Biomimetic Intelligence and Robotics最新文献_第10页

EPL-PRM: Equipotential line sampling strategy for probabilistic roadmap planners in narrow passages EPL-PRM:窄通道中概率路线图规划者的等势线抽样策略

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100112

Run Yang , Jingru Li , Zhikun Jia , Sen Wang , Huan Yao , Erbao Dong

{"title":"EPL-PRM: Equipotential line sampling strategy for probabilistic roadmap planners in narrow passages","authors":"Run Yang , Jingru Li , Zhikun Jia , Sen Wang , Huan Yao , Erbao Dong","doi":"10.1016/j.birob.2023.100112","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100112","url":null,"abstract":"<div><p>Path planning is a crucial concern in the field of mobile robotics, particularly in complex scenarios featuring narrow passages. Sampling-based planners, such as the widely utilized probabilistic roadmap (PRM), have been extensively employed in various robot applications. However, PRM’s utilization of random node sampling often results in disconnected graphs, posing a significant challenge when dealing with narrow passages. In order to tackle this issue, we present equipotential line sampling strategy for probabilistic roadmap (EPL-PRM), a novel approach derived from PRM. This paper initially proposes a sampling potential field, followed by the construction of equipotential lines that are denser in the proximity of obstacles and narrow passages. Random sampling is subsequently conducted along these lines. Consequently, the sampling strategy enhances the likelihood of sampling nodes around obstacles and narrow passages, thereby addressing the issue of sparsity encountered in traditional sampling-based planners. Furthermore, we introduce a nodal optimization method based on an artificial repulsive field, which prompts sampled nodes to move in the direction of repulsion. As a result, nodes around obstacles are distributed more uniformly, while nodes within narrow passages gravitate toward the middle of the passages. Finally, extensive simulations are conducted to evaluate the proposed method. The results demonstrate that our approach achieves path planning with superior efficiency, lower cost, and higher reliability compared with traditional algorithms.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 3","pages":"Article 100112"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49732110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design of recognition algorithm for multiclass digital display instrument based on convolution neural network 基于卷积神经网络的多类数显仪表识别算法设计

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100118

Xuanzhang Wen , Yuxia Wang , Qiuguo Zhu , Jun Wu , Rong Xiong , Anhuan Xie

{"title":"Design of recognition algorithm for multiclass digital display instrument based on convolution neural network","authors":"Xuanzhang Wen , Yuxia Wang , Qiuguo Zhu , Jun Wu , Rong Xiong , Anhuan Xie","doi":"10.1016/j.birob.2023.100118","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100118","url":null,"abstract":"<div><p>Digital display instrument identification is a crucial approach for automating the collection of digital display data. In this study, we propose a digital display area detection CTPNpro algorithm to address the problem of recognizing multiclass digital display instruments. We developed a multiclass digital display instrument recognition algorithm by combining the character recognition network constructed using a convolutional neural network and bidirectional variable-length long short-term memory (LSTM). First, the digital display region detection CTPNpro network framework was designed based on the CTPN network architecture by introducing feature fusion and residual structure. Next, the digital display instrument identification network was constructed based on a convolutional neural network using two-way LSTM and Connectionist temporal classification (CTC) of indefinite length. Finally, an automatic calibration system for digital display instruments was built, and a multiclass digital display instrument dataset was constructed by sampling in the system. We compared the performance of the CTPNpro algorithm with other methods using this dataset to validate the effectiveness and robustness of the proposed algorithm.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 3","pages":"Article 100118"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49732290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Surgical instruments hyalinization: Occlusion removal in minimally invasive endoscopic surgery 手术器械透明化:微创内镜手术中的闭塞清除

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100105

Dongsheng Xie , Wenxin Chen , Jin Zhao , Xinya Song , Kaifeng Wang , Weiwei Xia , Haiying Liu , Fangle Chang , Changsheng Li , Xingguang Duan

