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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Tatarenko, Tatiana Intelligent Systems and Robotics Lab at the Tu Darmstadt Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316339

This paper deals with distributed Nash equilibrium seeking in n-cluster games with zero-order information. In such games agents have an access only to the values of their own cost functions and can communicate with their neighbors in the same cluster. The agents within each cluster are cooperative and intend to minimize the overall cluster's cost. This cost depends, however, on actions of agents from other clusters. Thus, there is a game between the clusters. We present a fully distributed gradient play algorithm to solve this game. The algorithm does not require agents to have any knowledge about action sets, actions or cost functions of others and is based on the zero-order information in the system. We prove convergence of the proposed procedure and estimate its convergence rate which turns out to be optimal up to a logarithmic term in the class of problems under consideration. © 2024 IEEE.

关键词： Nash equilibrium

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SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments

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IEEE robotics and Automation Letters 2023年第11期8卷 7170-7177页

作者： Chen, Changan Frey, Jonas Arm, Philip Hutter, Marco Robotics Systems Lab ETH Zurich Zurich8092 Switzerland Max Planck Institute for Intelligent Systems Stuttgart70569 Germany

Robotic exploration or monitoring missions require mobile robots to autonomously and safely navigate between multiple target locations in potentially challenging environments. Currently, this type of multi-goal mission often relies on humans designing a set of actions for the robot to follow in the form of a path or waypoints. In this letter, we consider the multi-goal problem of visiting a set of pre-defined targets, each of which could be visited from multiple potential locations. To increase autonomy in these missions, we propose a safe multi-goal (SMUG) planner that generates an optimal motion path to visit those targets. To increase safety and efficiency, we propose a hierarchical state validity checking scheme, which leverages robot-specific traversability learned in simulation. We use LazyPRM∗ with an informed sampler to accelerate collision-free path generation. Our iterative dynamic programming algorithm enables the planner to generate a path visiting more than ten targets within seconds. Moreover, the proposed hierarchical state validity checking scheme reduces the planning time by 30% compared to pure volumetric collision checking and increases safety by avoiding high-risk regions. We deploy the SMUG planner on the quadruped robot ANYmal and show its capability to guide the robot in multi-goal missions fully autonomously on rough terrain. © 2023 IEEE.

关键词： Motion planning

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Position and Altitude of the Nao Camera Head from Two Points on the Soccer Field Plus the Gravitational Direction

Position and Altitude of the Nao Camera Head from Two Po...

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27th RoboCup International Symposium, 2024

作者： Oomes, Stijn Visser, Arnoud Oomes Vision Systems Amsterdam Netherlands Intelligent Robotics Lab Universiteit van Amsterdam Amsterdam Netherlands

ISBN: (纸本)9783031858581

To be able to play soccer, a robot needs a good estimate of its current position on the field. Ideally, multiple features are visible that have known locations. By applying trigonometry we can estimate the viewpoint from where this observation was actually made. Given that the Nao robots of the Standard Platform League have quite a limited field of view, a given camera frame typically only allows for one or two points to be recognized. In this paper we propose a method for determining the (x, y) coordinates on the field and the height h of the camera from the geometry of a simplified tetrahedron. This configuration is formed by two observed points on the ground plane plus the gravitational direction. When the distance between the two points is known, and the directions to the points plus the gravitational direction are measured, all dimensions of the tetrahedron can be determined. By performing these calculations with rational trigonometry instead of classical trigonometry, the computations turn out to be 28.7% faster, with equal numerical accuracy. The position of the head of the Nao can also be externally measured with the OptiTrack system. The difference between externally measured and internally predicted position from sensor data gives us mean absolute errors in the 3–6 cm range, when we estimated the gravitational direction from the vanishing point of the outer edges of the goal posts. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Geometry

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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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Shape effect of prodrug nanoassemblies on treatment efficacy of cancer therapy

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Nano Research 2025年第2期18卷 616-626页

作者： Fengxiang Liu Rongzheng Liu Xiaoyuan Fan Xia Wang Kaiyuan Wang Hainan Zhao Hao Ye Shunzhe Zheng Xiao Kuang Yinxian Yang Haotian Zhang Qiming Kan Zhonggui He Jian Chen Jin Sun Department of Pharmaceutics Wuya College of InnovationShenyang Pharmaceutical UniversityShenyang 110016China School of Pharmacy Shenyang Pharmaceutical UniversityShenyang 110016China Nephrology department The First Affiliated Hospital of Jinzhou Medical UniversityJinzhou 121000China Multi-Scale Robotics Lab(MSRL) Institute of Robotics&Intelligent Systems(IRIS)ETH Zurich 8092Switzerland School of Life Science and Biopharmaceutics Shenyang Pharmaceutical UniversityShenyang 110016China Joint International Research Laboratory of Intelligent Drug Delivery Systems Ministry of EducationShenyang 110016China School of Pharmacy Shanghai Jiao Tong UniversityShanghai 200240China

