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SmartBot 2025年第1期1卷

作者： Huaping Wang Jiaxin Liu Ruhao Nie Qing Shi Qiang Huang Toshio Fukuda School of Mechatronical Engineering The Intelligent Robotics Institute Beijing Institute of Technology Beijing China The Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Institutes of Innovation for Future Society Nagoya University Nagoya Japan

Bio-integrated microrobots (BIMs), which are fabricated with biofriendly materials, biological units (e.g. cells or biomolecules), or cell-material hybrids have emerged as a promising technology for minimally invasive biomedicine. The diminutive size and flexible structures enable BIMs to navigate within narrow, deep, and challenging-to-reach in vivo regions, performing biopsy, diagnostic, drug delivery, and therapeutic functions with minimal invasiveness. However, the clinical deployment of BIMs is a highly orchestrated task that requires consideration of material properties, structural design, locomotion, observation, therapeutic outcomes, and side effects on cells and tissues, etc. In this review, we review and discuss the latest advances in the bio-integrated microrobot domain, evaluating various methods associated with materials, fabrication, actuation, and the implementation of biomedical functions in BIMs. By comparing the advantages and shortcomings of these techniques, this review highlights the challenges and future trends in highly intelligent bio-integrated microrobots, which have huge potential in minimally invasive biomedicine.

关键词： actuation biofabrication biomedical application microrobots

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Hierarchical Sponge-Hydrogel Hybrid Structures with Robust Interfaces

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Chinese Journal of Chemistry 2023年第20期41卷 2635-2640页

作者： Pei Zhang Guangda Chen Xingmei Chen Junfei Xing Yue Tao Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhenGuangdong518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenGuangdong518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenGuangdong518055 China

Soft materials including elastomers and hydrogels are playing critical roles in a variety of fields,including bioelectrodes,batteries,supercapacitors,biomedical scaffolds,and solar vapor *** hydrophobic sponges(i.e.,mechanical robustness,elasticity and macroscopic porous structure)and hydrophilic hydrogels(i.e.,autonomous water absorption and transportation,biocompatibility)within one unit could readily combine the complementary characters from each component,making a number of future research directions and applications *** propose a simple yet effective strategy to construct sponge-hydrogel hybrid structures with robust hydrophobic-hydrophilic *** sponge scaffold imparts the sponges-hydrogel hybrids with desirable mechanical robustness,elasticity and macroscopic *** the other hand,the incorporated hydrogel component endows the hybrids with high water content(98 wt%hydrogel and 2 wt%sponge),superior compatibility,and nanoscale pores allowing for storage and transportation of various chemical and biological *** further demonstrate that the introduction of hydrophilic hydrogel components could effectively improve the liquid absorption capability,blood coagulation rate,hemostatic capacity and hemocompatibility,thus promising as hemostatic agents.

关键词： Sponge-hydrogel hybrid Interface Hierarchical Robustness Liquid absorption Gels Polymer Composites Materials Science

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Time-constrained detection of colored objects on raw Bayer data 5th

Time-constrained detection of colored objects on raw Bayer d...

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5th Eccomas Thematic Conference on Computational Vision and Medical Image Processing, VipIMAGE 2015

作者： Neves, António J. R. Trifan, Alina Azevedo, José Luís Department of Electronics and Telecommunications Engineering Intelligent Systems and Intelligent Robotics Laboratory Institute of Electronics and Informatics Engineering of Aveiro University of Aveiro Portugal

ISBN: (纸本)9781138029262

In most image processing applications, the raw data acquired by an image sensor passes through a demosaicing algorithm in order to obtain a full color image. The demosaicing step can take time and resources that are of great importance when developing real-time applications. Most of the times, this is done with single purpose of rendering the images into a viewable format for humans. However, most of nowadays sensors allow the retrieval of images in raw format and processing the data as is. In this paper we present a study on the direct usage of raw Bayer data for real-time color object detection, in the scenario of autonomous robot soccer. The experimental results that we provide prove that the efficiency of the chosen object detection algorithm is not lowered and that several improvements of the autonomous robotic vision system used in this study can be noted: the bandwidth needed to transmit the data between the digital camera and the PC is reduced, allowing, in some models, to increase the maximum frame rate. Moreover, a decrease in the delay between the perception and action of the autonomous robot was measured, when using raw image data for processing the environment. © 2016 Taylor & Francis Group, London.

关键词： Object detection

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Image scanning techniques for speeded-up color object detection 5th

Image scanning techniques for speeded-up color object detect...

