Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)最新文献

Bistable Dual-Responsive Azobenzene-co-PNIPAM Soft Microactuators via Two-Photon Direct Laser Writing 双光子激光直接写入的双稳态双响应偶氮苯-co- pnipam软微致动器

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 DOI: 10.1002/aisy.70239

Chantal Barwig, Ruchira Colaco, Alina-Sophie Koch, Sophie Geiger, Ernest R. Curticean, Irene Wacker, Zhe Wang, Målin Schmidt, Annabelle Sonn, Sadaf Pashapour, Fereydoon Taheri, Rasmus R. Schröder, Anne Staubitz, Christine Selhuber-Unkel

{"title":"Bistable Dual-Responsive Azobenzene-co-PNIPAM Soft Microactuators via Two-Photon Direct Laser Writing","authors":"Chantal Barwig, Ruchira Colaco, Alina-Sophie Koch, Sophie Geiger, Ernest R. Curticean, Irene Wacker, Zhe Wang, Målin Schmidt, Annabelle Sonn, Sadaf Pashapour, Fereydoon Taheri, Rasmus R. Schröder, Anne Staubitz, Christine Selhuber-Unkel","doi":"10.1002/aisy.70239","DOIUrl":"https://doi.org/10.1002/aisy.70239","url":null,"abstract":"\u0000 Microactuators\u0000 In the Research Article (DOI: 10.1002/aisy.202500890), Anne Staubitz, Christine Selhuber-Unkel, and co-workers present bistable microactuators based on thermoresponsive hydrogel and a photoswitch, fabricated by two-photon polymerization (2PP). (E)- to (Z)-isomerization enables light-controlled switching of the lower critical solution temperature. The interplay of light and temperature creates a bistable regime, illustrated by the energy potential, where the microstructure rests in two energy valleys. 2PP allows for the integration of this microactuators in lab-on-a-chip devices.\u0000 <figure>\u0000 <div><picture>\u0000 <source></source></picture>\u0000 </div>\u0000 </figure>\u0000 ","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.70239","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147566758","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Comparative Neuromechanical Wing-Actuation Architectures of Flapping Flight in Insects, Hummingbirds, and Robots 昆虫、蜂鸟和机器人扑翼飞行的比较神经机械翼驱动结构

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 Epub Date: 2025-12-26 DOI: 10.1002/aisy.202500787

Suyash Agrawal, Jean-Michel Mongeau, Bret W. Tobalske, Christopher Rahn, Bo Cheng

{"title":"Comparative Neuromechanical Wing-Actuation Architectures of Flapping Flight in Insects, Hummingbirds, and Robots","authors":"Suyash Agrawal, Jean-Michel Mongeau, Bret W. Tobalske, Christopher Rahn, Bo Cheng","doi":"10.1002/aisy.202500787","DOIUrl":"https://doi.org/10.1002/aisy.202500787","url":null,"abstract":"Natural fliers have evolved a diversity of neuromechanical systems to produce complex wing motion for flight, achieving a level of aerial performance not yet attainable by robotic fliers. A wing neuromechanical system encompasses wing mechanical structures, musculoskeletal actuation, central and peripheral sensorimotor circuits, proprioceptors, sensory pathways, and aerodynamic processes. This study examines the anatomical and functional attributes of flapping-wing neuromechanics in insects and hummingbirds, and provides a comparative analysis and synthesis to identify features of their integrated architectures. Two functional architectures are identified: 1) A Dual Neural-Mechanical Oscillator characterized by nested central, peripheral and mechanical feedback loops; and 2) a Neurally-modulated Mechanical Oscillator with a diminished role of the central loop and a clear separation of power and control loops. Rather than representing a strict dichotomy, these architectures are not mutually exclusive and are evolutionarily related. The actuation systems in surveyed robotic flapping-wing fliers follow a much simpler architecture, i.e., Open-Loop Mechanical Oscillator. Biological and robotic architectures are compared in terms of functional separation of power and control, emergence of rhythm, and the roles of proprioception. Finally, key attributes of wing neuromechanical systems are identified for emulation to help narrow the performance gap between natural and robotic fliers.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202500787","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147569062","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Review of Memristors for In-Memory Computing and Spiking Neural Networks 用于内存计算和脉冲神经网络的忆阻器综述