The tumor microenvironment-sensitive prodrug-based nanoparticles(NPs)have emerged as a promising drug delivery system(DDS).The shape of these particles plays a crucial role in their in vivo ***,non-spherical organic NPs are rarely reported due to the inherent flexibility and variability of organic ***,we fabricate reduction-sensitive prodrug NPs and explore the impact of their morphology properties on their in vivo *** are self-assembled into spherical NPs with distearoyl phosphoethanolamine-PEG2000(DSPE-PEG2k),or into rod-shaped NPs with D-a-tocopherol polyethylene glycol 2000 succinate(TPGS2k)due to the stronger binding *** comparison with spherical NPs,the endocytosis of rod-shaped NPs predominantly relies on caveolae-mediated pathways rather than clathrin-mediated ones,potentially avoiding degradation by ***,the rod-shaped NPs exhibit prolonged circulation time,increased tumor accumulation,and enhanced antitumor *** current findings reveal the significant effect of particle shape on the behavior of prodrug NPs and introduce a novel paradigm for high-efficacy cancer therapy of prodrug NPs.

关键词： camptothecin self-assembly prodrug-based nanoparticles nanorod cancer therapy

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Pressure Pain Recognition for Lower Limb Exoskeleton Robot with Physiological Signals 1

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2nd International Conference on Cognitive Computation and systems, ICCCS 2023

作者： Ma, Yue Wu, Xinyu Wang, Xiangyang Li, Jinke Qin, Pengjie Yin, Meng Cao, Wujing Yi, Zhengkun Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Guangdong Shenzhen China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jining China

ISBN: (数字)9789819708857

ISBN: (纸本)9789819708840

Pain is a feedback mechanism the body uses to protect itself. The perception of human pain is still missing in lower limb exoskeleton robots, such as the pain caused by the pressure between the knee joint and the baffle when the lower limb exoskeleton stands up, or the pain caused by the mismatch between the gait and the body function of the wearer when walking. Aiming at the pain perception problem of the exoskeleton robot, this study designed a pressure pain data acquisition paradigm combined first considering the movement mode of the exoskeleton robot, and collected facial electromyography and electrocardiography signals, as well as five levels of pain. Then a deep learning neural Network based on Temporal Convolutional Network and Long Short-Term Memory is designed. The composite Loss of Center Loss, InfoNEC Loss and Softmax Loss is designed. The designed deep neural network model was evaluated using the thermal pain dataset BioVid, and the average recognition rate using only electrocardiography signals reached 86.44%. By Using the fusion signals of electrocardiography, electrocardiogram and electromyogram signals, the average recognition accuracy can reach 87.16%, which is superior to other similar methods, and verifies the effectiveness of the proposed method. The proposed network is also used to verify the collected pressure pain dataset, and the recognition accuracy can reach 87.5%, which proves the validity of the collected data set. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Electrocardiography

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EMG Based Rehabilitation Gesture Recognition Using DAE-CNN-LSTM Hybrid Model

EMG Based Rehabilitation Gesture Recognition Using DAE-CNN-L...

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2024 International Convention on Rehabilitation Engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Guo, Xinqiang Zou, Yupeng Zhang, Shuo Luo, Mingxiang Kobsiriphat, Worawarit Wu, Xinyu Yin, Meng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Stroke, as one of the leading causes of long-term disability globally, often results in motor impairments, particularly in the hands, significantly affecting patients' daily activities and causing profound psychological trauma. Rehabilitation gesture recognition, as one of the key means of active rehabilitation medicine, holds significant potential in stroke rehabilitation, providing real-time feedback on patient progress and enabling personalized interventions to meet individual needs. Traditional gesture recognition methods face numerous challenges when dealing with stroke patient data, such as noise, motion blur, and individual differences. To address these challenges, this paper proposes a novel approach for stroke patient gesture recognition using deep learning models. We adopt a strategy combining denoising autoencoder (DAE), convolutional neural network (CNN), and long short-term memory (LSTM) to enhance the accurate recognition of hand movements in stroke patients. Specifically, DAE is utilized for denoising EMG signals, extracting features, and reducing noise to improve the signal's noise resistance. CNN is employed for spatial feature extraction, while LSTM captures temporal dependencies in gesture sequences. By integrating these three deep learning models, our aim is to enhance the accuracy and robustness of rehabilitation gesture recognition. We validate the proposed method's effectiveness on an EMG dataset from seven subjects through experiments and compare it with traditional machine learning and individual CNN and LSTM algorithms. Experimental results demonstrate significant performance improvements of our hybrid model in rehabilitation gesture recognition tasks, indicating promising application prospects and practical significance. © 2024 IEEE.

