Science Robotics最新文献_第7页

Self-organizing nervous systems for robot swarms 机器人群的自组织神经系统

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-13 DOI: 10.1126/scirobotics.adl5161

Weixu Zhu, Sinan Oğuz, Mary Katherine Heinrich, Michael Allwright, Mostafa Wahby, Anders Lyhne Christensen, Emanuele Garone, Marco Dorigo

{"title":"Self-organizing nervous systems for robot swarms","authors":"Weixu Zhu, Sinan Oğuz, Mary Katherine Heinrich, Michael Allwright, Mostafa Wahby, Anders Lyhne Christensen, Emanuele Garone, Marco Dorigo","doi":"10.1126/scirobotics.adl5161","DOIUrl":"10.1126/scirobotics.adl5161","url":null,"abstract":"<div >We present the self-organizing nervous system (SoNS), a robot swarm architecture based on self-organized hierarchy. The SoNS approach enables robots to autonomously establish, maintain, and reconfigure dynamic multilevel system architectures. For example, a robot swarm consisting of <i>n</i> independent robots could transform into a single <i>n</i>–robot SoNS and then into several independent smaller SoNSs, where each SoNS uses a temporary and dynamic hierarchy. Leveraging the SoNS approach, we showed that sensing, actuation, and decision-making can be coordinated in a locally centralized way without sacrificing the benefits of scalability, flexibility, and fault tolerance, for which swarm robotics is usually studied. In several proof-of-concept robot missions—including binary decision-making and search and rescue—we demonstrated that the capabilities of the SoNS approach greatly advance the state of the art in swarm robotics. The missions were conducted with a real heterogeneous aerial-ground robot swarm, using a custom-developed quadrotor platform. We also demonstrated the scalability of the SoNS approach in swarms of up to 250 robots in a physics-based simulator and demonstrated several types of system fault tolerance in simulation and reality.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adl5161","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142602028","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Advancing scientific discovery with the aid of robotics. 借助机器人技术推动科学发现。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-10-30 DOI: 10.1126/scirobotics.adt3842

Amos Matsiko

引用次数: 0

Reinforcement learning-based framework for whale rendezvous via autonomous sensing robots. 基于强化学习的自主感知机器人鲸鱼会合框架。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-10-30 DOI: 10.1126/scirobotics.adn7299

Ninad Jadhav, Sushmita Bhattacharya, Daniel Vogt, Yaniv Aluma, Pernille Tønnesen, Akarsh Prabhakara, Swarun Kumar, Shane Gero, Robert J Wood, Stephanie Gil

{"title":"Reinforcement learning-based framework for whale rendezvous via autonomous sensing robots.","authors":"Ninad Jadhav, Sushmita Bhattacharya, Daniel Vogt, Yaniv Aluma, Pernille Tønnesen, Akarsh Prabhakara, Swarun Kumar, Shane Gero, Robert J Wood, Stephanie Gil","doi":"10.1126/scirobotics.adn7299","DOIUrl":"10.1126/scirobotics.adn7299","url":null,"abstract":"<p><p>Rendezvous with sperm whales for biological observations is made challenging by their prolonged dive patterns. Here, we propose an algorithmic framework that codevelops multiagent reinforcement learning-based routing (autonomy module) and synthetic aperture radar-based very high frequency (VHF) signal-based bearing estimation (sensing module) for maximizing rendezvous opportunities of autonomous robots with sperm whales. The sensing module is compatible with low-energy VHF tags commonly used for tracking wildlife. The autonomy module leverages in situ noisy bearing measurements of whale vocalizations, VHF tags, and whale dive behaviors to enable time-critical rendezvous of a robot team with multiple whales in simulation. We conducted experiments at sea in the native habitat of sperm whales using an \"engineered whale\"-a speedboat equipped with a VHF-emitting tag, emulating five distinct whale tracks, with different whale motions. The sensing module shows a median bearing error of 10.55° to the tag. Using bearing measurements to the engineered whale from an acoustic sensor and our sensing module, our autonomy module gives an aggregate rendezvous success rate of 81.31% for a 500-meter rendezvous distance using three robots in postprocessing. A second class of fielded experiments that used acoustic-only bearing measurements to three untagged sperm whales showed an aggregate rendezvous success rate of 68.68% for a 1000-meter rendezvous distance using two robots in postprocessing. We further validated these algorithms with several ablation studies using a sperm whale visual encounter dataset collected by marine biologists.</p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 95","pages":"eadn7299"},"PeriodicalIF":26.1,"publicationDate":"2024-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142549175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Understanding the sense of self through robotics. 通过机器人了解自我意识。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-10-30 DOI: 10.1126/scirobotics.adn2733

