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POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers

Cyborg and Bionic systems 2022年第1期2022卷 303-313页

作者： Jiaxin Liu Huaping Wang Menghua Liu Ran Zhao Yanfeng Zhao Tao Sun Qing Shi Intelligent Robotics Institute School of Mechatronical Engineering Bejing Institute of TechnologyBeijing 10081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Bejing Advanced Innovation Center for Itelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

With high throughput and high flexibility,optoelectronic tweerers(OETs)hold huge potential for massively parallel ***,the trajectory of the virtual electrode has been planned in advance in most synchronous manipulations for multiple targets based on an optically induced dielectrophoresis(ODEP)mechanism,which is insuficient to ensure the stability and eficiency in an environment with potential collision *** this paper,a synchronously discretized manipulation method based on a centralized and decoupled path planner is proposed for transporting microparticles of diferent types with an OET *** approach based on the K uhn-Munkres algorithm is utilized to achieve the goal assignment between target microparticles and goal *** the assistance of a visual feedback module,a path planning approach based on the POMDP algorithm dynamically determines the motion strategies of the particle movement to avoid potential *** geometrical parameters of the virtual electrodes are optimized for different types of particles with the goal of maximum transport *** experiments of micropatterning with different morphologies and transporting multiple micropartides(e.g,polystyrene microspheres and 3T3 cells)to goal positions are *** results demonstrate that the proposed manipulation method based on optoelectronic tweezers is effective for multicell transport and promises to be used in biomedical manipulation tasks with high flexibility and efficiency.

关键词： manipulation positions assignment

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Enhancing Offensive Language Detection with Data Augmentation and Knowledge Distillation

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Research 2024年第2期6卷 29-40页

作者： Jiawen Deng Zhuang Chen Hao Sun Zhexin Zhang Jincenzi Wu Satoshi Nakagawa Fuji Ren Minlie Huang The CoAl group DCSTInstitute for Artificial InteligenceState Key Lab of Intelligent Technology and SystemsBeijing National Research Center for Information Science and TechnologyTsinghua UniversityBeijing 100084China Graduate School of Information Science&Technology The University of Tokyo.Tokyo 1138654Japan School of Computer Science and Engineering University of Electronic Science and Technology of ChinaChengduSichuan611731China

Offensive language detection has received important attention and plays a crucial role in promoting healthy communication on social platforms,as well as promoting the safe deployment of large language *** data is the basis for developing detectors;however,the available offense-related dataset in Chinese is severely limited in terms of data scale and coverage when compared to English *** significantly affects the accuracy of Chinese offensive language detectors in practical applications,especially when dealing with hard cases or out-of-domain *** alleviate the limitations posed by available datasets,we introduce AugCOLD(Augmented Chinese Offensive Language Dataset),a large-scale unsupervised dataset containing 1 million samples gathered by data crawling and model ***,we employ a multiteacher distillation framework to enhance detection performance with unsupervised *** is,we build multiple teachers with publicly accessible datasets and use them to assign soft labels to *** soft labels serve as a bridge for knowledge to be distilled from both AugCOLD and multiteacher to the student network,i.e.,the final offensive *** conduct experiments on multiple public test sets and our well-designed hard tests,demonstrating that our proposal can effectively improve the generalization and robustness of the offensive language detector.

关键词： COLD dealing limitations

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Thermal and Magnetic Dual-Responsive Catheter-Assisted Shape Memory Microrobots for Multistage Vascular Embolization

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Research 2024年第3期2024卷 529-543页

作者： Qianbi Peng Shu Wang Jianguo Han Chenyang Huang Hengyuan Yu Dong Li Ming Qiu Si Cheng Chong Wu Mingxue Cai Shixiong Fu Binghan Chen Xinyu Wu Shiwei Du Tiantian Xu Guangdong Provincial Key Lab of Robotics and Intelligent Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina University of Chinese Academy of Sciences BeijingChina Department of Neurosurgery South China HospitalMedical SchoolShenzhen University.ShenzhenChina The Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina.