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 Epub Date: 2025-12-02 DOI: 10.1002/aisy.202500806

Mostafa Shooshtari, Teresa Serrano-Gotarredona, Bernabé Linares-Barranco

{"title":"Review of Memristors for In-Memory Computing and Spiking Neural Networks","authors":"Mostafa Shooshtari, Teresa Serrano-Gotarredona, Bernabé Linares-Barranco","doi":"10.1002/aisy.202500806","DOIUrl":"https://doi.org/10.1002/aisy.202500806","url":null,"abstract":"The convergence of in-memory computing (IMC) and neuromorphic architectures offers a promising path toward energy-efficient, scalable artificial intelligence, particularly for edge and real-time applications. Memristors, resistive devices with nonvolatile, analog switching, uniquely enable this convergence by serving both as computational memory units for matrix-vector multiplication and as synaptic elements for spike-based learning. This review comprehensively explores the physical mechanisms, material classes, and integration strategies of memristors tailored for IMC and spiking neural networks, with emphasis on their implementation in crossbar arrays, synapse-neuron emulation, and hybrid CMOS circuits. It discusses how memristors facilitate key biological learning rules like STDP and LTP/LTD and examine their deployment in edge artificial intelligence, adaptive robotics, and neuromorphic sensors. Despite their potential, device variability, noise, relaxation, scalability limits, and standardization remain pressing challenges. By synthesizing device-level insights with architectural innovation and emerging applications, this work outlines a roadmap toward fully integrated, low-power, and brain-inspired computing systems.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202500806","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147562181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Microendovascular Neural Recording from Cortical and Deep Vessels with High Precision and Minimal Invasiveness 高精度、微创的皮层及深部血管内神经记录

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 Epub Date: 2025-09-12 DOI: 10.1002/aisy.202500487

Takamitsu Iwata, Hajime Nakamura, Takafumi Uemura, Teppei Araki, Takaki Matsumura, Takaaki Abe, Toshikazu Nezu, Masatoshi Takagaki, Tomohiko Ozaki, Shinpei Miura, Ryohei Fukuma, Sam E. John, David B. Grayden, Haruhiko Kishima, Tsuyoshi Sekitani, Takufumi Yanagisawa

{"title":"Microendovascular Neural Recording from Cortical and Deep Vessels with High Precision and Minimal Invasiveness","authors":"Takamitsu Iwata, Hajime Nakamura, Takafumi Uemura, Teppei Araki, Takaki Matsumura, Takaaki Abe, Toshikazu Nezu, Masatoshi Takagaki, Tomohiko Ozaki, Shinpei Miura, Ryohei Fukuma, Sam E. John, David B. Grayden, Haruhiko Kishima, Tsuyoshi Sekitani, Takufumi Yanagisawa","doi":"10.1002/aisy.202500487","DOIUrl":"https://doi.org/10.1002/aisy.202500487","url":null,"abstract":"Intravascular electroencephalography (ivEEG) with microintravascular electrodes enhances neural monitoring, functional mapping, and brain–computer interfaces (BCIs), offering a minimally invasive approach to assess cortical activities; however, this approach remains unrealized. Current ivEEG methods using electrode-attached stents are limited to recording from large vessels, such as the superior sagittal sinus (SSS), restricting access to cortical regions essential for precise BCI control, such as those for hand and mouth movements. Here, ivEEG signals from small and soft cortical veins (CV-ivEEGs) in eight pigs using microintravascular electrodes are recorded, achieving higher resting-state signal power and greater spatial resolution of somatosensory evoked potentials (SEPs) compared to SSS-based ivEEG. Additionally, ivEEG recorded from deep veins clearly captures visual evoked potentials. Furthermore, comparisons between CV-ivEEG and electrocorticography (ECoG) using epidural and subdural electrodes in two pigs demonstrate that CV-ivEEG captures cortical SEPs comparable to ECoG. Targeted electrical stimulation via cortical vein electrodes induces specific contralateral muscle contractions in five anesthetized pigs, confirming selective motor-region stimulation with minimal invasiveness. The findings suggest that ivEEG with microintravascular electrodes is capable of accessing diverse cortical areas and capturing localized neural activity with high signal fidelity for minimally invasive cortical mapping and BCI.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202500487","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147565517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Miniature Rotary Electrostatic Clutch for Assigning Multi-Degrees of Freedom to Insect-Scale Robots 用于昆虫级机器人多自由度分配的微型旋转静电离合器

