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第43届中国控制会议

作者： Biting Ma Chaoyu Cui Ruimin Li Minghui Li Jinyu Qiu Ke Li Mingzhu Sun Xin Zhao Qili Zhao National Key Laboratory of Intelligent Tracking and Forecasting fo Infectious Diseases Engineering Research Center of Trusted BehaviorIntelligence Ministry of Education Tianjin Key Laboratory of intelligentRobotic (tikLIR) Institute of Robotics and Automatic Information System(IRAlS) Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The dual-arm patch clamp technique, using one micropipette electrode to patch the target cell to record its electric signals with the other micropipette mechanically stimulating the target cell, is a significant technique in neuroscience for studying neuron excitability under mechanical stimulation. A key step for dual-arm patch clamp operation is to coordinate two micropipettes to reach the target cells in the narrow brain tissue environment. The traditional manual operations face issues such as inaccurate workspace estimation, clumsy movements, and collision risks of the two micropipettes, resulting in low operational efficiency. Addressing the above issues, a robotic dual-arm patch clamp method was developed for neuron excitability research under mechanical stimulation in this paper. First, the reachable workspace of the dual-arm was calculated based on a kinematics model. Then, a robotic dual arm patch clamp operation procedure is proposed to approach, whole-cell patch, and mechanically stimulate the target cell. The experiment results on neurons in mouse brain slices show that the success rate of dual micropipette contacting cell surface reaches up to 90%(18/20) at an average speed of 6 mins/cell, which are both significantly improved in comparison to manual operation. An increase in neuron excitability in the primary visual cortex(V1) was found under the mechanical stimulation, proving the feasibility of the proposed system for studying the impact of mechanical stimulation on ion channel activities.

关键词： robotic Patch Clamp robotic Cell Measurement Workspace Calculation Whole-cell Recording Mechanical Stimulation

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Uncovering diverse roles of zincophilic and hydrophobic interactions at composite interfaces to enhance the longevity of zinc-ion batteries

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Journal of Energy Chemistry 2025年 107卷 908-918页

作者： Botao Zhang Yongxin Huang Shengyu Gao Ning Zhang Yang Mei Yanting Huang Taifeng Ding Xin Hu Li Li Feng Wu Renjie Chen Beijing Key Laboratory of Environmental Science and Engineering School of Materials Science and Engineering Beijing Institute of Technology Beijing 100081 China Innovative Research Team in High-Safety Energy Storage System and Smart Microgrids of Guangdong Province Beijing Institute of Technology (Zhuhai) Zhuhai 519088 Guangdong China Shandong Key Laboratory of Advanced Chemical Energy Storage and Intelligent Safety Advanced Technology Research Institute Jinan 250300 Shandong China Collaborative Innovation Center of Electric Vehicles in Beijing Beijing 100081 China

Aqueous zinc-ion batteries (AZIBs) are pivotal for achieving net-zero goals, yet their commercialization is impeded by zinc dendrites, parasitic reactions, and interfacial instability. Current debates persist on the interplay between zincophilic-hydrophilic and zincophobic-hydrophobic interactions at the anode-electrolyte interface. Herein, a conceptual framework that decouples these competing effects was proposed, enabling the rational design of a dual-layer architecture with an inner zincophilic layer for Zn 2+ flux homogenization and an outer hydrophobic layer for water shielding. Through in situ and ex situ analyses, the synergistic mechanism was elucidated. During the cycling process, the zincophilic interface guides uniform Zn deposition, while the hydrophobic coating suppresses H 2 O-induced side reactions. This dual modification achieves a Zn||Cu cell with an unprecedented 99.89% Coulombic efficiency and 975-cycle stability. This work resolves the long-standing controversy over interfacial affinity design, offering a scalable and industrially viable strategy to enhance AZIBs’ durability without sacrificing energy density.

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3D Source Tracking Using a Position-Unknown AOA Sensor with Measurement Drift and UAV Moving Direction Optimization

3D Source Tracking Using a Position-Unknown AOA Sensor with ...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Rongrong Xu Sheng Xu Kaimin Cao Xianliang Li Jialiang Wang Wujing Cao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China Robotics Laboratory China Nanhu Academy of Electronics and Information Technology China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

This work solves the angle-of-arrival (AOA) source tracking problem in 3-dimensional (3D) space utilizing a position-unknown unmanned aerial vehicle (UAV). An AOA sensor is carried by a mobile UAV, and the conventional self-positioning module, such as the global positioning system (GPS), is not allowed due to environmental limitations. Thus, to guarantee the feasibility of this source tracking problem, at least two position-known landmarks are required. Firstly, the detailed problem formulation is provided with the consideration of measurement drift caused by sensor-vehicle installation errors. Secondly, all the unknown states are estimated using a proposed extended Kalman filter (EKF). Thirdly, a UAV moving direction optimization algorithm is developed to promote the estimation accuracies of the source, UAV and measurement drift. Finally, simulation examples demonstrate the characteristics of the proposed method.

