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Drosophila Larvae-Inspired Soft Crawling Robot with Multimodal Locomotion and Versatile Applications

research 2025年第1期7卷 35-46页

作者： Qin Fang Jingyu Zhang Yinhui He Nenggan Zheng Yue Wang Rong Xiong Zhefeng Gong Haojian Lu State Key Laboratory of Industrial Control and Technology Zhejiang UniversityHangzhou 310027China Institute of Cyber-Systems and Control Zhejiang UniversityHangzhou 310027China Medical School of Zhejiang University Hangzhou 310027China College of Computer Science and Technology Zhejiang UniversityHangzhou 310027China Stomatology Hospital School of StomatologyZhejiang University School of MedicineZhejiang Provincial Clinical Research Center for Oral DiseasesKey Laboratory of Oral Biomedical Research of Zhejiang ProvinceCancer Center of Zhejiang UniversityEngineering Research Center of Oral Biomaterials and Devices of Zhejiang ProvinceHangzhou 310000China

Soft crawling robots have been widely studied and applied because of their excellent environmental adaptability and flexible ***,most existing soft crawling robots typically exhibit a single-motion mode and lack diverse *** by Drosophila larvae,this paper proposes a compact soft crawling robot(weight,13 g;length,165 mm;diameter,35 mm)with multimodal locomotion(forward,turning,rolling,and twisting).Each robot module uses 4 sets of high-power-density shape memory alloy actuators,endowing it with 4 degrees of motion *** analyze the mechanical characteristics of the robot modules through experiments and simulation *** plug-and-play modules can be quickly assembled to meet different motion and task *** soft crawling robot can be remotely operated with an external controller,showcasing multimodal motion on various material *** a narrow maze,the robot demonstrates agile movement and effective maneuvering around *** addition,leveraging the inherent bistable characteristics of the robot modules,we used the robot modules as anchoring units and installed a microcamera on the robot's head for pipeline *** robot completed the inspection in horizontal,vertical,curved,and branched pipelines,adjusted the camera view,and twisted a valve in the pipeline for the first *** research highlights the robot's superior locomotion and application capabilities,providing an innovative strategy for the development of lightweight,compact,and multifunctional soft crawling robots.

关键词： multimodal locomotion versatile applications Drosophila larvae soft crawling robot weight soft crawling robots shape memory alloy actuators

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Mathematical Modeling of the Interest Rates Formation on Consumer Loans in Russia 23rd

Mathematical Modeling of the Interest Rates Formation on ...

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23rd International Conference on Mathematical Optimization Theory and Operations research, MOTOR 2024

作者： Shananin, Alexander A. Trusov, Nikolai V. Federal Research Center "Computer Science and Control" of RAS Vavilova Street 40 Moscow119333 Russia Moscow Institute of Physics and Technology National Research University 9 Institutsky pereulok Moscow Region Dolgoprudny141701 Russia

ISBN: (纸本)9783031627910

We present the model for the formation of interest rates on consumer loans based on an analysis of commercial interests and the logic of behavior of commercial banks. From the position of the commercial banks, the borrowers’ income is a stochastic process described by a geometric Brownian motion. The commercial banks assess the default risk of borrowers. The consumer loan demand is described with the help of representative rational consumer behavior based on Ramsey-type model. The historical data of the interest rates on loans are identified. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Consumer behavior

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Exploring Deep Learning Methods for computer Vision Applications across Multiple Sectors:Challenges and Future Trends

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computer Modeling in Engineering & sciences 2024年第4期139卷 103-141页

作者： Narayanan Ganesh Rajendran Shankar Miroslav Mahdal Janakiraman SenthilMurugan Jasgurpreet Singh Chohan Kanak Kalita School of Computer Science and Engineering Vellore Institute of TechnologyChennai600127India Department of Computer Science and Engineering Koneru Lakshmaiah Education FoundationVaddeswaram522502India Department of Control Systems and Instrumentation Faculty of Mechanical EngineeringVSB-Technical University of OstravaOstrava70800Czech Republic Department of Computer Science and Engineering Vel Tech High Tech Dr.Rangarajan Dr.Sakunthala Engineering CollegeChennai600062India Department of Mechanical Engineering and University Centre for Research&Development Chandigarh UniversityMohali140413India Department of Mechanical Engineering Vel Tech Rangarajan Dr.Sagunthala R&D Institute of Science and TechnologyAvadi600062India

computer vision(CV)was developed for computers and other systems to act or make recommendations based on visual inputs,such as digital photos,movies,and other *** learning(DL)methods are more successful than other traditional machine learning(ML)methods *** techniques can produce state-of-the-art results for difficult CV problems like picture categorization,object detection,and face *** this review,a structured discussion on the history,methods,and applications of DL methods to CV problems is *** sector-wise presentation of applications in this papermay be particularly useful for researchers in niche fields who have limited or introductory knowledge of DL methods and *** review will provide readers with context and examples of how these techniques can be applied to specific areas.A curated list of popular datasets and a brief description of them are also included for the benefit of readers.