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 Epub Date: 2025-09-13 DOI: 10.1002/aisy.202500625

Jongeun Lee, Amir Firouzeh, Seunghyun An, Pilwoo Lee, Kyu-Jin Cho

{"title":"A Miniature Rotary Electrostatic Clutch for Assigning Multi-Degrees of Freedom to Insect-Scale Robots","authors":"Jongeun Lee, Amir Firouzeh, Seunghyun An, Pilwoo Lee, Kyu-Jin Cho","doi":"10.1002/aisy.202500625","DOIUrl":"https://doi.org/10.1002/aisy.202500625","url":null,"abstract":"Insect-scale crawling robots can navigate confined environments mainly for passive tasks such as search, rescue, and surveillance. Adding actuated degrees of freedom to manipulate the environment can substantially expand the range of tasks that the insect-scale robot can perform, which is, however, prohibitive due to the added volume and weight. Herein, a miniature rotary electrostatic clutch is presented such that it enables reconfigurable motion by selectively distributing the power of a single motor while embedded at multiple joints. In order to facilitate a compact clutch with a large locking torque, cutting patterns in the electrostatic clutch layer are incorporated. The segmented layer allows large out-of-plane displacement, thereby increasing the contact area between layers during engagement. Therefore, compact (20 mm), lightweight (0.4 g) clutches achieve a locking torque of 83.4 mNm, 4 times larger than a clutch without the pattern. Adding a single motor, seven clutches, and four clutch-layer pairs enables independent drive of six additional joints without significantly increasing size or mass. This approach allows insect-scale robots to perform variety tasks such as object manipulation, obstacle negotiation, and shape transformation. This method offers an efficient way to embed multiple actuated degrees of freedom in miniature robots, therefore enhancing their mobility and functionality.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202500625","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147565659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Contact Force Estimation of Continuum Robots without Embedded Sensors: A Review 无嵌入式传感器连续体机器人接触力估计研究进展

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 Epub Date: 2025-12-26 DOI: 10.1002/aisy.202500786

An Hu, Yu Sun

{"title":"Contact Force Estimation of Continuum Robots without Embedded Sensors: A Review","authors":"An Hu, Yu Sun","doi":"10.1002/aisy.202500786","DOIUrl":"https://doi.org/10.1002/aisy.202500786","url":null,"abstract":"Continuum robots enable safe and adaptive interaction with complex, unstructured, or constrained environments through continuous deformation, making them particularly suitable for medical and industrial applications. Accurate contact force sensing is essential to ensure safe and effective physical interaction in such scenarios. Although various embedded force sensors have been developed, sensor-free approaches offer advantages in miniaturization, cost-effectiveness, and biocompatibility. This review provides a comprehensive overview of sensor-free contact force estimation methods for continuum robots, with an emphasis on algorithmic principles rather than specific continuum robot designs or applications. First, contact forces reported in the literature are systematically classified according to their distribution, components, and dynamics. Next, existing force estimation methods are divided into three categories: actuation-based, deflection-based, and environment-based. For each category, the underlying algorithmic principles are discussed, representative challenges are highlighted, and their typical application scenarios are outlined. Finally, emerging trends and potential directions for future research are outlined.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202500786","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147569204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bistable Dual-Responsive Azobenzene-co-PNIPAM Soft Microactuators via Two-Photon Direct Laser Writing 双光子激光直接写入的双稳态双响应偶氮苯-co- pnipam软微致动器

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 Epub Date: 2025-09-17 DOI: 10.1002/aisy.202500890

Chantal Barwig, Ruchira Colaco, Alina-Sophie Koch, Sophie Geiger, Ernest R. Curticean, Irene Wacker, Zhe Wang, Målin Schmidt, Annabelle Sonn, Sadaf Pashapour, Fereydoon Taheri, Rasmus R. Schröder, Anne Staubitz, Christine Selhuber-Unkel

