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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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Review of machine-vision-based plant detection technologies for robotic weeding

Review of machine-vision-based plant detection technologies ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Nan Zhang, Xiaoguang Zhang, Chunlong Ge, Luzhen He, Yong Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen518055 China Shenzhen University Shenzhen518060 China China Agricultural University College of Engineering Beijing100083 China

ISBN: (纸本)9781728163215

Controlling weeds with reduced reliance on herbicides is one of the main challenges to move toward a more sustainable agriculture. Robotic weeding is a thought to be a viable way to reduce the environmental loading of agrochemicals while keeping the operation efficiency high. One of the key technologies for performing robotic weeding is automatic detection of crops and weeds in fields. This paper presents an overview on various methods for detecting plants based on machine vision, mainly concentrating on two main challenges: dealing with changing light and crop/weed discrimination. To overcome the first challenge, both physical and algorithmic methods have been proposed. Physical methods can result in a more cumbersome machine while algorithmic methods are less robust. For crop/weed discrimination, deep-learning-based methods have shown obvious advantages over traditional methods based on hand-crafted features. However, traditional methods still hold some merits that can be leveraged to deep-learning-based methods. With the fast development of hardware technologies, researchers should take full advantage of advanced hardware to ease the algorithm design. In the future, the identification of crops and weeds can be more accurate and fine-grained with the support of online databases and computing resources based on the advances in artificial intelligence and communication technologies. © 2019 IEEE.

关键词： Crops

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MRPB 1.0: A unified benchmark for the evaluation of mobile robot local planning approaches

arXiv

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arXiv 2020年

作者： Wen, Jian Zhang, Xuebo Bi, Qingchen Pan, Zhangchao Feng, Yanghe Yuan, Jing Fang, Yongchun The Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China The Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China The School of Marine Science and Technology Northwestern Polytechnical University Xi'an710072 China The Faculty of Robot Science and Engineering Northeastern University Shenyang110000 China The College of Systems Engineering National University of Defense Technology Changsha410073 China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Design and experiment of injection-type intelligent online mixing pesticide control system 2

Design and experiment of injection-type intelligent online m...

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2nd IEEE International Conference on Automation, Electronics and Electrical engineering, AUTEEE 2019

作者： Jiang, Xingtong Wang, Zhuo Bai, Xiaoping Xiong, Feng Li, Deqiang Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China College of Information Science and Engineering Northeastern University Shenyang110819 China Key Laboratory of Agricultural Equipment Intelligent Technology Liaoning Province Shenyang 110016 China

ISBN: (纸本)9781728150291

The variable spraying technology includes two categories: premixed drugs and online mixed drugs. The operators need to be in contact with pesticides in the premixed operation, which is harmful to the operators. Meanwhile it has the disadvantages of large amount of pesticides and environmental pollution. In order to solve this problem, an injection-type online mixed drug spray control system for variable spraying and width control was designed. The required water flow and liquid flow can be set according to user settings or prescription drawings to change the spray concentration in real time. It can mix pesticides as needed and accurately spray pesticides. The injection type online drug mixing control system uses the liquid medicine injection method. This system injects the liquid medicine into the water solvent pipeline for mixing when the water flow rate is stable. a model for the mixing ratio of water solvent and liquid flow was established. Using PID control algorithm to control electric regulating valve to adjust water solvent flow. Real-time detection technology of high-precision drug liquid flow and micro-control method of drug pump are adopted to realize detection and control of drug injection volume. The mixture ratio range measurement showed that the mixing ratio was 10:1-270:1. The spray volume consistency test showed that the spray volume of the four nozzles was generally consistent. The mixed concentration detection is performed under different mixing ratios of the system, and the spatial variation coefficient is less than 5%. It shows that the mixed drug spray control system has better uniformity and stability. © 2019 IEEE.

关键词： Pesticides

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Land Surface Displacement Geohazards Monitoring Using Multi-temporal InSAR Techniques

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Journal of Geodesy and Geoinformation Science 2021年第1期4卷 77-87页

作者： Guang LIU Perski ZBIGNIEW Salvi STEFANO Thiebes BENNI Lixin WU Jinghui FAN Shibiao BAI Lianhuan WEI Shiyong YAN Rui SONG Bignami CHRISTIAN Tolomei CRISTIANO Stefan SCHNEIDERBAUER Joao Sousa JOAQUIM 无 Key Laboratory of Digital Earth Science Institute of Remote Sensing and Digital EarthChinese Academy of SciencesBeijing 100094China Carpathian Branch Polish Geological Institute-National Research InstituteCracow 31-560Poland National Institute of Geophysics and Volcanology Roma 605-00143Italy German Committee for Disaster Reduction Bonn 1353113Germany School of Resources and Civil Engineering Northeastern UniversityShenyang 110819China Division of Remote Sensing for Environment China Aero Geophysical Survey&Remote Sensing Center for Natural ResourcesBeijing 100083China School of Marine Science and Ocean Engineering Nanjing Normal UniversityNanjing 210046China School of Environment Science and Spatial Informatics China University of Mining and TechnologyXuzhou 221116China Mullard Space Science Laboratory Department of Space and Climate Physics University College London Holmbury RH56NTUK Eurac Research Bolzano 39100Italy School of Science and Technology University of Trás-os-Montes e Alto DouroVila Real 5000-801Portugal Centre for Robotics in Industry and Intelligent Systems(CRIIS) INESC Technology and Science(INESC-TEC)Porto 4200-465Portugal