关键词： Three-dimensional displays Accuracy Measurement uncertainty Estimation Autonomous aerial vehicles Robot sensing systems Velocity measurement

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Biomimetic multi-segment worm robot based on shape memory alloy wire

Biomimetic multi-segment worm robot based on shape memory al...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Wenqiang Huang Wanfeng Shang Yulu Li Xiaofei Liu Xinyu Wu Southern University of Science and Technology Shenzhen China Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

Shape memory alloy (SMA) has been used in robotic actuators due to its advantages, such as shape memory effect, high damping capacity, and temperature sensitivity. However, its practical application has been limited by the low frequency of heating-cooling cycles and small deformation caused by heat dissipation. To address this issue, this paper presents an insect-scale multi-segment worm robot actuated by a biomimetic soft compound muscle composed of Shape Memory Alloy Wire (SMAW), Polydimethylsiloxane (PDMS), and Acrylonitrile Butadiene Styrene (ABS). The robot’s design includes multiple SMAWs in parallel and an ABS fiber rib with a scaffold structure embedded into the PDMS matrix, allowing for the conversion of the linear small deformations of the SMAW into large bending-expanding motions of the biomimetic muscle. The robot consists of two independently and alternately excited segments that form worm gaits. The soft muscle with multiple thin SMAWs and the multi-segment design enable better heat dissipation, which improves the actuation frequency and the robotic locomotion ability. Experimental results show that the bimimetic robot actuated by SMAWs can reach a speed of 24.33mm/s for a 5Hz PWM signal and 7.33mm/s with a load of three times its weight, outperforming robots of the same scale size and SMA actuation. These results demonstrate that the multi-segment structure with multiple thin SMAWs of the biomimetic robot provides a feasible solution for applying SMA to robotic higher frequency actuation.

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Angle-Of-Arrival Target Tracking Using A Mobile Uav In External Signal-Denied Environment 48

Angle-Of-Arrival Target Tracking Using A Mobile Uav In Exter...

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48th IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2023

作者： Zhu, Bing Xu, Sheng Rice, Feng Doǧançay, Kutluyil Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China University of Chinese Academy of Sciences Beijing101408 China QinetiQ Australia Mawson LakesSA5095 Australia UniSA Stem University of South Australia Mawson Lakes5095 Australia

ISBN: (纸本)9781728163277

This paper focuses on the angle-of-arrival (AOA) target tracking problem using a mobile unmanned aerial vehicle (UAV) equipped with an angle-of-arrival (AOA) sensor to observe targets in an external-denied (no global positioning system, inertial navigation system aid) environment. The mathematical formulations are based on two known anchors. The extended Kalman filter (EKF) is modified to calculate the UAV's and target's absolute coordinates. To improve the tracking accuracy, a gradient-based UAV path optimization algorithm using simultaneous perturbation stochastic approximation (SPSA) is developed. The geometry of anchors and UAV impacts the estimation accuracy, especially when the selected anchors are close to the target. The simulations have demonstrated the effectiveness of the proposed scheme. © 2023 IEEE.

关键词： angle-of-arrival target tracking external signal-denied path optimization Unmanned aerial vehicle

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Research on flame classification and recognition based on object detection and similarity fusion

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The Journal of China Universities of Posts and Telecommunications 2021年第5期28卷 59-67页

作者： He Xin Zhou Junhua Liao Zhonghua Zhai Xiang Sun Siyuan School of Electronic Engineering Beijing University of Posts and TelecommunicationsBeijing 100876China Beijing Complex Product Advanced Manufacturing Engineering Research Center Beijing Simulation CenterBeijing 100854China State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System EngineeringBeijing 100854China

The color, shape, and other appearance characteristics of the flame emitted by different flame engines are different. In order to make a preliminary judgment on the category of the device to which it belongs through studying exterior characteristics of the flame, this paper uses the flame of matches, lighters, and candles to simulate different types of flames. It is hoped that the flames can be located and classified by detecting the characteristics of flames using the object detection algorithm. First, different types of fire are collected for the dataset of experiments. The mmDetection toolbox is then used to build several different object detection frameworks, in which the dataset can be trained and tested. The object detection model suitable for this kind of problem is obtained through the evaluation index analysis. The model is ResNet50-based faster-region-convolutional neural network(Faster R-CNN), whose mean average-precision(mAP) is 93.6%. Besides, after clipping the detected flames through object detection, a similarity fusion algorithm is used to aggregate and classify the three types of flames. Finally, the color components are analyzed to obtain the red, green, blue(RGB) color histograms of the three flames.

关键词： flame classification object detection similarity fusion

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RESEARCH ON THE OVERALL DESIGN OF A HIGH-SPEED MORPHING UAV 33

RESEARCH ON THE OVERALL DESIGN OF A HIGH-SPEED MORPHING UAV

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33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022

作者： Ding, Chao Ma, Tielin Fu, Jingcheng Wang, Xiangsheng School of Aeronautic Science and Engineering Beihang University Beijing100191 China Key Laboratory of Advanced Technology of Intelligent Unmanned Flight System Ministry of Industry and Information Technology Beijing100191 China Institute of Unmanned System Beihang University Beijing100191 China School of Transportation Science and Engineering Beihang University Beijing100191 China

ISBN: (纸本)9781713871163

Due to its broad application prospects in the military and civilian fields, air-launch high-speed aircraft is an important direction for the development of high-speed aircraft in the future. However, air-launch supersonic vehicles face the characteristics of limited volume, small lift-to-drag ratio, difficult trimming, and poor handling characteristics. A supersonic vehicle with morphing wing can flexibly change its aerodynamic shape according to different flight environments, which can improve the weakness of supersonic flight. This paper takes the air-launch high-speed aircraft with the outer wing folded as the research object and carries out the overall design research according to the proposed task requirements. The tailless aerodynamic layout combined with the strake wing and the multi-section swept wing was proposed. Aiming at the difficult problem of longitudinal moment trimming, a combined analysis method of pressure center position and pressure map is proposed. The research results show that the aircraft designed in this study has good aerodynamic performance in different speed domains, and it can maintain the longitudinal moment trim at the cruise angle of attack(AOA). © 2022 ICAS. All Rights Reserved.

关键词： Angle of attack

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment 20

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Tian, Wei Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process. © 2023 IEEE.

关键词： Reinforcement learning

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Design of a Capsule Robot system for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Study on Control Strategy of the Vascular Interventional Surgical Robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection Control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： robotic surgery

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