Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)最新文献_第3页

Data-Driven Kinematic Modeling of Physical Origami Robots

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-20 DOI: 10.1002/aisy.202400217

Mustafa Mete, Alexander Schüßler, Yves Martin des Taillades, Bruno Trivelli, Jamie Paik

{"title":"Data-Driven Kinematic Modeling of Physical Origami Robots","authors":"Mustafa Mete, Alexander Schüßler, Yves Martin des Taillades, Bruno Trivelli, Jamie Paik","doi":"10.1002/aisy.202400217","DOIUrl":"https://doi.org/10.1002/aisy.202400217","url":null,"abstract":"Origami-inspired structures facilitate the design of compliant and compact robots. However, physical origami robots possess inherent material compliance and mechanical imperfections, presenting challenges in modeling and redundant actuation for accurate control of all degree of freedom (DoF). Herein, a data-driven kinematic modeling approach tailored for physical origami robots to effectively address the inherent compliance is introduced. This approach is applied to a multiloop origami spherical joint, which features a minimalistic design comprising two parallel waterbomb structures. This design allows for the integration of four actuators, thereby enabling full control over the structure's three DoF and its inherent compliance. It is demonstrated that a small dataset is adequate for accurately learning the forward kinematics, which then informs an optimization-based inverse kinematics. Additionally, through trajectory tracking experiments, it is verified that the modeling method is both rapid and accurate, making it suitable for real-time applications. To showcase a practical application, the joint and its models are utilized as a force feedback origami joystick, designed for intuitive drone control. This joystick offers an enhanced control experience and conveys crucial information about collisions and external forces to drone operators. Overall, the data-driven modeling approach introduces a new possibility of designing controllable compliant interfaces.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"7 1","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400217","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143117613","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

Optimized Magnetically Docked Ingestible Capsules for Non-Invasive Refilling of Implantable Devices 用于植入式设备非侵入性填充的优化磁性对接可吞食胶囊

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-17 DOI: 10.1002/aisy.202470053

Hind Al-Haddad, Daniele Guarnera, Izadyar Tamadon, Lorenzo Arrico, Giulia Ballardini, Francesco Mariottini, Alessio Cucini, Simone Ricciardi, Fabio Vistoli, Maria Isabella Rotondo, Daniela Campani, Xuyang Ren, Gastone Ciuti, Benjamin Terry, Veronica Iacovacci, Leonardo Ricotti

{"title":"Optimized Magnetically Docked Ingestible Capsules for Non-Invasive Refilling of Implantable Devices","authors":"Hind Al-Haddad, Daniele Guarnera, Izadyar Tamadon, Lorenzo Arrico, Giulia Ballardini, Francesco Mariottini, Alessio Cucini, Simone Ricciardi, Fabio Vistoli, Maria Isabella Rotondo, Daniela Campani, Xuyang Ren, Gastone Ciuti, Benjamin Terry, Veronica Iacovacci, Leonardo Ricotti","doi":"10.1002/aisy.202470053","DOIUrl":"https://doi.org/10.1002/aisy.202470053","url":null,"abstract":"Magnetically Docked Ingestible Capsules for Non-Invasive Refilling of Implantable Devices\u0000 In article number 2400125, Hind Al-Haddad, Leonardo Ricotti, and co-workers advance implanted drug delivery systems with a non-invasive drug-refilling approach. They employ an ISO 13485-compliant ingestible capsule, two magnetic docking units, and a punching system to ensure safe insulin transfer from the capsule to the implanted reservoir. The digestive tract is exploited as an interface, thus enabling controlled and non-invasive refilling of implanted devices. Validation through ex vivo tests on human tissues, bench tests, and a six-week in vivo study on porcine models confirm the system’s safety and efficacy.\u0000\u0000 <figure>\u0000 <div><picture>\u0000 <source></source></picture>\u0000 </div>\u0000 </figure>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 11","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202470053","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142665069","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

Design and Optimization of a Magnetic Field Generator for Magnetic Particle Imaging with Soft Magnetic Materials 设计和优化用于软磁材料磁粉成像的磁场发生器

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-17 DOI: 10.1002/aisy.202470051

Fynn Foerger, Marija Boberg, Jonas Faltinath, Tobias Knopp, Martin Möddel

引用次数: 0

CAnDOIT: Causal Discovery with Observational and Interventional Data from Time Series

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-17 DOI: 10.1002/aisy.202400181

