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2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

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A novel hierarchical control strategy for biped robot walking on uneven terrain

A novel hierarchical control strategy for biped robot walkin...

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IEEE-RAS International Conference on Humanoid Robots

作者： Chencheng Dong Xuechao Chen Zhangguo Yu Zelin Huang Qingqing Li Qinqin Zhou Qiang Huang School of Mechantronical Engineering Beijing Institute of Technology Beijing China Bionic robot mechanism perception and control laboratory Beijing China Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9781538676301

ISBN: (纸本)9781538676318

When position-controlled biped robot is blind walking on a uneven terrain at a high speed, huge foot contact impacts will be generated. However, traditional admitance control can't absorb the impact and stabilize the robot due to its slow response and Incompleteness. In this paper, we propose a control strategy including respectively designed swing leg control and support leg control with a new approach of control transition. For Swing leg control, double spring damping model is presented to optimize the admitance controller with faster response and better robustness, and a active foot height controller is also proposed to reduce the impact further. On the other hand, the control transition is accomplished by using a bionic fuzzy control. As a result, the foot contact impact can be reduced and the robot can blind walk fast on uneven terrain. Finally, the validity of the proposed strategy is confirmed by the simulation.

关键词： Legged locomotion Foot Trajectory Springs Adaptation models Robot kinematics

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An Early Stage Researcher's Primer on systems Medicine Terminology

Network and Systems Medicine

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Network and systems Medicine 2021年第1期4卷 2-50页

作者： Zanin, Massimiliano Aitya, Nadim A.A. Basilio, José Baumbach, Jan Benis, Arriel Behera, Chandan K. Bucholc, Magda Castiglione, Filippo Chouvarda, Ioanna Comte, Blandine Dao, Tien-Tuan Ding, Xuemei Pujos-Guillot, Estelle Filipovic, Nenad Finn, David P. Glass, David H. Harel, Nissim Iesmantas, Tomas Ivanoska, Ilinka Joshi, Alok Boudjeltia, Karim Zouaoui Kaoui, Badr Kaur, Daman Maguire, Liam P. McClean, Paula L. McCombe, Niamh De Miranda, João Luís Moisescu, Mihnea Alexandru Pappalardo, Francesco Polster, Annikka Prasad, Girijesh Rozman, Damjana Sacala, Ioan Sanchez-Bornot, Jose M. Schmid, Johannes A. Sharp, Trevor Solé-Casals, Jordi Spiwok, Vojtěch Spyrou, George M. Stalidzans, Egils Stres, Blaa Sustersic, Tijana Symeonidis, Ioannis Tieri, Paolo Todd, Stephen Van Steen, Kristel Veneva, Milena Wang, Da-Hui Wang, Haiying Wang, Hui Watterson, Steven Wong-Lin, Kongfatt Yang, Su Zou, Xin Schmidt, Harald H.H.W. Centro de Tecnología Biomédica Universidad Politécnica de Madrid Madrid Spain Intelligent Systems Research Centre School of Computing Engineering and Intelligent Systems Ulster University Ulster United Kingdom Center for Physiology and Pharmacology Institute of Vascular Biology and Thrombosis Research Medical University of Vienna Vienna Austria TUM School of Life Sciences Weihenstephan Technical University of Munich Freising Germany Holon Israel CNR National Research Council IAC Institute for Applied Computing Rome Italy Lab of Computing Medical Informatics and Biomedical Imaging Technologies School of Medicine Aristotle University of Thessaloniki Thessaloniki Greece Université Clermont Auvergne INRAE UNH Plateforme d'Exploration du Métabolisme MetaboHUB Clermont Clermont-Ferrand France Université de Technologie de Compiègne Compiègne France Labex MS2T Control of Technological Systems-of-Systems CNRS and Université de Technologie de Compiègne Compiègne France Faculty of Engineering University of Kragujevac Kragujevac Serbia Kragujevac Serbia Steinbeis Advanced Risk Technologies Institute Doo Kragujevac Kragujevac Serbia Pharmacology and Therapeutics School of Medicine Galway Neuroscience Centre National University of Ireland Galway Ireland School of Computing Ulster University Ulster United Kingdom Holon Israel Department of Mathematics and Natural Sciences Kaunas University of Technology Kaunas Lithuania Faculty of Computer Science and Engineering Ss. Cyril and Methodius University Skopje Macedonia Medicine Faculty Université Libre de Bruxelles CHU de Charleroi Charleroi Belgium Northern Ireland Centre for Stratified Medicine Biomedical Sciences Research Institute Ulster University Ulster United Kingdom Escola Superior de Tecnologia e Gestão Instituto Politécnico de Portalegre Portalegre Portugal Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Faculty of Automatic Control and Computers University Politehnica of B

