The simulation results show that the design method can be applied to the gasoline blending of double head in the field, and can also provide technical support for the upgrading of gasoline blending process under the China Ⅵ gasoline standard. © 2019, Editorial Office of Acta Petrolei Sinica(Petroleum Processing Section). All right reserved.

关键词： Gasoline

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An Early Stage Researcher's Primer on Systems Medicine Terminology

Network and Systems Medicine

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Network and Systems Medicine 2021年第1期4卷 2-50页

作者： Zanin, Massimiliano Aitya, Nadim A.A. Basilio, José Baumbach, Jan Benis, Arriel Behera, Chandan K. Bucholc, Magda Castiglione, Filippo Chouvarda, Ioanna Comte, Blandine Dao, Tien-Tuan Ding, Xuemei Pujos-Guillot, Estelle Filipovic, Nenad Finn, David P. Glass, David H. Harel, Nissim Iesmantas, Tomas Ivanoska, Ilinka Joshi, Alok Boudjeltia, Karim Zouaoui Kaoui, Badr Kaur, Daman Maguire, Liam P. McClean, Paula L. McCombe, Niamh De Miranda, João Luís Moisescu, Mihnea Alexandru Pappalardo, Francesco Polster, Annikka Prasad, Girijesh Rozman, Damjana Sacala, Ioan Sanchez-Bornot, Jose M. Schmid, Johannes A. Sharp, Trevor Solé-Casals, Jordi Spiwok, Vojtěch Spyrou, George M. Stalidzans, Egils Stres, Blaa Sustersic, Tijana Symeonidis, Ioannis Tieri, Paolo Todd, Stephen Van Steen, Kristel Veneva, Milena Wang, Da-Hui Wang, Haiying Wang, Hui Watterson, Steven Wong-Lin, Kongfatt Yang, Su Zou, Xin Schmidt, Harald H.H.W. Centro de Tecnología Biomédica Universidad Politécnica de Madrid Madrid Spain Intelligent Systems Research Centre School of Computing Engineering and Intelligent Systems Ulster University Ulster United Kingdom Center for Physiology and Pharmacology Institute of Vascular Biology and Thrombosis Research Medical University of Vienna Vienna Austria TUM School of Life Sciences Weihenstephan Technical University of Munich Freising Germany Holon Israel CNR National Research Council IAC Institute for Applied Computing Rome Italy Lab of Computing Medical Informatics and Biomedical Imaging Technologies School of Medicine Aristotle University of Thessaloniki Thessaloniki Greece Université Clermont Auvergne INRAE UNH Plateforme d'Exploration du Métabolisme MetaboHUB Clermont Clermont-Ferrand France Université de Technologie de Compiègne Compiègne France Labex MS2T Control of Technological Systems-of-Systems CNRS and Université de Technologie de Compiègne Compiègne France Faculty of Engineering University of Kragujevac Kragujevac Serbia Kragujevac Serbia Steinbeis Advanced Risk Technologies Institute Doo Kragujevac Kragujevac Serbia Pharmacology and Therapeutics School of Medicine Galway Neuroscience Centre National University of Ireland Galway Ireland School of Computing Ulster University Ulster United Kingdom Holon Israel Department of Mathematics and Natural Sciences Kaunas University of Technology Kaunas Lithuania Faculty of Computer Science and Engineering Ss. Cyril and Methodius University Skopje Macedonia Medicine Faculty Université Libre de Bruxelles CHU de Charleroi Charleroi Belgium Northern Ireland Centre for Stratified Medicine Biomedical Sciences Research Institute Ulster University Ulster United Kingdom Escola Superior de Tecnologia e Gestão Instituto Politécnico de Portalegre Portalegre Portugal Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Faculty of Automatic Control and Computers University Politehnica of B

Background: Systems Medicine is a novel approach to medicine, that is, an interdisciplinary field that considers the human body as a system, composed of multiple parts and of complex relationships at multiple levels, and further integrated into an environment. Exploring Systems Medicine implies understanding and combining concepts coming from diametral different fields, including medicine, biology, statistics, modeling and simulation, and data science. Such heterogeneity leads to semantic issues, which may slow down implementation and fruitful interaction between these highly diverse fields. Methods: In this review, we collect and explain more than100 terms related to Systems Medicine. These include both modeling and data science terms and basic systems medicine terms, along with some synthetic definitions, examples of applications, and lists of relevant references. Results: This glossary aims at being a first aid kit for the Systems Medicine researcher facing an unfamiliar term, where he/she can get a first understanding of them, and, more importantly, examples and references for digging into the topic. © Massimiliano Zanin et al., 2021;Published by Mary Ann Liebert, Inc. 2021.

关键词： Semantics

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Evolutionary Games with Different Time Scales of Strategy Updating 29

Evolutionary Games with Different Time Scales of Strategy Up...

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第29届中国控制与决策会议

作者： Jianlei Zhang Yuying Zhu Chunyan Zhang Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781509046584

Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. Using agent-based evolutionary simulation in the framework of prisoner's dilemma game, we demonstrate the sustainability of cooperation and the emergence of different macro-effects, when equipping agents with non-uniform time scale preferences. We employ a spatial random regular grid to describe the social interactions among agents. We conclude that the cooperation level has a strong dependence on the population composition, and the suitable fraction of the fast-updating players in the system which is associated with the maximal cooperation frequency has been found out. Besides, the extent of the promotive effect of diversifying time scales is also closely related with the payoff adoption rules in strategy updating,especially when we invent a past history for each agent. Summing up the gained results, a general conclusion can be drawn, saying that the combination of these factors(e.g. time scales and memory) gives rise to rich dynamic behavior of the system.

关键词： Evolutionary Game Theory Complex Networks Evolution Dynamics

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Evolutionary Game Dynamics Driven by Setting a Ceiling in Payoffs of Defectors 36

Evolutionary Game Dynamics Driven by Setting a Ceiling in Pa...

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第36届中国控制会议

作者： ZHANG Jianlei ZHU Yuying CHEN Zengqiang CAO Ming Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781538629185

The collective cooperation dilemma,where players are involved in a public goods game and must decide whether to make an individual contribution or not,has gained increasing attention from game theorists and control *** from the traditional definition,defectors here will face the payoff restriction after adopting the strategy of free riding others' ***,we introduce payoff ceilings applied to the gained benefits of the defectors,which leads to an extensive public goods game *** the number of cooperators is lower than the threshold value,the current model can be transferred to the setups of the general public goods *** further increasing the number of cooperators will bring the restricted payoffs for *** results suggest that the payoff ceilings provide us with more insight into the resolution of cooperative ***,together with other parameters(e.g.,the amplification factor and the size of gaming population) of the introduced model,lower values of the payoff ceilings can better facilitate the domination of cooperation strategy at the steady state.

关键词： Evolutionary game theory Replicator dynamics Public goods games

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