Catheters navigating through complex vessels,such as sharp turns or multiple U-turns,remain challenging for vascular ***,we propose a novel multistage vascular embolization strategy for hard-to-reach vessels that releases untethered swimming shape-memory magnetic microrobots(SMMs)from the prior catheter to the vessel ***,made of organo-gel with magnetic particles,ensure biocompatibility,radiopacity,thrombosis,and fast thermal and magnetic *** SMM is initially a linear shape with a 0.5-mm diameter at 20°C inserted in a *** transforms into a predetermined helix within 2 s at 38°C blood temperature after being pushed out of the catheter into the *** enable agile swimming in confined and tortuous vessels and can swim upstream using helical propulsion with rotating magnetic ***,we validated this multistage vascular embolization in living rabbits,completing 100-cm travel and renal artery embolization in 2 *** 4 weeks,the SMMs maintained the embolic position,and the kidney volume decreased by 36%.

关键词： turns maintained travel

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Group-Aware Human Trajectory Prediction 6

Group-Aware Human Trajectory Prediction

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6th IEEE Conference on information and Communication technology, CICT 2022

作者： Sethi, Ishneet Trivedi, Alka Singhal, Pranav Bhave, Mrinal Agarwal, Rishika Kala, Rahul Chand Nandi, Gora Center of Intelligent Robotics Indian Institute of Information Technology Allahabad Prayagraj India

ISBN: (纸本)9781665473125

Human trajectory forecasting has various real-world applications such as deployment in intelligent transportation systems, traffic operations etc. owing to which it has been a field of active research. We consider the problem of social navigation of the robot. To plan a path the autonomous mobile robot must be able to extrapolate the motion of the other human beings and take a trajectory that is socially compliant to the others. Earlier this work was represented based on domain knowledge by modelling the social interactions as rules or social forces. However, social interactions in crowded environments are diverse in nature. Humans follow various social norms whenever they walk. In this paper we present a model to learn group-based interactions in a large-scale interaction-centric deep learning network TrajNet++. We focus on large groups that have richer interaction and learn the same using the TrajNet++ model. The model is extended to consider group interactions in its modelling. The dataset is generated using the ORCA motion planning library. For the proposed metrics our model shows improvements in the synthetic dataset over the TrajNet++ framework for group interactions. © 2022 IEEE.

关键词： Forecasting

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EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation 56

EfficientPPS: Part-aware Panoptic Segmentation of Transparen...

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56th International Symposium on robotics, ISR Europe 2023

作者： Alt, Benjamin Nguyen, Minh Dang Hermann, Andreas Katic, Darko Jäkel, Rainer Dillmann, Rüdiger Sax, Eric ArtiMinds Robotics Karlsruhe Germany Intelligent Systems and Production Engineering Forschungszentrum Informatik Karlsruhe Germany Karlsruhe Institute of Technology Germany

ISBN: (纸本)9783800761418

The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and improve patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses significant challenges to vision-based perception systems. We present EfficientPPS, a neural architecture for part-aware panoptic segmentation that provides robots with semantically rich visual information for grasping and manipulation tasks. We also present an unsupervised data collection and labelling method to reduce the need for human involvement in the training process. EfficientPPS is evaluated on a dataset containing real-world hospital objects and demonstrated to be robust and efficient in grasping transparent transfusion bags with a collaborative robot arm. © VDE VERLAG GMBH Berlin Offenbach.