Background: systems Medicine is a novel approach to medicine, that is, an interdisciplinary field that considers the human body as a system, composed of multiple parts and of complex relationships at multiple levels, and further integrated into an environment. Exploring systems Medicine implies understanding and combining concepts coming from diametral different fields, including medicine, biology, statistics, modeling and simulation, and data science. Such heterogeneity leads to semantic issues, which may slow down implementation and fruitful interaction between these highly diverse fields. Methods: In this review, we collect and explain more than100 terms related to systems Medicine. These include both modeling and data science terms and basic systems medicine terms, along with some synthetic definitions, examples of applications, and lists of relevant references. Results: This glossary aims at being a first aid kit for the systems Medicine researcher facing an unfamiliar term, where he/she can get a first understanding of them, and, more importantly, examples and references for digging into the topic. © Massimiliano Zanin et al., 2021;Published by Mary Ann Liebert, Inc. 2021.

关键词： Semantics

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Data Cleaning Based on Multi-sensor Spatiotemporal Correlation 4th

Data Cleaning Based on Multi-sensor Spatiotemporal Correlati...

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4th International Conference on Machine Learning and intelligent Communications, MLICOM 2019

作者： Shao, Baozhu Song, Chunhe Wang, Zhongfeng Li, Zhexi Yu, Shimao Zeng, Peng Liaoning Electric Power Research Institute State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Shenyang Power Supply Company State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China

ISBN: (纸本)9783030323875

Sensor-based condition monitoring systems are becoming an important part of modern industry. However, the data collected from sensor nodes are usually unreliable and inaccurate. It is very critical to clean the sensor data before using them to detect actual events occurred in the physical world. Popular data cleaning methods, such as moving average and stacked denoise autoencoder, cannot meet the requirements of accuracy, energy efficiency or computation limitation in many sensor related applications. In this paper, we propose a data cleaning method based on multi-sensor spatiotemporal correlation. Specifically, we find out and repair the abnormal data according to the correlation of sensor data in adjacent time and adjacent space. Real data based simulation shows the effectiveness of our proposed method. © 2019, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Sensor nodes

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Micro Channel for Analyzing Mechanical Adaption of Cancer Cell

Micro Channel for Analyzing Mechanical Adaption of Cancer Ce...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Pengyun Li Xiaoming Liu Xiaoqing Tang Masaru Kojima Jian Huang Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and the Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan Key Laboratory of Ministry of Education for Image Processing and Intelligent Control the School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

It was reported that cancer cells could biologically respond and adapt to the confined environment during migration in extracellular matrix (ECM). But it is not clearly studied that how cancer cells respond and adapt to confined environment in mechanical way. Thus, in this study, we designed and fabricated a kind of one-layer micro channel to mimic confined environment for analyzing mechanical adaption of cell. This micro channel could apply sequential mechanical stresses on a number of cells with high throughput, and the time of cells passing through five rows of micro channels were used to evaluate their adaptability to the sequential and confined space. In experiments, each cell suffered 20 times of mechanical stresses after passing through 20 squeezing channels arranged in 5 rows. We observed the sequential squeezing processes under microscope and investigated the passing time using a high-speed camera. The preliminary results indicated that cancer cells could pass through and adapt to the confined environment faster than normal cells.