Tony J Prescott, Kai Vogeley, Agnieszka Wykowska

引用次数: 0

Augmented dexterity: How robots can enhance human surgical skills 增强灵巧性：机器人如何提高人类的外科手术技能。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-10-30 DOI: 10.1126/scirobotics.adr5247

Ken Goldberg, Gary Guthart

引用次数: 0

AI-driven aerial robots advance whale research. 人工智能驱动的空中机器人推进鲸鱼研究。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-10-30 DOI: 10.1126/scirobotics.adt1955

Haluk Bayram

引用次数: 0

Transforming science labs into automated factories of discovery 将科学实验室改造成自动化发现工厂

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-10-23 DOI: 10.1126/scirobotics.adm6991

Angelos Angelopoulos, James F. Cahoon, Ron Alterovitz

引用次数: 0

Ted Chiang imagines a computational theory of robots 特德-蒋（Ted Chiang）设想了一种机器人计算理论。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-10-23 DOI: 10.1126/scirobotics.adt3828

Robin R. Murphy

引用次数: 0

Paleoinspired robotics as an experimental approach to the history of life 受古生物启发的机器人技术是研究生命史的一种实验方法

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-10-23 DOI: 10.1126/scirobotics.adn1125

Michael Ishida, Fidji Berio, Valentina Di Santo, Neil H. Shubin, Fumiya Iida

引用次数: 0

Robotic manipulation of cardiomyocytes to identify gap junction modifiers for arrhythmogenic cardiomyopathy 用机器人操纵心肌细胞识别心律失常性心肌病的间隙连接修饰因子

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-10-23 DOI: 10.1126/scirobotics.adm8233

Wenkun Dou, Guanqiao Shan, Qili Zhao, Manpreet Malhi, Aojun Jiang, Zhuoran Zhang, Andrés González-Guerra, Shaojie Fu, Junhui Law, Robert M. Hamilton, Juan A. Bernal, Xinyu Liu, Yu Sun, Jason T. Maynes

{"title":"Robotic manipulation of cardiomyocytes to identify gap junction modifiers for arrhythmogenic cardiomyopathy","authors":"Wenkun Dou, Guanqiao Shan, Qili Zhao, Manpreet Malhi, Aojun Jiang, Zhuoran Zhang, Andrés González-Guerra, Shaojie Fu, Junhui Law, Robert M. Hamilton, Juan A. Bernal, Xinyu Liu, Yu Sun, Jason T. Maynes","doi":"10.1126/scirobotics.adm8233","DOIUrl":"https://doi.org/10.1126/scirobotics.adm8233","url":null,"abstract":"Arrhythmogenic cardiomyopathy (ACM) is a leading cause of sudden cardiac death among young adults. Aberrant gap junction remodeling has been linked to disease-causative mutations in plakophilin-2 ( PKP2 ). Although gap junctions are a key therapeutic target, measurement of gap junction function in preclinical disease models is technically challenging. To quantify gap junction function with high precision and high consistency, we developed a robotic cell manipulation system with visual feedback from digital holographic microscopy for three-dimensional and label-free imaging of human induced pluripotent stem cell–derived cardiomyocytes (iPSC-CMs). The robotic system can accurately determine the dynamic height changes in the cells’ contraction and resting phases, microinject drug-treated healthy and diseased iPSC-CMs in their resting phase with constant injection depth across all cells, and deposit a membrane-impermeable dye that solely diffuses between cells through gap junctions for measuring the gap junction diffusion function. The robotic system was applied toward a targeted drug screen to identify gap junction modulators and potential therapeutics for ACM. Five compounds were found to dose-dependently enhance gap junction permeability in cardiomyocytes with PKP2 knockdown. In addition, PCO 400 (pinacidil) reduced beating irregularity in a mouse model of ACM expressing mutant PKP2 (R735X). These results highlight the utility of the robotic cell manipulation system to efficiently assess gap junction function in a relevant preclinical disease model, thus providing a technique to advance drug discovery for ACM and other gap junction–mediated diseases.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"2 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142487696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0