关键词： Convolutional neural networks

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Vibrational Feedback for a Teleoperated Continuum Robot with Non-contact Endoscope Localization

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Current Directions in Biomedical Engineering 2024年第1期10卷 17-20页

作者： Fischer, Jonas Andreas, Daniel Beckerle, Philipp Mathis-Ullrich, Franziska Marzi, Christian Friedrich-Alexander-University of Erlangen-Nuremberg Autonomous Systems and Mechatronics Paul-Gordan-Strase 3/5 Erlangen91052 Germany Friedrich-Alexander-University of Erlangen-Nuremberg Autonomous Systems and Mechatronics Erlangen91052 Germany Friedrich-Alexander-University of Erlangen-Nuremberg Surgical Planning and Robotic Cognition Lab Erlangen91052 Germany Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics - Intelligent Process Automation & Robotics Karlsruhe76131 Germany

Limited or absent haptic feedback is reported as a factor hindering the continued adoption of surgical robots. This article presents a proof of concept for vibrotactile feedback integrated into a continuum robot to explore whether such feedback improves spatial perception in surgical settings. The robot is equipped with a capacitive sensor for noncontact endoscope localization, enabling spatial awareness of the robot's tool center point (TCP) within the surgical environment. The data from the sensor is processed and transmitted to a bracelet worn by the user, which generates vibrotactile feedback. The bracelet contains four vibration motors providing tactile cues for navigation and positioning of the robot's TCP. All subsystems are integrated into a unified system to deliver vibrotactile feedback to the user. When the user maneuvers the TCP of the robot near an object, they receive vibrotactile feedback via the bracelet. Thereby, the intensity of vibration increases as the TCP approaches the object, and the direction of the obstacle is mapped on the bracelet. Initial functional tests were performed and prove the functionality of the proposed system. © 2024 by Walter de Gruyter Berlin/Boston.

关键词： Capacitive sensors

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PRO-based Trajectory Planning for Spacecraft Close-Distance Flight around a Client Satellite for Proximity Operations

PRO-based Trajectory Planning for Spacecraft Close-Distance ...

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Accelerating Space Commerce, Exploration, and New Discovery Conference, ASCEND 2023

作者： Roach, Dylan Barth, Andrew Ma, Ou Fleming, Alex Hernandez, Michael Intelligent Robotics and Autonomous Systems Lab University of Cincinnati CincinnatiOH45221 United States iMetalX Group LLC SausalitoCA94965 United States

ISBN: (数字)9781624107054

ISBN: (纸本)9781624107054

In-space or On-orbit Servicing, Assembly, and Manufacturing (ISAM or OSAM) activities require spacecraft to fly around a client satellite or another orbiting object in a proximity range from 10’s to 0 meters in distance. When flying within such a close distance, it becomes extremely important for the servicing craft to fly safely avoiding collision but at the same time minimizing fuel consumption, especially since such fly-around spacecraft may likely be low-cost and less-capable CubeSats in future missions. Therefore, planning of a flight trajectory (i.e., relative-motion orbit) becomes essential for safe and reliable operations. So far, most of the research efforts have been focused on planning trajectories for rendezvous to a client satellite from 100’s of km away, but much less work has been done regarding flying around a client with a minimal but nonzero distance. However, for many ISAM tasks, such as to survey or inspect a client satellite at very close distance, one needs to plan one or more trajectories fully around the client body due to various requirements. These requirements may include specific image resolution, safety distance, an interesting spot, or full coverage of the entire client body, etc. Therefore, planning a safe and fuel-efficient circumnavigation trajectory becomes necessary. This paper first studied the characteristics of Passive Relative Orbits (PROs) around a client and proposed how to use these characteristics to plan a desirable task trajectory around the client. Then it solved the problem of how to deploy a spacecraft to a task trajectory along a two-burn PRO-based transfer trajectory and return from the task trajectory with minimal fuel consumption with or without a time constraint. Simulation examples are presented to quantitatively demonstrate the results of the presented trajectory planning methods for a client in typical LEO and GEO regions. © 2023, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved

关键词： Image resolution

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Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation

Physically Consistent Online Inertial Adaptation for Humanoi...

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

作者： James Foster Stephen McCrory Christian DeBuys Sylvain Bertrand Robert Griffin Intelligent Systems & Robotics University of West Florida USA Robotics Lab Florida Institute for Human & Machine Cognition USA Boardwalk Robotics USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The ability to accomplish manipulation and locomotion tasks in the presence of significant time-varying external loads is a remarkable skill of humans that has yet to be replicated convincingly by humanoid robots. Such an ability will be a key requirement in the environments we envision deploying our robots: dull, dirty, and dangerous. External loads constitute a large model bias, which is typically unaccounted for. In this work, we enable our humanoid robot to engage in loco-manipulation tasks in the presence of significant model bias due to external loads. We propose an online estimation and control framework involving the combination of a physically consistent extended Kalman filter for inertial parameter estimation coupled to a whole-body controller. We showcase our results both in simulation and in hardware, where weights are mounted on Nadia’s wrist links as a proxy for engaging in tasks where large external loads are applied to the robot.

关键词： Wrist Parameter estimation Humanoid robots Estimation Hardware Kalman filters intelligent robots Load modeling

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