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Development of a Tetris playing robot controlled by KNR 15

Development of a Tetris playing robot controlled by KNR

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Ming Zhang, Yanlu Dong, Huifang Li, Xu Yu, Junzhi Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan250100 China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538660720

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system. © 2018 IEEE.

关键词： controllers

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Research and Optimization of Conflict Search Algorithm for Multi-Agent Path Planning Based on Incremental Heuristic

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Journal of Physics: Conference Series 2021年第1期2024卷

作者： Yang Li Jun Wang Hualiang Zhang School of Computer Science Shenyang University of Chemical Technology Shenyang 110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China.

Conflict Based Search(CBS) is used for multi-agent Pathfinding (MAPF) to enable each Agent to reach the target node. The CBS algorithm uses the heuristic algorithm A* search to calculate the MAPF solution, and the path planning uses forward search, which cannot explore the path of the unknown region. On this basis, this paper proposes that, in the case of unknown map and changing environment at any time, when encountering new obstacles, the information obtained from previous search should be used without completely replanning the path. Because of the idea of incremental programming, the number of reprogramming times and the number of affected nodes can be reduced. The optimized algorithm consumes less time and memory, and improves the efficiency of path planning.

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Curved path planning based on 3D vision water immersion ultrasonic nondestructive testing

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Journal of Physics: Conference Series 2021年第1期2024卷

作者： Zheng Chen Jian Wang Hualiang Zhang School of Information Engineering Shenyang University of Chemical Technology Shenyang Liaoning 110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Liaoning 110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning 110169 China

Compared with traditional 2D image processing, 3D point cloud processing has become a hot technology in the industry, but there are few researches applied to nondestructive testing of curved workpieces. This article aims at the non-destructive testing of curved workpieces, using 3D point cloud and robotic arm for water immersion ultrasonic non-destructive testing. Aiming at the 3D point cloud with many outliers, using the commonly used filter in two-dimensional images-the guide filter, the algorithm is improved and used for the filtering and downsampling of the 3D point cloud, and the adjustment of the curved surface workpiece and the robot arm's pose is introduced. Finally, the workpiece was scanned by a robotic arm with a water immersion ultrasonic nondestructive testing system to prove the feasibility of the experiment and improve the detection efficiency of traditional nondestructive testing technology.

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Development of a digital platform for the implementation of distributed control and navigation systems for underwater robotic systems performing technological operations in Arctic

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IOP Conference Series: Earth and Environmental Science 2021年第1期816卷

作者： V F Filaretov D A Yukhimets A V Zuev A S Gubankov D D Minaev Department of Automation and Robotics Far Eastern Federal University Vladivostok Russia Robotic Lab Institute of Automation and Control Processes Far Eastern Branch of Russian Academy of Science Vladivostok Russia Laboratory of intelligent information systems for marine robots Institute of Marine Technology Problems Far Eastern Branch of Russian Academy of Science Vladivostok Russia PAO 'Dalpribor' Vladivostok Russia

The paper proposes the architecture of a digital platform for the implementation of distributed control and navigation systems for underwater robotic systems that perform technological operations in Arctic. A system of command has been developed for this platform, which provides flexible assignment of various types and purposes of underwater robots missions. The concept of creating distributed control systems of the underwater robots is proposed. It provides the compatibility of existing on-board underwater robots systems with the proposed solution based on compact hydroacoustic systems of global hydroacoustic navigation developed in PAO 'Dalpribor' (Vladivostok).

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic systems

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IFAC-PapersOnLine 2017年第1期50卷 5914-5919页

作者： Arbanas B. Boljuncic S. Petrovic T. Bogdan S. University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： decentralized systems distributed artificial intelligence Hierarchical decision making scheduling algorithms

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