{"title":"Bistable Dual-Responsive Azobenzene-co-PNIPAM Soft Microactuators via Two-Photon Direct Laser Writing","authors":"Chantal Barwig, Ruchira Colaco, Alina-Sophie Koch, Sophie Geiger, Ernest R. Curticean, Irene Wacker, Zhe Wang, Målin Schmidt, Annabelle Sonn, Sadaf Pashapour, Fereydoon Taheri, Rasmus R. Schröder, Anne Staubitz, Christine Selhuber-Unkel","doi":"10.1002/aisy.202500890","DOIUrl":"10.1002/aisy.202500890","url":null,"abstract":"Miniaturized bistable actuators are of notable relevance for applications in microfluidics or the manipulation of delicate objects. Many applications require actuators to be multistable, meaning that they can hold specific positions without continuous energy input. However, reversibly controllable soft actuators, especially those based on thermoresponsive materials, typically lack this capability. To overcome this challenge, bistable soft microactuators fabricated by two-photon polymerization at micrometer precision are demonstrate here, allowing for arbitrary 3D shapes. The bistability is given by material composition, that is, poly(N-isopropylacrylamide) (pNIPAM) and a light-responsive azobenzene compound. The incorporation of an azobenzene into pNIPAM photoresin enables the modification of its lower critical solution temperature (LCST) through the (E)–(Z)-isomerization, allowing for two states: a swollen and shrunken state. Hereby, actuation, in terms of shrinking and swelling, is controlled by photoswitching, allowing for the actuation of Azo_pNIPAM microactuators within a constant ambient temperature regime. Moreover, the pNIPAM moiety also allows thermal actuation when it contains either isomer, ((E) or (Z)), when the ambient temperature exceeds the LCST. Temperature and light changes are applied to characterize the bistable nature of the microactuators and an application of those bistable microactuators in a lab-on-a-chip device is shown.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202500890","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147566536","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bistable Dual-Responsive Azobenzene-co-PNIPAM Soft Microactuators via Two-Photon Direct Laser Writing 双光子激光直接写入的双稳态双响应偶氮苯-co- pnipam软微致动器

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 DOI: 10.1002/aisy.70239

Chantal Barwig, Ruchira Colaco, Alina-Sophie Koch, Sophie Geiger, Ernest R. Curticean, Irene Wacker, Zhe Wang, Målin Schmidt, Annabelle Sonn, Sadaf Pashapour, Fereydoon Taheri, Rasmus R. Schröder, Anne Staubitz, Christine Selhuber-Unkel

{"title":"Bistable Dual-Responsive Azobenzene-co-PNIPAM Soft Microactuators via Two-Photon Direct Laser Writing","authors":"Chantal Barwig, Ruchira Colaco, Alina-Sophie Koch, Sophie Geiger, Ernest R. Curticean, Irene Wacker, Zhe Wang, Målin Schmidt, Annabelle Sonn, Sadaf Pashapour, Fereydoon Taheri, Rasmus R. Schröder, Anne Staubitz, Christine Selhuber-Unkel","doi":"10.1002/aisy.70239","DOIUrl":"10.1002/aisy.70239","url":null,"abstract":"\u0000 Microactuators\u0000 In the Research Article (DOI: 10.1002/aisy.202500890), Anne Staubitz, Christine Selhuber-Unkel, and co-workers present bistable microactuators based on thermoresponsive hydrogel and a photoswitch, fabricated by two-photon polymerization (2PP). (E)- to (Z)-isomerization enables light-controlled switching of the lower critical solution temperature. The interplay of light and temperature creates a bistable regime, illustrated by the energy potential, where the microstructure rests in two energy valleys. 2PP allows for the integration of this microactuators in lab-on-a-chip devices.\u0000 <figure>\u0000 <div><picture>\u0000 <source></source></picture>\u0000 </div>\u0000 </figure>\u0000 ","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.70239","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147566860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Comparative Neuromechanical Wing-Actuation Architectures of Flapping Flight in Insects, Hummingbirds, and Robots 昆虫、蜂鸟和机器人扑翼飞行的比较神经机械翼驱动结构