关键词： Neural network machine vision classification object detection deep learning

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Deep Learning-based Moving Object Segmentation:Recent Progress and research Prospects

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Machine Intelligence research 2023年第3期20卷 335-369页

作者： Rui Jiang Ruixiang Zhu Hu Su Yinlin Li Yuan Xie Wei Zou College of Information Engineering Shanghai Maritime UniversityShanghai201306China School of Computer Science and Technology East China Normal UniversityShanghai200062China Research Center of Precision Sensing and Control Institute of AutomationChinese Academy of SciencesBeijing100190China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing100190China

Moving object segmentation(MOS),aiming at segmenting moving objects from video frames,is an important and challenging task in computer vision and with various *** the development of deep learning(DL),MOS has also entered the era of deep models toward spatiotemporal feature *** paper aims to provide the latest review of recent DL-based MOS methods proposed during the past three ***,we present a more up-to-date categorization based on model characteristics,then compare and discuss each category from feature learning(FL),and model training and evaluation *** FL,the methods reviewed are divided into three types:spatial FL,temporal FL,and spatiotemporal FL,then analyzed from input and model architectures aspects,three input types,and four typical preprocessing subnetworks are *** terms of training,we discuss ideas for enhancing model *** terms of evaluation,based on a previous categorization of scene dependent evaluation and scene independent evaluation,and combined with whether used videos are recorded with static or moving cameras,we further provide four subdivided evaluation setups and analyze that of reviewed *** also show performance comparisons of some reviewed MOS methods and analyze the advantages and disadvantages of reviewed MOS methods in terms of ***,based on the above comparisons and discussions,we present research prospects and future directions.

关键词： Moving object segmentation(MOS) change detection background subtraction deep learning(DL) video understanding

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Probabilistic Modeling of the Behavior of a Computing Node in the Absence of Tasks on the Project Server 9th

Probabilistic Modeling of the Behavior of a Computing No...

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9th Russian Supercomputing Days International Conference, RuSCDays 2023

作者： Nikolay, Khrapov Mikhail, Posypkin Institute for Information Transmission Problems of the Russian Academy of Sciences Moscow Russia Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9783031494345

There may be situations where there are no tasks on the BOINC project for a number of reasons. If a computing node does not receive a task as a response to a request, then it goes into an idle state for a while. This publication proposes a probabilistic model of the behavior of a single computing node in the absence of jobs on the server. The proposed model best describes the processes associated with computing in local infrastructures, but it is also possible to generalize the methodology for large-scale voluntary computing projects. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Artificial intelligence

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Locate N’ Rotate: Two-Stage Openable Part Detection with Foundation Model Priors 17th

Locate N’ Rotate: Two-Stage Openable Part Detection with F...

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17th Asian Conference on computer Vision, ACCV 2024

作者： Li, Siqi Chen, Xiaoxue Cheng, Haoyu Zhou, Guyue Zhao, Hao Tian, Guanzhong Ningbo innovation Center Zhejiang University Hangzhou China College of Control Science and Engineering Zhejiang University Hangzhou China Institute for AI Industry Research Tsinghua University Beijing China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9789819609628

Detecting the openable parts of articulated objects is crucial for downstream applications in intelligent robotics, such as pulling a drawer. This task poses a multitasking challenge due to the necessity of understanding object categories and motion. Most existing methods are either category-specific or trained on specific datasets, lacking generalization to unseen environments and objects. In this paper, we propose a Transformer-based Openable Part Detection (OPD) framework named Multi-feature Openable Part Detection (MOPD) that incorporates perceptual grouping and geometric priors, outperforming previous methods in performance. In the first stage of the framework, we introduce a perceptual grouping feature model that provides perceptual grouping feature priors for openable part detection, enhancing detection results through a cross-attention mechanism. In the second stage, a geometric understanding feature model offers geometric feature priors for predicting motion parameters. Compared to existing methods, our proposed approach shows better performance in both detection and motion parameter prediction. Codes and models are publicly available at https://***/lisiqi-zju/MOPD. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Intelligent robots

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Challenges and Policy of Spatial Development of Post-Soviet Russia as a Subject of a Unique Academic research: From the Editors of the Special Issue

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Regional research of Russia 2023年第1期13卷 1-5页

作者： Glezer, O.B. Shvetsov, A.N. Kotlyakov, V.M. Institute of Geography Russian Academy of Sciences Moscow 119017 Russian Federation Federal Research Center “Computer Science and Control” Russian Academy of Sciences Moscow 119333 Russian Federation

Abstract—: The article presents readers with a thematic issue of the journal Regional research of Russia, dedicated to the selected results of long-term interdisciplinary academic research on the fundamental problems of modern Russia’s spatial development. The uniqueness of the design and content of these studies, conducted in 2009–2019, is revealed as part of a large-scale scientific megaproject. The article describes the goals, content, and results of four research programs successively carried out within its framework: “Fundamental Problems of Spatial Development of the Russian Federation: Interdisciplinary Synthesis” (2009–2011);“The Role of Space in Russia’s Modernization: Natural and Socioeconomic Potential” (2012–2014);“Russia’s Spatial Development in the 21st Century: Nature, Society, and Their Interaction” (2015–2017);“Spatial Restructuring of Russia Taking into Account Geopolitical, Socioeconomic and Geoecological Challenges” (2018–2019). These programs are distinguished by methodological, subject, and organizational continuity. The multifaceted results of research within the framework of the last three programs are published in Russian in the monograph “Challenges and Policy of Russia’s Spatial Development in the 21st Century” (2020). The ten articles in this issue reflect the most important subjects presented in the monograph. © 2023, Pleiades Publishing, Ltd.