{"title":"Surgical instruments hyalinization: Occlusion removal in minimally invasive endoscopic surgery","authors":"Dongsheng Xie , Wenxin Chen , Jin Zhao , Xinya Song , Kaifeng Wang , Weiwei Xia , Haiying Liu , Fangle Chang , Changsheng Li , Xingguang Duan","doi":"10.1016/j.birob.2023.100105","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100105","url":null,"abstract":"<div><p>Minimal invasion is an important trend in surgery. However, the endoscope, as one of the key devices for monitoring the process of minimally invasive surgery, is limited by its size and working space it operates in, which result in a considerably narrow field of view. In particular, when a surgical instrument enters through the tool channel, the instrument occupies most of the area in an endoscopic image. This hampers the surgeon’s field of view and has a negative impact on the surgery. This study proposes a novel method for removing the occlusion caused by surgical instruments in endoscopic images by making foreground occlusions on endoscopic images transparent using image restoration and interframe information filling. Compared with unprocessed images, this method can provide a clearer field of view that is necessary for minimally invasive endoscopic surgeries and improve the quality of surgeries. Clinical endoscopic images are used to verify the feasibility of the proposed method, and the results show that the proposed method improves the visual effect of endoscopic images by removing surgical-instrument occlusions. This demonstrates the considerable potential of the proposed method for use in clinical applications.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 3","pages":"Article 100105"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49732109","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Soft computing-based predictive modeling of flexible electrohydrodynamic pumps 基于软计算的柔性电液动力泵预测建模

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100114

Zebing Mao , Yanhong Peng , Chenlong Hu , Ruqi Ding , Yuhei Yamada , Shingo Maeda

{"title":"Soft computing-based predictive modeling of flexible electrohydrodynamic pumps","authors":"Zebing Mao , Yanhong Peng , Chenlong Hu , Ruqi Ding , Yuhei Yamada , Shingo Maeda","doi":"10.1016/j.birob.2023.100114","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100114","url":null,"abstract":"<div><p>Flexible electrohydrodynamic (EHD) pumps have been developed and applied in many fields due to no transmission structure, no wear, easy manipulation, and no noise. Physical simulation is often used to predict the output performance of flexible EHD pumps. However, this method neglects fluid–solid interaction and energy loss caused by flexible materials, which are both difficult to calculate when the flexible pumps deform. Therefore, this study proposes a flexible pump output performance prediction using machine learning algorithms. We used three different types of machine learning: random forest regression, ridge regression, and neural network to predict the critical parameters (pressure, flow rate, and power) of the flexible EHD pump. Voltage, angle, gap, overlap, and channel height are selected as five input data of the neural network. In addition, we optimized essential parameters in the three networks. Finally, we adopt the best predictive model and evaluate the significance of five input parameters to the output performance of the flexible EHD pumps. Among the three methods, the MLP model has exceptionally high accuracy in predicting pressure and flow. Our work is beneficial for the design process of fluid sources in flexible soft actuators and soft hydraulic sources in microfluidic chips.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 3","pages":"Article 100114"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49732281","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 14

Self-adaptive rolling motion for snake robots in unstructured environments based on torque control 基于转矩控制的蛇形机器人非结构环境自适应滚动运动

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100117

Shihao Ma , Fatao Qin , Shufan Chen , Longchuan Li , Jianming Wang , Zengzeng Wang , Shuai Li , Xuan Xiao

引用次数: 0

Graph-based robot optimal path planning with bio-inspired algorithms 基于图的仿生机器人最优路径规划

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100119

Tingjun Lei , Timothy Sellers , Chaomin Luo , Daniel W. Carruth , Zhuming Bi

{"title":"Graph-based robot optimal path planning with bio-inspired algorithms","authors":"Tingjun Lei , Timothy Sellers , Chaomin Luo , Daniel W. Carruth , Zhuming Bi","doi":"10.1016/j.birob.2023.100119","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100119","url":null,"abstract":"<div><p>Recently, bio-inspired algorithms have been increasingly explored for autonomous robot path planning on grid-based maps. However, these approaches endure performance degradation as problem complexity increases, often resulting in lengthy search times to find an optimal solution. This limitation is particularly critical for real-world applications like autonomous off-road vehicles, where high-quality path computation is essential for energy efficiency. To address these challenges, this paper proposes a new graph-based optimal path planning approach that leverages a sort of bio-inspired algorithm, improved seagull optimization algorithm (iSOA) for rapid path planning of autonomous robots. A modified Douglas–Peucker (mDP) algorithm is developed to approximate irregular obstacles as polygonal obstacles based on the environment image in rough terrains. The resulting mDP-derived graph is then modeled using a Maklink graph theory. By applying the iSOA approach, the trajectory of an autonomous robot in the workspace is optimized. Additionally, a Bezier-curve-based smoothing approach is developed to generate safer and smoother trajectories while adhering to curvature constraints. The proposed model is validated through simulated experiments undertaken in various real-world settings, and its performance is compared with state-of-the-art algorithms. The experimental results demonstrate that the proposed model outperforms existing approaches in terms of time cost and path length.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 3","pages":"Article 100119"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49732292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Autonomous battery-changing system for UAV’s lifelong flight 无人机终身飞行自主换电池系统

