Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)最新文献_第2页

Dynamic Obstacle Avoidance of Metamorphic Microrobots Using Concentric Sector Navigator 基于同心扇形导航仪的变形微机器人动态避障研究

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 Epub Date: 2026-07-08 DOI: 10.1002/aisy.70466

Zhaowen Su, Zerui Li, Lijun Fang, Hoyeon Kim, U Kei Cheang

{"title":"Dynamic Obstacle Avoidance of Metamorphic Microrobots Using Concentric Sector Navigator","authors":"Zhaowen Su, Zerui Li, Lijun Fang, Hoyeon Kim, U Kei Cheang","doi":"10.1002/aisy.70466","DOIUrl":"https://doi.org/10.1002/aisy.70466","url":null,"abstract":"Autonomous navigation remains a critical challenge for microrobots operating in dynamic and unstructured biological environments, particularly when their motion modality changes during medical procedures. To address this problem, we develop a reliable autonomous navigation strategy that accounts for the metamorphic transition of a microrobot from an individual microroller state to a swarm state. The proposed approach combines a concentric sector navigator (CSN) for local path planning and dynamic obstacle avoidance with a state-recognition model that identifies the microroller and swarm states for state-dependent navigation control. To validate its effectiveness, experiments were conducted in obstacle-rich environments and micromaze settings, demonstrating that the CSN method enables robust collision-free navigation in both the microroller and swarm states under dynamic obstacles. The results verify that the proposed strategy provides an effective solution for autonomous navigation of metamorphic microrobots in complex environments.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 10","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.70466","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149235208","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

Double Helix Structure for Stable Flexural Actuation in Soft Robotics 柔性机器人稳定弯曲驱动的双螺旋结构

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 Epub Date: 2026-07-23 DOI: 10.1002/aisy.202501383

Louis Plottel, Richard Desatnik, Dinesh K. Patel, Philip LeDuc, Carmel Majidi

{"title":"Double Helix Structure for Stable Flexural Actuation in Soft Robotics","authors":"Louis Plottel, Richard Desatnik, Dinesh K. Patel, Philip LeDuc, Carmel Majidi","doi":"10.1002/aisy.202501383","DOIUrl":"https://doi.org/10.1002/aisy.202501383","url":null,"abstract":"Soft robotic actuators capable of bidirectional bending commonly feature axisymmetric geometries that are compliant in both flexure and torsion. While such designs offer a high degree of mechanical compliance, they can lead to inadvertent twisting and loss of mechanical stability. This work demonstrates how a double helix limb structure improves the twist-bend ratio of a shape memory alloy (SMA) actuated soft limb. Drawbacks in previously reported SMA limb configurations include twisting upon contact with an external force, resulting in undesired loss in force transmission to the surface. The proposed novel double helix design optimized for helical density over length is compared to these past SMA soft limb structures. Experimental results show a <math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>∼</mo>\u0000 </mrow>\u0000 <annotation>$sim$</annotation>\u0000 </semantics></math>5× improvement in twist resistance and a <math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>∼</mo>\u0000 </mrow>\u0000 <annotation>$sim$</annotation>\u0000 </semantics></math>50% increase in maximum output (applied) force. These performance enhancements are further validated through demonstrations in a soft gripper and a locomoting soft robot, where the helical design uniquely enables stable and adaptive interaction with objects and obstacle negotiation.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 10","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202501383","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149235395","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

Inside Front Cover: Design and Characterization of a Dual-Mode Soft Robotic Flapping Propeller With Pneumatic Stiffness Modulation (Adv. Intell. Syst. 10/2026) 内前盖：气动刚度调制的双模柔性机器人扑翼螺旋桨的设计与特性。系统。10/2026)

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 DOI: 10.1002/aisy.70558

Jiazi Geng, Hua Shao, Yiyang Li, Lin Liang, Jinfeng Yang, Xianhong He, Fengran Xie

引用次数: 0

Back Cover: Toward Fully Soft and Multifunctional Shape Sensing via Optical Waveguide Arrays (Adv. Intell. Syst. 10/2026) 封底：通过光波导阵列实现完全柔软和多功能的形状传感。系统。10/2026)

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 DOI: 10.1002/aisy.70557

Qifan Yu, Nina Cao, Kaitlyn Becker

引用次数: 0

Motion and Morphology Planning for Autonomous Manipulation in Clutter With a Shape-Shifting, Variable-Stiffness Robot 变形变刚度机器人在杂波环境下自主操作的运动和形态规划

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 Epub Date: 2026-07-29 DOI: 10.1002/aisy.70475

Luiza Labazanova, Liuming Qiu, Jose Guadalupe Romero, Li Cheng, Thrishantha Nanayakkara, David Navarro-Alarcon