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 Epub Date: 2025-12-26 DOI: 10.1002/aisy.202500787

Suyash Agrawal, Jean-Michel Mongeau, Bret W. Tobalske, Christopher Rahn, Bo Cheng

{"title":"Comparative Neuromechanical Wing-Actuation Architectures of Flapping Flight in Insects, Hummingbirds, and Robots","authors":"Suyash Agrawal, Jean-Michel Mongeau, Bret W. Tobalske, Christopher Rahn, Bo Cheng","doi":"10.1002/aisy.202500787","DOIUrl":"10.1002/aisy.202500787","url":null,"abstract":"Natural fliers have evolved a diversity of neuromechanical systems to produce complex wing motion for flight, achieving a level of aerial performance not yet attainable by robotic fliers. A wing neuromechanical system encompasses wing mechanical structures, musculoskeletal actuation, central and peripheral sensorimotor circuits, proprioceptors, sensory pathways, and aerodynamic processes. This study examines the anatomical and functional attributes of flapping-wing neuromechanics in insects and hummingbirds, and provides a comparative analysis and synthesis to identify features of their integrated architectures. Two functional architectures are identified: 1) A Dual Neural-Mechanical Oscillator characterized by nested central, peripheral and mechanical feedback loops; and 2) a Neurally-modulated Mechanical Oscillator with a diminished role of the central loop and a clear separation of power and control loops. Rather than representing a strict dichotomy, these architectures are not mutually exclusive and are evolutionarily related. The actuation systems in surveyed robotic flapping-wing fliers follow a much simpler architecture, i.e., Open-Loop Mechanical Oscillator. Biological and robotic architectures are compared in terms of functional separation of power and control, emergence of rhythm, and the roles of proprioception. Finally, key attributes of wing neuromechanical systems are identified for emulation to help narrow the performance gap between natural and robotic fliers.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202500787","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147569040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Degeneracy Sensing Light Detection and Ranging-Inertial Simultaneous Localization and Mapping with Dual-Layer Resistant Odometry and Scan-Context Loop-Closure Detection Backend in Diverse Environments 基于双层抗里程计和扫描-上下文闭环检测后端的退化感测光检测和测距-惯性同步定位与映射

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-03-18 Epub Date: 2025-12-26 DOI: 10.1002/aisy.202500722

Haoming Yang, Liye Zhao, Xukai Ding, Wenjun Li, Kehao Qi

{"title":"Degeneracy Sensing Light Detection and Ranging-Inertial Simultaneous Localization and Mapping with Dual-Layer Resistant Odometry and Scan-Context Loop-Closure Detection Backend in Diverse Environments","authors":"Haoming Yang, Liye Zhao, Xukai Ding, Wenjun Li, Kehao Qi","doi":"10.1002/aisy.202500722","DOIUrl":"https://doi.org/10.1002/aisy.202500722","url":null,"abstract":"Light detection and ranging (LiDAR) has become a critical sensor in intelligent systems such as autonomous vehicles and unmanned robots. However, due to limited geometric constraints, the performance of LiDAR simultaneous localization and mapping (SLAM) degrades significantly in degenerate environments, such as tunnels, elongated corridors, and feature-sparse open spaces. To address this limitation, a novel degeneracy-aware LiDAR-inertial framework is proposed that integrates a dual-layer robust odometry frontend with a Scan-Context-based loop-closure detection backend. Temperature compensation is first applied to enhance vehicle inertial measurements, thereby improving basic recursive accuracy. The frontend module assesses degeneracy status through Fisher information to adaptively adjust feature down-sampling rates. Moreover, the odometry residual is redefined with feature scaling factors. The backend leverages scan-context descriptors to detect global loop closures in environments lacking distinctive features robustly. Extensive experimental evaluation on public and private datasets, encompassing challenging scenarios such as linear indoor corridors, large outdoor playgrounds, and complex parking lots, demonstrates that the proposed framework effectively mitigates localization drift caused by degeneracy, resulting in significant improvements in accuracy and robustness.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 3","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202500722","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147569398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0