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A surface defect detection method for steel pipe based on improved YOLO

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Mathematical Biosciences and Engineering 2024年第2期21卷 3016-3036页

作者： Wang, Lili Song, Chunhe Wan, Guangxi Cui, Shijie State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China College of Information Liaoning University Shenyang110036 China

Surface defect detection is of great significance as a tool to ensure the quality of steel pipes. The surface defects of steel pipes are charactered by insufficient texture, high similarity between different types of defects, large size differences, and high proportions of small targets, posing great challenges to defect detection algorithms. To overcome the above issues, we propose a novel steel pipe surface defect detection method based on the YOLO framework. First, for the problem of a low detection rate caused by insufficient texture and high similarity among different types of defects of steel pipes, a new backbone block is proposed. By increasing high-order spatial interaction and enhancing the capture of internal correlations of data features, different feature information for similar defects is extracted, thereby alleviating the false detection rate. Second, to enhance the detection performance for small defects, a new neck block is proposed. By fusing multiple features, the accuracy of steel pipe defect detection is improved. Third, for the problem of a low detection rate causing large size differences in steel pipe surface defects, a novel regression loss function that considers the aspect ratio and scale is proposed, and the focal loss is introduced to further solve the sample imbalance problem in steel pipe defect datasets. The experimental results show that the proposed method can effectively improve the accuracy of steel pipe surface defect detection. © 2024 American institute of Mathematical Sciences. All rights reserved.

关键词： Aspect ratio

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Parallel Bounded Search for the Maximum Clique Problem

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Journal of Computer Science & technology 2023年第5期38卷 1187-1202页

作者：江华白珂刘海姣李初民 Felip Manya 付樟华 Engineering Research Center of Cyberspace Yunnan UniversityKunming 650500China School of Software Yunnan UniversityKunming 650500China Laboratory of Modeling Information and SystemsUniversity of Picardie Jules VerneAmiens 80039France Artificial Intelligence Research Institute Spanish National Research CouncilCatalonia 08193Spain Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518000China Institute of Robotics and Intelligent Manufacturing Chinese University of Hong KongShenzhen 518000China

Given an undirected graph,the Maximum Clique Problem(MCP)is to find a largest complete subgraph of the *** is NP-hard and has found many practical *** this paper,we propose a parallel Branch-and-Bound(BnB)algorithm to tackle this NP-hard problem,which carries out multiple bounded searches in *** search has its upper bound and shares a lower bound with the rest of the *** potential benefit of the proposed approach is that an active search terminates as soon as the best lower bound found so far reaches or exceeds its upper *** describe the implementation of our highly scalable and efficient parallel MCP algorithm,called PBS,which is based on a state-of-the-art sequential MCP *** proposed algorithm PBS is evaluated on hard DIMACS and BHOSLIB *** results show that PBS achieves a near-linear speedup on most DIMACS instances and a superlinear speedup on most BHOSLIB ***,we give a detailed analysis that explains the good speedups achieved for the tested instances.

关键词： Branch-and-Bound(BnB) maximum clique problem(MCP) parallel search

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Soft-bionic-fishtail structured triboelectric nanogenerator driven by flow-induced vibration for low-velocity water flow energy harvesting

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Nano Research 2023年第1期16卷 466-472页

作者： Sheng Zhang Zhaoxu Jing Xinxian Wang Mingkang Zhu Xin Yu Jianyang Zhu Tinghai Cheng Hongwei Zhao Zhong Lin Wang Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of SciencesBeijing 101400China School of Nanoscience and Technology University of Chinese Academy of SciencesBeijing 100049China Institute of Robotics and Intelligent Systems Wuhan University of Science and TechnologyWuhan 430081China School of Materials Science and Engineering Georgia Institute of TechnologyAtlantaGeorgia30332-0245USA School of Mechanical and Aerospace Engineering Jilin UniversityChangchun 130022China