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5th Eccomas Thematic Conference on Computational Vision and Medical Image Processing, VipIMAGE 2015

作者： Trifan, Alina Neves, António J. R. Cunha, Bernardo Department of Electronics and Telecommunications Engineering Intelligent Systems and Intelligent Robotics Laboratory Institute of Electronics and Informatics Engineering of Aveiro University of Aveiro Portugal

ISBN: (纸本)9781138029262

Nowadays there are many computer vision algorithms dedicated to solve the problem of object detection, from many different perspectives. Many of these algorithms take a considerable processing time even for low resolution images. Research areas that are more concerned about real-time capabilities of a system, such as the case of robotics for example, are focusing on adapting the existing algorithms or developing new ones that cope with time constraints. Color object detection algorithms are often used in time-constrained application since the color of an object is an important clue for its detection. In addition, color segmentation algorithms have a smaller computational cost than generic object detection algorithms. Most of the color object detection algorithms include a step of image scanning in search of pixels of the color of interest. In this paper we present a study on the influence of an image scanning pattern while searching for pixels of a certain color versus the image resolution in the results of three color object detection algorithms. We present results comparing different scanning approaches versus different resolution images for color object detection algorithms based on blob formation, contours detection and region growing clustering. Our experiments show that using search lines for color segmentation, followed by blob formation provides faster and more accurate results. © 2016 Taylor & Francis Group, London.

关键词： Color

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A Largely Model Independent Solution for the Position Control of a Typical Inverted Pendulum System 33

A Largely Model Independent Solution for the Position Contro...

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第三十三届中国控制会议

作者： GAO Qiang CHEN Shasha LI Yi LI Junfang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical EngineeringTianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781479947249

An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it's intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.

关键词： ADRC LESO Inverted pendulum Real-time control

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Spades: Software for synthesizing spatial 4c mechanisms

Spades: Software for synthesizing spatial 4c mechanisms

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present SPADES, an interactive graphics based software package for SPAtial mechanismDESign. The program provides a platform for the synthesis of a mechanism that guides a body through either three or four prescribed positions in space. The purpose of this work is to assemble the current spatial 4C synthesis theory into a software package that is useful for spatial mechanism design and research. © 1998 by ASME.

关键词： Software packages

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Development of a novel autonomous lower extremity exoskeleton robot for walking assistance

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Frontiers of Information Technology & Electronic engineering 2019年第3期20卷 318-329页

作者： Yong HE Nan LI Chao WANG Lin-qing XIA Xu YONG Xin-yu WU Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical Engineering and Intelligent Systems the University of Electro-Communications

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton(Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application *** traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra *** new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

关键词： Lower-limb Exoskeleton Self-balancing Bipedal walking Modular design

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Path planning of a snake-like robot based on Serpenoid curve and Genetic algorithms

Path planning of a snake-like robot based on Serpenoid curve...

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WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings

作者： Liu, Jinguo Wang, Yuechao Li, Bin Ma, Shugen Robotics Laboratory Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Ibaraki University Japan

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on Serpenoid curve and Genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of Automation (SIA, China). Firstly, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of Genetic algorithms. Then using real time dual Genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Mobile robots

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A Stair-Climbing Robot with Star-wheel Configuration

A Stair-Climbing Robot with Star-wheel Configuration

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Cui, Tongxin Wang, Wenhui Zhu, Zheng Wu, Jing Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper proposes a four-wheel mobile robot that uses passive star-wheel configuration to climb stairs. Without adding any control complexity, the robot can climb a standard indoor staircase of 15 × 28cm at a speed of 0.7s/step. For stairs of other sizes, it also has a certain adaptability, avoiding the problem of slipping when using active star-wheel to climb stairs. This paper analyzes the obstacle-surmounting conditions of the four-star-wheel robot during stair climbing, and uses statics to calculate the driving torque. We use simulation to validate the torque consumption study, and prove the stability of the robot's central trajectory during stair climbing. These results provide a basis to quantify the robot's stair-climbing capability under certain load. We build an robot prototype platform and conduct physical experimentation to validate the robot performance. © 2022 IEEE.

关键词： Stairs

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Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments

Preliminary Results on 2-D Simultaneous Localization and Map...

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International Conference on Robot Intelligence Technology and Applications (RiTA)

作者： Manuel Simas Bruno J. Guerreiro Pedro Batista Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Portugal

This paper presents the design and validation of an Extend Kalman Filter (EKF) for Simultaneous Localization and Mapping with Moving Objects Tracking (SLAMMOT) with application to unmanned aerial vehicles (UAVs) in uncertain and dynamic environments. The proposed solution includes the tracking of Moving Objects (MO) using the Multiple Hypothesis Tracking (MHT) method, as well as the identification of the motion models of the environment's objects applying the Interacting Multiple Model (IMM) algorithm. The consistency and performance of the devised SLAMMOT filter is successfully confirmed with simulation results.

关键词： Vehicle dynamics Simultaneous localization and mapping Data models Covariance matrices Tracking Heuristic algorithms

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