China has been affected by some of the world’s most serious geological disasters and experiences high economic damage every *** occur not only in remote areas but also in highly populated *** the framework of the Dragon-432365 Project,this paper presents the main results and the major conclusions derived from an extensive exploitation of Sentinel-1,ALOS-2(Advanced Land Observing Satellite 2),GF-3(Gao Fen Satellite 3),and latest launched SAR(Synthetic Aperture Radar),together with methods that allow the evaluation of their importance for various ***,in the scope of this project,the great benefits of recent remote sensing data(wide spatial and temporal coverage)that allow a detailed reconstruction of past displacement events and to monitor currently occurring phenomena are exploited to study different areas and geohazards problems,including:surface deformation of mountain slopes;identification and monitoring of ground movements and subsidence;landslides;ground fissure;and building inclination *** movements detected in the different study areas were cross validated with different SAR sensors and truth data.

关键词： Dragon-4 project Sentinel-1 GF-3 landslide geohazards InSAR

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Fuzzy Adaptive Control-based Real-time Obstacle Avoidance under Uncertain Perturbations

Fuzzy Adaptive Control-based Real-time Obstacle Avoidance un...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Yingbai Hu Guang Chen Longbin Zhang Hang Su Mengyao Li Yunus Schmirander Hu Cao Alois Knoll Chair of Robotics Artificial Intelligence and Realtime Systems Technical University of Munich Munich Germany College of Automotive Engineering Tongji University Shanghai China KTH MoveAbility Lab KTH Royal Institute of Technology Stockholm Sweden Politecnico di Milano Milano Italy Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Dynamic Movement Primitives (DMPs) framework is a powerful approach to imitate motor skills, which has outstanding characteristics, such as convergence to the goal position and good imitation performance. Considering complex motion scenes of manipulators, such as changing the goal position or adding obstacles, the original DMPs framework is not sufficient for the requirements. In this paper, we propose a learning control-based hierarchical control strategy to adapt to new goal positions and avoid obstacles: the high-level learning scheme is targeted at imitating the motor skill and generating the optimization trajectory for obstacle avoidance; the lower-level control scheme focuses on the safety and stability of the robot's movement with unknown disturbances. Firstly, the enhanced DMPs framework is presented to imitate the trajectory from human demonstrations, where the novel DMPs can adapt to new goal position with the changing goal, and avoid single or multiple obstacles. Then, the fuzzy adaptive control method is employed to control redundant manipulators, where the fuzzy logic system (FLS) is incorporated to approximate an unknown nonlinear function term of the unknown disturbance. Finally, the effectiveness of the proposed learning-control strategy is demonstrated with simulation results. The results show that the developed hierarchical strategy has good performance for new goal adaptation and obstacle avoidance.

关键词： Collision avoidance Trajectory Manipulator dynamics Nonlinear dynamical systems Adaptive control

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Spatiotemporally Controlled Formation and Rotation of Magnetic Nanochains In Vivo for Precise Mechanotherapy of Tumors

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Angewandte Chemie 2022年第51期134卷

作者： Dr. Qinrui Fu Hongjuan Feng Dr. Luntao Liu Ziqiao Li Jianjie Li Jing Hu Prof. Chengzhi Hu Prof. Xiaohui Yan Prof. Huanghao Yang Prof. Jibin Song Fujian Science & Technology Innovation Laboratory for Optoelectronic Information of China MOE key laboratory for analytical science of food safety and biology College of Chemistry Fuzhou University Fuzhou 350108 China State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics & Center for Molecular Imaging and Translational Medicine School of Public Health Xiamen University Xiamen Fujian 361005 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China College of Chemistry Beijing University of Chemical Technology Beijing 10010 P. R. China

Systemic cancer therapy is always accompanied with toxicity to normal tissue, which has prompted concerted efforts to develop precise treatment strategies. Herein, we firstly develop an approach that enables spatiotemporally controlled formation and rotation of magnetic nanochains in vivo, allowing for precise mechanotherapy of tumor. The nanochain comprised nanocomposites of pheophorbide-A (PP) modified iron oxide nanoparticle (IONP) and lanthanide-doped down-conversion NP (DCNP). In a permanent magnetic field, the nanocomposites would be aligned to form nanochain. Next, MnO 2 NPs were subsequently administered to accumulate in tumor as suppliers of Mn 2+ , which coordinates with PP to immobilize the nanochain. In a rotating magnetic field, the nanochain would rapidly rotate, leading to apoptosis/necrosis of tumor cell. The nanochain showed high T 2 -MR and NIR-II fluorescence imaging signals, which facilitated guided therapy. The strategy has great potential in practical applications.