关键词： interdisciplinary research program-targeted approach scientific megaproject spatial development state spatial development policy

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Power Switching Based on Trajectory Planning and Sliding Mode control for Solid Oxide Fuel Cell Systems

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Journal of Modern Power Systems and Clean Energy 2024年第6期12卷 1968-1979页

作者： Zhen Wang Guoqiang Liu Xingbo Liu Jie Wang Zhiyang Jin Xiaowei Fu Zhuo Wang Bing Jin Zhonghua Deng Xi Li Key Laboratory of Imaging Processing and Intelligent Control of Ministry of Education School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhanChina Research Institute of Huazhong University of Science and Technology in Shenzhen ShenzhenChina Hubei Huazhong Electric Power Technology Development Co. Ltd.WuhanChina School of Computer Science and Technology Wuhan University of Science and TechnologyWuhanChina School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhanChinaand he is also with the Wuhan Huamao Automation Co.Ltd.WuhanChina

To improve the safety of the solid oxide fuel cell(SOFC)systems and avoid the generation of large amounts of pollutants during power switching,this paper designs a power switching strategy based on trajectory planning and sliding mode control(TP-SMC).The design elements of the power switching strategy are proposed through simulation analysis at ***,based on the gas transmission delay time and the change of gas flow obtained from testing,trajectory planning(TP)is *** with other power switching strategies,it has been proven that the power switching strategy based on TP has significantly better control ***-thermore,considering the shortcomings and problems of TP in practical application,this paper introduces sliding mode control(SMC)on the basis of TP to improve the power switching *** final simulation results also prove that the TP-SMC can effectively suppress the impact of uncertainty in gas flow and gas transmission delay *** with TP,TP-SMC can ensure that under uncertain conditions,the SOFC system does not experience fuel starvation and temperature exceeding limit during power ***,the NOx emissions are also within the normal and acceptable *** paper can guide the power switching process of the actual SOFC sys-tems to avoid safety issues and excessive generation of NOx,which is very helpful for improving the performance and ser-vice lifeof the SOFCsystems.

关键词： Solid oxide fuel cell(SOFC)system power switching safety NOx emission trajectory planning sliding mode control

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Accuracy of Determining Damage from Atmosphere Pollution by Industry Under Various Combinations of Events 17

Accuracy of Determining Damage from Atmosphere Pollution by ...

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17th International Conference on Management of Large-Scale System Development, MLSD 2024

作者： Fursov, Sergey Kushnikova, Elena Kushikov, Oleg Shnaider, Ilia V.A. Trapeznikov Institute of Control Sciences of Ras Laboratory #33 Moscow Russia Institute for Problems of Precision Mechanics and Control A Separate Structural Unit of the Federal Research Center Ssc Ras Saratov Russia Saratov State University Department of Mathematical Cybernetics and Computer Science Saratov Russia

ISBN: (纸本)9798350375718

The article develops a mathematical model that allows us to consider the influence of critical combinations of events solving the problem of minimizing damage from the impact of air pollutants on the population, agriculture and the environment. The results obtained can be used to improve environmental monitoring systems. © 2024 IEEE.

关键词： Environmental monitoring

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Parabola-Based Artificial Neural Network Activation Functions

Parabola-Based Artificial Neural Network Activation Function...

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Khachumov, Mikhail Emelyanova, Yulia Khachumov, Vyacheslav Program Systems Institute of Ras Research Center for Multiprocessor Systems Pereslavl-Zalessky Russia Federeal Research Center 'Computer Science and Control' of Ras Moscow Russia Rudn University Moscow Russia

ISBN: (纸本)9798350345551

The paper deals with the issues of constructing logical functions using artificial neurons with various activation functions. In particular, we propose a method for constructing parabola-based nonlinearity that allows expanding the logical capabilities of neurons and neural networks based on them. Alternative nonlinearity, like the sigmoid, is suitable for configuring a neural network by error backpropagation. We give an algorithm for such an XOR function adjustment using two neurons. The paper also shows the possibility of the XOR function building using one neuron by applying a rotated parabola (solving the XOR problem). We conduct experimental research on neural network adjustment based on standard sigmoid, s-parabola, and rotated parabola activation functions, which showed prospects of the proposed approach. The new nonlinearity makes it possible to reduce the overall computational complexity of setting up a neural network and speed up calculations in tasks that require the use of a large number of neurons. © 2023 IEEE.

关键词： Neurons

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