{"title":"Motion and Morphology Planning for Autonomous Manipulation in Clutter With a Shape-Shifting, Variable-Stiffness Robot","authors":"Luiza Labazanova, Liuming Qiu, Jose Guadalupe Romero, Li Cheng, Thrishantha Nanayakkara, David Navarro-Alarcon","doi":"10.1002/aisy.70475","DOIUrl":"https://doi.org/10.1002/aisy.70475","url":null,"abstract":"Autonomous operation in confined spaces demands robots that can simultaneously navigate tight passages and manipulate objects. However, conventional mobile manipulators are often too large, while compliant soft manipulators are typically limited by tethers and a small operational workspace. This article introduces a novel hybrid robot designed to address this trade-off. The robot achieves mobile manipulation without dedicated end effectors by leveraging its entire body. It comprises two autonomous locomotion units linked by a Variable-Stiffness Bridge (VSB). This design enables transitions between a rigid state for efficient locomotion and a flexible state for full-body enclosure of objects. After enclosure, the robot re-stiffens to enable push-coupled planar transport with orientation regulation. We present the second iteration of this platform, featuring a modular VSB design that achieves a 2.5-fold increase in state transition speed. Furthermore, we introduce a comprehensive planning framework, the Voronoi-based Motion and Morphology Planner (VMMP), to enable autonomous navigation in highly cluttered planar environments. VMMP addresses the high-dimensional planning challenge through a hierarchical decomposition: it first uses Voronoi diagrams to generate traversable paths for three key control points on the robot's body and then reconstructs the kinematically feasible robot configuration sequence via constrained optimization. The source code and simulations are available at https://github.com/Louashka/2sr-robot.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 10","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.70475","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149235396","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

Front Cover: Reconfigurable Design and Optimization-Based Control of an Integrated Leg-Arm Robot for Space Applications With an Underactuated Body (Adv. Intell. Syst. 10/2026) 前盖：用于欠驱动体空间应用的集成腿臂机器人的可重构设计和基于优化的控制[j] . intel。系统。10/2026)

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 DOI: 10.1002/aisy.70554

Xinghan Zhuang, Kun Xu, Shutao Wu, Haoyuan Liu, Bochao Song, Jiawei Chen, Peijin Zi, Tao Zhang, Xilun Ding

引用次数: 0

Toward Complex In-Car Environment Human–Vehicle Interactions Through Smart Glasses and sEMG-Based Gesture Recognition 通过智能眼镜和基于表面肌电信号的手势识别实现复杂的车内环境人机交互

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 Epub Date: 2026-07-11 DOI: 10.1002/aisy.70467

Wenbo Zhang, Wenting Wei, Kuang Li, Chuyuan Bian, Junkai Xu, Jianing Qiu, Yuxi Lu, Bin He, Shuo Jiang

{"title":"Toward Complex In-Car Environment Human–Vehicle Interactions Through Smart Glasses and sEMG-Based Gesture Recognition","authors":"Wenbo Zhang, Wenting Wei, Kuang Li, Chuyuan Bian, Junkai Xu, Jianing Qiu, Yuxi Lu, Bin He, Shuo Jiang","doi":"10.1002/aisy.70467","DOIUrl":"https://doi.org/10.1002/aisy.70467","url":null,"abstract":"Visual distraction is a significant cause of traffic accidents, which draws extensive research dedicated to devising a safe and efficient means of human–vehicle interaction. To achieve robust gesture interaction adaptability in complex automotive environments, this article proposes a novel weighted random forest (WRF) multimodal fusion method, which integrates data from smart glasses and surface electromyography (sEMG) to recognize gestures in various in-vehicle settings. Image and sEMG data of various gestures are processed and extracted with a parallel feature extraction module to compute the recognition probabilities under different scenarios, and then, the WRF is utilized for the final classification result. The experimental results indicate that the classification accuracy of the fusion method reaches as high as 96.48% in normal, occluded, and low-light (nighttime) scenarios. Furthermore, the method proposed in this article exhibits superior performance among all comparative fusion strategies. Compared with the baseline method, its recognition accuracy is improved by up to 3.35%. This provides feasibility for robust human–machine gesture interaction in various limited scenarios and paves the way for future full-scene deployment of human–machine interaction.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 10","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.70467","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149235220","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

Interpretable Short-Term Electric Load Forecasting 可解释的短期电力负荷预测

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 Epub Date: 2026-07-17 DOI: 10.1002/aisy.70473

Alessandro Nicola, Giorgia Ghione, Vincenzo Randazzo, Vincenzo Franzitta, Marco Badami, Eros Pasero, Giansalvo Cirrincione