Luca Castri, Sariah Mghames, Marc Hanheide, Nicola Bellotto

{"title":"CAnDOIT: Causal Discovery with Observational and Interventional Data from Time Series","authors":"Luca Castri, Sariah Mghames, Marc Hanheide, Nicola Bellotto","doi":"10.1002/aisy.202400181","DOIUrl":"https://doi.org/10.1002/aisy.202400181","url":null,"abstract":"The study of cause and effect is of the utmost importance in many branches of science, but also for many practical applications of intelligent systems. In particular, identifying causal relationships in situations that include hidden factors is a major challenge for methods that rely solely on observational data for building causal models. This article proposes CAnDOIT, a causal discovery method to reconstruct causal models using both observational and interventional time-series data. The use of interventional data in the causal analysis is crucial for real-world applications, such as robotics, where the scenario is highly complex and observational data alone are often insufficient to uncover the correct causal structure. Validation of the method is performed initially on randomly generated synthetic models and subsequently on a well-known benchmark for causal structure learning in a robotic manipulation environment. The experiments demonstrate that the approach can effectively handle data from interventions and exploit them to enhance the accuracy of the causal analysis. A Python implementation of CAnDOIT is developed and is publicly available on GitHub: https://github.com/lcastri/causalflow.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 12","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400181","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143252768","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

High-Performance Textile-Based Capacitive Strain Sensors via Enhanced Vapor Phase Polymerization of Pyrrole and Their Application to Machine Learning-Assisted Hand Gesture Recognition 通过增强吡咯气相聚合的高性能纺织品电容式应变传感器及其在机器学习辅助手势识别中的应用

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-17 DOI: 10.1002/aisy.202470050

Pierre Kateb, Alice Fornaciari, Chakaveh Ahmadizadeh, Alexander Shokurov, Fabio Cicoira, Carlo Menon

{"title":"High-Performance Textile-Based Capacitive Strain Sensors via Enhanced Vapor Phase Polymerization of Pyrrole and Their Application to Machine Learning-Assisted Hand Gesture Recognition","authors":"Pierre Kateb, Alice Fornaciari, Chakaveh Ahmadizadeh, Alexander Shokurov, Fabio Cicoira, Carlo Menon","doi":"10.1002/aisy.202470050","DOIUrl":"https://doi.org/10.1002/aisy.202470050","url":null,"abstract":"High-Performance Textile-Based Capacitive Strain Sensors\u0000 In article number 2400292, Alexander Shokurov, Carlo Menon, and co-workers present high-performance textile-based capacitive strain sensors for wearable applications. Through vapor-phase polymerization of pyrrole, enhanced via addition of co-vapor and imidazole, good conductivity and robustness are achieved in a stretchable textile. A new insulation technique using polymer composites provides durability and dielectric coating. Intertwining such fibers together creates a stretchable capacitive sensor. Integrated into a textile glove, sensors precisely capture fine hand motions. A machine learning model classifies 12 gestures with 100% accuracy, showcasing its potential for wearable technology.\u0000\u0000 <figure>\u0000 <div><picture>\u0000 <source></source></picture>\u0000 </div>\u0000 </figure>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 11","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202470050","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142665068","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

Online Linearized Confidence-Weighted Learning on a Budget

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-17 DOI: 10.1002/aisy.202400345

Jacky Chung-Hao Wu, Yu-Shiou Lin, Henry Horng-Shing Lu, Hsueh-Ming Hang

{"title":"Online Linearized Confidence-Weighted Learning on a Budget","authors":"Jacky Chung-Hao Wu, Yu-Shiou Lin, Henry Horng-Shing Lu, Hsueh-Ming Hang","doi":"10.1002/aisy.202400345","DOIUrl":"https://doi.org/10.1002/aisy.202400345","url":null,"abstract":"Online learning aims to solve a sequence of consecutive prediction tasks by leveraging the knowledge gained from previous tasks. Linearized confidence-weighted (LCW) learning is the first online learning algorithm introducing the concept of weight confidence into the prediction model through distributions over weights. It provides the flexibility for weights to update their values at different scales. The kernel trick in machine learning can be applied to LCW for a better prediction performance. However, the kernel-based LCW algorithm is subject to the curse of kernelization which makes it vulnerable to the unlimited growth of the prediction model in runtime and memory consumption. In this study, we present the budgeted LCW (BLCW) algorithm which puts a limit on the growth by a predefined budget with optimization. Consequently, BLCW performs the LCW update and then reduces the information loss by projection. Based on the resource perspective that reinterprets LCW in terms of resources and utilization degrees, we demonstrated that BLCW approximates the kernel-based LCW algorithm. We evaluate four budget maintenance strategies and suggest that the mean removal is the most stable. By various numerical experiments on real datasets, we demonstrate that BLCW performs competitively and effectively when compared to leading budgeted online algorithms.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"7 2","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400345","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143423859","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 Flexible, Architected Soft Robotic Actuator for Motorized Extensional Motion 用于电动伸展运动的灵活、结构化软机器人致动器

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-17 DOI: 10.1002/aisy.202470054

Taekyoung Kim, Pranav Kaarthik, Ryan L. Truby

引用次数: 0

scSEETV-Net: Spatial and Channel Squeeze-Excitation and Edge Attention Guidance V-Shaped Network for Skin Lesion Segmentation

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-11 DOI: 10.1002/aisy.202400438