To adapt to the low-velocity water flow closely related to human life,the natural energy can be efficiently harvested and used to power monitoring ***,a triboelectric soft fishtail(TE-SFT)driven by flow-induced vibration(FIV)effect is proposed based on the soft material synthesis ***,inspired by the fishtail fin,a bluff body with the cross-section of fishtail-shaped is designed,and has a preferable vortex effect by fluid *** power generation part,the triboelectric nanogenerator(TENG)is designed to act as an inertial pendulum structure by geometric *** the FIV effect,the TESFT driven by fishtail-shaped bluff body swings like a fish in the water and then brings the inertial pendulum to acquire the oscillation for harvesting energy from low-velocity water *** TE-SFT attains an open-circuit voltage(VOC)of 200 V to 313 V at the flow velocities of 0.24 to 0.89 m/***,after 30 days of water immersion,the VOC of TE-SFT retains 96.81%.In demonstration,the TE-SFT is applied to power the temperature and humidity sensor through harvesting water flow *** work also provides a way for self-powered system based on the TENG and soft bionic fish in water environment.

关键词： low-velocity water flow flow-induced vibration soft fishtail triboelectric nanogenerator energy harvesting

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Dynamic Obstacle Avoidance for Magnetic Helical Microrobots Based on Deep Reinforcement Learning

Dynamic Obstacle Avoidance for Magnetic Helical Microrobots ...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Qiu, Yukang Hou, Yaozhen Yang, Haotian Gao, Yigao Huang, Hen-Wei Shi, Qing Huang, Qiang Wang, Huaping Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China Harvard Medical School Laboratory for Translational Engineering CambridgeMA02139 United States Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798350372601

Magnetic helical microrobots hold immense promise in biomedical domains owing to their compact size and efficient propulsion capabilities. However, navigating these microrobots through dynamic and unstructured environments, particularly when encountering numerous dynamic obstacles, remains a formidable challenge. In the study, a control framework based on deep reinforcement learning (DRL) with the objective of guiding a microrobot through dynamic obstacles towards specified target goals is introduced. Initially, we design and fabricate a microdrill capable of propulsion via external magnetic rotating fields produced by our magnetic actuation system. Subsequently, we construct a custom training environment, adhering to the OpenAI gym interface, to serve as the simulator for training purposes. Utilizing the proximal policy optimization algorithm, we conduct training of the navigation policy within this simulator. Simulations and experimental validations conducted in dynamic environments affirms the efficacy of the proposed method. © 2024 IEEE.

关键词： Microrobots

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Automated Adherent Cell Injection Method Based on Double-Micropipettes Operation 42

Automated Adherent Cell Injection Method Based on Double-Mic...

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42nd Chinese Control Conference, CCC 2023

作者： Chu, Zhaotong Cai, Linxuan Cui, MaoSheng Wang, Zuqi Zhang, Yidi Li, Minghui Zhao, Qili Sun, Mingzhu Zhao, Xin Liu, Yaowei Institute of Robotics and Automatic Information System Nankai University The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China Tianjin Academy of Agriculture Science Tianjin300112 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Microinjection of adherent cells is a technique of inserting glass pipette into adherent cells and injecting few exogenous substances into adherent cells, which is widely used in the field of cell biology. Researchers in this field usually inject adherent cells manually, however, the microinjection operation is complicated, which requires a lot of energy and takes a lot of time. The existing automated microinjection method only uses one injection micropipette to inject, compared with the manual injection method, the microinjection process is consistent not optimized, and the injection efficiency cannot be greatly improved. In this paper, an automated adherent cell injection method based on double-micropipettes operation is proposed. Firstly, the adherent cell injection process based on double-micropipettes operation is designed. Secondly, this paper solves the key technologies of automated injection of adherent cells based on double-micropipettes operation were introduced, including adherent cell detection, injection path planning and double-micropipettes operation. Finally, the experiment of adherent cell microinjection based on double-micropipettes operation, the operation of two micropipettes was carried out. The experimental results show that the success rate of injection can reach 60% and the injection speed of this method can reach 35 cells/minute, which is 75% higher than that of manual injection with single pipette (20 cells/minute) and 40% higher than that of automated adherent cell injection with single pipette (25 cells/minute). © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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