{"title":"Interpretable Short-Term Electric Load Forecasting","authors":"Alessandro Nicola, Giorgia Ghione, Vincenzo Randazzo, Vincenzo Franzitta, Marco Badami, Eros Pasero, Giansalvo Cirrincione","doi":"10.1002/aisy.70473","DOIUrl":"https://doi.org/10.1002/aisy.70473","url":null,"abstract":"The reliable and efficient operation of power systems hinges on accurate electrical load forecasts over various horizons and objectives, ranging from long-term grid adequacy estimation to day-ahead system scheduling and real-time dispatching. In this context, deep learning (DL) models outperform conventional statistical approaches at the expense of interpretability, making the research on interpretable algorithms essential. Among these methods, the temporal fusion transformer (TFT) has proven its validity across multiple sectors, while its applicability to short-term load forecasting (STLF) lacks sufficient corroboration. This study evaluates the TFT within a multivariate STLF task concerning a department building of an Italian university, focusing on interpretability. The performance of the model is evaluated against established benchmarks: The TFT outscores all competitors, yielding a mean absolute percentage error of 7.40% on the test subset, 25% lower than the competitors. Jointly, the interpretability of the model is studied: Variable selection weights identify the most important features, a comprehensive investigation of attention patterns highlights the most critical timesteps for generating forecasts, and the Comaniciu distance helps detect regime shifts and significant events. Overall, this study presents an effective TFT-based model for day-ahead STLF in terms of interpretability and forecasting performance.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 10","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.70473","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149235417","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

Toward Fully Soft and Multifunctional Shape Sensing via Optical Waveguide Arrays 基于光波导阵列的全软、多功能形状传感

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-10-21 Epub Date: 2026-07-29 DOI: 10.1002/aisy.70488

Qifan Yu, Nina Cao, Kaitlyn Becker

{"title":"Toward Fully Soft and Multifunctional Shape Sensing via Optical Waveguide Arrays","authors":"Qifan Yu, Nina Cao, Kaitlyn Becker","doi":"10.1002/aisy.70488","DOIUrl":"https://doi.org/10.1002/aisy.70488","url":null,"abstract":"For soft bodies, surface deformation and pressure provide proprioceptive and exteroceptive information, including body configuration, body compliance, and external forces. We develop a sheet sensor with a fully soft sensing surface that provides surface shape reconstruction using optical waveguide arrays. The waveguides are fabricated to achieve a tunable linear response to bi-directional bending curvature, and the waveguide arrays are configured to differentiate between ambiguous shapes. We characterize the waveguide performance, relating curvature sensitivity to the core's surface roughness. Synergy of waveguide responses reduces the number of sensing elements required and achieves damage resilience. Using waveguide sensitivity to pressure, we also demonstrate feasibility for exteroception. We demonstrate the multifunctional sensing capability by wrapping the sheet around an upper arm, showcasing joint motion and external force sensing. Integrated into or applied onto surfaces of robotic or living systems, this design can be implemented in applications such as virtual reality, teleoperation, physical therapy, and soft robotics.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 10","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.70488","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149235397","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

Human-in-the-Loop Swarms: A Bionic Swarm Approach to Real-World Soil Mapping 人在环群：一种仿生学的群体方法来绘制真实的土壤地图

IF 6.1

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2026-09-19 Epub Date: 2026-06-21 DOI: 10.1002/aisy.202501218

Petras Swissler, Mohammadali Rashidioun, Nicholas Sahu, Raaid Kabir, Ayodeji Aderibigbe, Oladoyin Kolawole

{"title":"Human-in-the-Loop Swarms: A Bionic Swarm Approach to Real-World Soil Mapping","authors":"Petras Swissler, Mohammadali Rashidioun, Nicholas Sahu, Raaid Kabir, Ayodeji Aderibigbe, Oladoyin Kolawole","doi":"10.1002/aisy.202501218","DOIUrl":"https://doi.org/10.1002/aisy.202501218","url":null,"abstract":"Swarm and field robotics face significant barriers to real-world validation due to the high cost and development time to deploy hardware. This article introduces the “Bionic Swarm,” a novel system that lowers these barriers by abstracting away many of the tasks that are difficult to implement on robots but which do not contribute to the overall algorithm evaluation, giving these tasks to human users. These human users take directions from a smartphone web app that takes measurements from Bluetooth-connected sensors and relays them to a centralized server. This server runs the swarm algorithm and directs actions to the human users. We evaluate this system through the experimental validation of a geotechnically focused search algorithm named Score-Biased Search, which functions by assigning a “score” to each location on a reconstructed map, then biases search patterns through areas of higher expected scores, and exhibits superlinear map reconstruction relative to the number of search agents. After presenting simulation results for the algorithm, we then apply the algorithm on the Bionic Swarm platform to validate its function in a real-world outdoor setting. This work demonstrates that this human-in-the-loop approach significantly lowers the barrier to entry for field and swarm robotics research.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"8 9","pages":""},"PeriodicalIF":6.1,"publicationDate":"2026-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202501218","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149007544","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