Hakan Ocal

{"title":"scSEETV-Net: Spatial and Channel Squeeze-Excitation and Edge Attention Guidance V-Shaped Network for Skin Lesion Segmentation","authors":"Hakan Ocal","doi":"10.1002/aisy.202400438","DOIUrl":"https://doi.org/10.1002/aisy.202400438","url":null,"abstract":"Early detection of skin cancer ensures the survival of many cases. There are still challenges in segmenting dermoscopic skin lesion images. Artifacts in the lesion images, such as various dirt, hairs, low contrast, and unclear boundaries, are challenges that affect segmentation accuracy. Convolutional neural networks have brought success in skin lesion segmentation. U-shaped and V-shaped deep learning-based segmentation architectures learn boundary information in the first layers. However, this information becomes weaker in the following layers. Herein, the Edge-aTtention module is added to the V-Net architecture to move edge information to the last layer, and the spatial and channel squeeze-excitation module is added to emphasize high-level features by recalibrating the channel information to learn lesion boundaries better. The scSEETV-Net is supported by fusing the binary cross-entropy, which calculates the loss on a pixel-based, and the focal Twersky loss function, which has significant success in class imbalances. The proposed architecture achieves 0.9212 Jaccard and 0.9552 Dice in the ISIC2016 dataset, 0.8273 Jaccard and 0.8949 Dice in the ISIC2017 dataset, and 0.8070 Jaccard and 0.8831 Dice in the ISIC2018 dataset. Comparative analyses show that the proposed methodology outperforms the state-of-the-art techniques in the literature.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 12","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400438","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143252364","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

Imaging-Based Lensless Polarization-Sensitive Fluid Stream Analyzer for Automated, Label-Free, and Cost-Effective Microplastic Classification

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-11 DOI: 10.1002/aisy.202400235

Fraser Montandon, Fred Nicolls

{"title":"Imaging-Based Lensless Polarization-Sensitive Fluid Stream Analyzer for Automated, Label-Free, and Cost-Effective Microplastic Classification","authors":"Fraser Montandon, Fred Nicolls","doi":"10.1002/aisy.202400235","DOIUrl":"https://doi.org/10.1002/aisy.202400235","url":null,"abstract":"The presence of microplastics in the environment is of significant concern, yet the exact extent of this pollution remains largely unknown. The ocean is of particular interest as the monitoring of microplastics presents a challenge in that in situ fluid stream solutions are not readily available and traditional sampling methods are labor-intensive and costly. This study introduces an imaging-based lensless polarization-sensitive fluid stream analyzer (FSA) for automated, label-free, and cost-effective detection and classification of microplastics. The FSA incorporates digital in-line holography and birefringence computation, enabling quantitative polarization-sensitive imaging and machine-learning-based activities including sample classification. Birefringent textures of synthetic polymers are investigated owing to their optical anisotropy. A microplastic classifier is developed for the FSA and integrated to form an end-to-end workflow capable of sampling fluid streams and determining marine and microplastic particle presence. Cultures of two phytoplankton species form a simplified marine environment for FSA evaluation. The device is tested in a two-class configuration for marine microorganisms and microplastics, as well as a five-class configuration for marine microorganisms and four individual microplastic types (polyethylene, polyethylene terephthalate, polypropylene, and polystyrene). The results demonstrate high classification accuracy, supported by experiments in the simulated marine environment that validate the proposed implementation's efficacy.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 12","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400235","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143252363","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

Low Computational Cost for Multiple Waypoints Trajectory Planning: A Time-Optimal-Based Approach

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-11 DOI: 10.1002/aisy.202400363

Da-hui Lin-Yang, Francisco Pastor, Alfonso J. García-Cerezo

{"title":"Low Computational Cost for Multiple Waypoints Trajectory Planning: A Time-Optimal-Based Approach","authors":"Da-hui Lin-Yang, Francisco Pastor, Alfonso J. García-Cerezo","doi":"10.1002/aisy.202400363","DOIUrl":"https://doi.org/10.1002/aisy.202400363","url":null,"abstract":"In the field of mobile robots, achieving minimum time in executing trajectories is crucial for applications like delivery, inspection, and search and rescue. In this article, a novel time-optimal planner based on optimization methods is introduced. Despite the high computational cost associated with such methods, the solution calculates time-optimal multi-waypoint trajectories, achieving results in the order of milliseconds. The proposed method formulates a time-optimal trajectory using the Pontryagin's maximum principle as a policy. By utilizing a point mass model, the planner generates trajectories that are adaptable to different robot models. The approach incorporates a definition of a search space to guarantee convergence while considering the system limits. Simulation and real-world experiments are performed to validate the feasibility of our method with different configurations. Simulation results compared to a benchmark method demonstrate our approach's superior performance in terms of computational time, achieving near-optimal solutions. In addition, in the real-world experiments, the integration of the method into practical applications is validated.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"7 1","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400363","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143114157","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