关键词： Activatable Probes Fluorescence Probes In Vivo Bioimaging Material Science Self-Assembly

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Short-Term Photovoltaic Power Prediction Modeling Based on AdaBoost Algorithm and Elman

Short-Term Photovoltaic Power Prediction Modeling Based on A...

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IEEE International Conference on Power and Energy Systems (ICPES)

作者： Wenxuan Sun Tao Zhang Ran Tao Anna Wang College Of Information Science and Engineering Northeastern University Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China

ISBN: (数字)9781665404945

ISBN: (纸本)9781665404952

In recent years, with the rapid expansion of the installed capacity of renewable energy systems, the availability, stability and quality of smart grids have become increasingly important [1] . The application of renewable energy production forecasting has also been rapidly developed, especially in the field of solar photovoltaic (PV) [2][3] . In the example of solar PV output prediction, machine learning and hybrid technologies have been implemented for many applications. In this paper, a high-precision PV system output power prediction model based on improved AdaBoost and Elman is proposed. Multiple model using integrated AdaBoost algorithm fusion with the bat algorithm for the parameters of optimized combination of weak Elman neural network predictor to become a higher prediction precision, the method of strong predictor of the model can according to the weather information, such as temperature, solar radiation and the history of the output of the PV system data, the probability of photovoltaic power generation for 12 hours and deterministic prediction. The prediction accuracy of the model is determined by Root Mean Squared Error (RMSE). Experimental results show that the prediction accuracy of this algorithm is better than that of other benchmark models, and the algorithm can effectively predict the volatility and irregularity of complex time series.

关键词： Photovoltaic systems Renewable energy sources Machine learning algorithms Machine learning Predictive models Prediction algorithms Numerical models

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GC-IGTG: A rehabilitation gait trajectory generation algorithm for lower extremity exoskeleton

GC-IGTG: A rehabilitation gait trajectory generation algorit...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： He, Yong Wu, Xinyu Ma, Yue Cao, Wujing Li, Nan Li, Jinke Feng, Wei Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen518055 China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781728163215

It is important to offer a natural and personalized rehabilitation gait trajectory, especially in the early stages of walking rehabilitation, for the patients with lower limb disability. Lower extremity exoskeleton has been proven to be efficient to provide highly repeatable and accurate rehabilitation exercise, but most existing exoskeletons' gait trajectories won't vary with the users. This paper proposes an algorithm, named as gait cell based individualized gait trajectory generation (GC-IGTG), for the purpose of offering a natural and personalized gait trajectory reference for the lower extremity exoskeleton based on the body parameters of the patients. The GC-IGTG is based on extreme learning machine and AutoEncoder, which makes it achieve fast training speed and suitable for small sample training conditions. The gait cell concept is proposed to improve the efficiency and safety of the algorithm. The experimental results indicate that the generated trajectories with GC-IGTG are almost identical to the original ones. © 2019 IEEE.

关键词： Patient rehabilitation

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A hybrid NSGA-II for matching biomedical ontology 14th

A hybrid NSGA-II for matching biomedical ontology

引用

14th International Conference on intelligent Information Hiding and Multimedia Signal Processing, IIH-MSP 2018

作者： Xue, Xingsi Chen, Jie Chen, Junfeng Chen, Dongxu College of Information Science and Engineering Fujian University of Technology FuzhouFujian350118 China Intelligent Information Processing Research Center Fujian University of Technology FuzhouFujian350118 China Fujian Provincial Key Laboratory of Big Data Mining and Applications Fujian University of Technology FuzhouFujian350118 China Fujian Key Lab for Automotive Electronics and Electric Drive Fujian University of Technology FuzhouFujian350118 China College of IOT Engineering Hohai University ChangzhouJiangsu China Fujian Medical University Union Hospital FuzhouFujian350001 China

ISBN: (纸本)9783030037444

Over the recent years, ontologies are widely used in the biomedical domains. However, biomedical ontology heterogeneity problem hamper the cooperation between intelligent applications based on biomedical ontologies. It is crucial to establish correspondences between the heterogeneous biomedical concepts in different ontologies, which is so-called biomedical ontology matching. Approaches based on Multi-Objective Evolutionary Algorithm (MOEA), such as NSGA-II, are emerging as a new methodology to solve the ontology matching problem. In this paper, to further improve the quality of biomedical ontology alignments, a hybrid NSGA-II is proposed, which modifies the knee solutions in the Pareto front by using a local search method. Experiment utilizes two biomedical ontology matching tracks provided by Ontology Alignment Evaluation Initiative (OAEI 2017). The experimental results show that our approach outperforms the participants of OAEI 2017 and NSGA-II based ontology matching technique. © Springer Nature Switzerland AG 2019.

关键词： Ontology

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