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100104

Jiyang Chen , Wenxi Li , Yingting Sha , Yinchuan Wang , Zhenqiang Zhang , Shikuan Li , Chaoqun Wang , Sile Ma

{"title":"Autonomous battery-changing system for UAV’s lifelong flight","authors":"Jiyang Chen , Wenxi Li , Yingting Sha , Yinchuan Wang , Zhenqiang Zhang , Shikuan Li , Chaoqun Wang , Sile Ma","doi":"10.1016/j.birob.2023.100104","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100104","url":null,"abstract":"<div><p>Unmanned aerial vehicles (UAVs) lifelong flight is essential to accomplish various tasks, e.g., aerial patrol, aerial rescue, etc. However, traditional UAVs have limited power to sustain their flight and need skilled operators manually control their charging process. Manufacturers and users are eagerly seeking a reliable autonomous battery-changing solution. To address this need, we propose and design an autonomous battery-changing system for UAVs using the theory of inventive problem solving (TRIZ) and user-centered design (UCD) methods. For practical application, we employ UCD to thoroughly analyze user requirements, identify multiple pairs of technical contradictions, and solve these inconsistencies using TRIZ theory. Furthermore, we design an autonomous battery-changing hardware system that meets user requirements and realizes the battery change process after the automatic landing of UAVs. Finally, we conduct experiments to validate our system’s effectiveness. The experimental results show that our battery-changing system can implement the autonomous battery-changing task, and our system has high efficiency and robustness in the real environment.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 2","pages":"Article 100104"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49731423","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Editorial for the special issue on wearable robots and intelligent device 可穿戴机器人与智能设备特刊社论

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100102

Xinyu Wu, Shaoping Bai, Leonard O’Sullivan

引用次数: 0

Erratum to “A survey of the development of biomimetic intelligence and robotics” [Biomim. Intell. Robotics 1 (2021) 100001] “仿生智能和机器人技术发展概览”的勘误[Biomim]。智能。机器人1 (2021)100001]

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100101

Jiankun Wang , Weinan Chen , Xiao Xiao , Yangxin Xu , Chenming Li , Xiao Jia , Max Q.-H. Meng

引用次数: 0

Machine learning-based detection of cervical spondylotic myelopathy using multiple gait parameters 基于机器学习的多步态参数脊髓型颈椎病检测

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100103

Xinyu Ji , Wei Zeng , Qihang Dai , Yuyan Zhang , Shaoyi Du , Bing Ji

{"title":"Machine learning-based detection of cervical spondylotic myelopathy using multiple gait parameters","authors":"Xinyu Ji , Wei Zeng , Qihang Dai , Yuyan Zhang , Shaoyi Du , Bing Ji","doi":"10.1016/j.birob.2023.100103","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100103","url":null,"abstract":"<div><p>Cervical spondylotic myelopathy (CSM) is the main cause of adult spinal cord dysfunction, mostly appearing in middle-aged and elderly patients. Currently, the diagnosis of this condition depends mainly on the available imaging tools such as X-ray, computed tomography and magnetic resonance imaging (MRI), of which MRI is the gold standard for clinical diagnosis. However, MRI data cannot clearly demonstrate the dynamic characteristics of CSM, and the overall process is far from cost-efficient. Therefore, this study proposes a new method using multiple gait parameters and shallow classifiers to dynamically detect the occurrence of CSM. In the present study, 45 patients with CSM and 45 age-matched asymptomatic healthy controls (HCs) were recruited, and a three-dimensional (3D) motion capture system was utilized to capture the locomotion data. Furthermore, 63 spatiotemporal, kinematic, and nonlinear parameters were extracted, including lower limb joint angles in the sagittal, coronal, and transverse planes. Then, the Shapley Additive exPlanations (SHAP) value was utilized for feature selection and reduction of the dimensionality of features, and five traditional shallow classifiers, including support vector machine (SVM), logistic regression (LR), k-nearest neighbor (KNN), decision tree (DT), and random forest (RF), were used to classify gait patterns between CSM patients and HCs. On the basis of the 10-fold cross-validation method, the highest average accuracy was achieved by SVM (95.56%). Our results demonstrated that the proposed method could effectively detect CSM and thus serve as an automated auxiliary tool for the clinical diagnosis of CSM.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 2","pages":"Article 100103"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49715700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0