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Wang Yu: Underwater Bionic Robot for Autonomous Operation (2022-6-22)

27 Jul 2022

Keywords：仿生机器人

From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Strategic Study of CAE 2000, Volume 2, Issue 12, Pages 29-33

Abstract:

A clear definition and a very fine classification of the unmanned undersea vehicles are given in this paper. Following a brief introduction of the advances on the unmanned undersea vehicles the paper points out that the autonomous underwater vehicles at present is a hot spot in the research realm of the unmanned undersea vehicles. This paper describes the research and development achievements pertinent to the unmanned undersea vehicles in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences with the cooperation of organizations home and abroad in the last two decades. SIA started to be engaged in the research and development of the remotely operated tethered vehicles in the end of 1970's. This paper gives a wide introduction of the critical characteristics and technical descriptions of the first remotely operated tethered vehicle “HR- 01” in China, the first autonomous underwater vehicle “Explorer” and the autonomous underwater vehicle CR-01 (6 000 m).

Keywords： undersea vehicles ROV AUV ocean engineer ocean resources exploration

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A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery Article

Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu

Engineering 2015, Volume 1, Issue 1, Pages 73-78 doi: 10.15302/J-ENG-2015011

Abstract:

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

Keywords： surgical robot flexible manipulator tendon-driven minimally invasive robotic surgery

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A Description Model for Dynamic Evolution of Robot Team Formation

Li Shuqin,Cheng Xianyi,Tang Zhenmin,Yang Jingyu

Strategic Study of CAE 2006, Volume 8, Issue 4, Pages 28-31

Abstract:

At present, there are some conception confusions about organization, team and group, and also team formation is still in qualitative analysis phase in multi-robot field. The paper, using Markov course and evolution calculation theory for reference, researches the difference between team and organization in conception and the formation mechanism of robot team from cooperative entity layer and ability layer. This paper proposes and describes a dynamic evolution model about robot team formation. There hasn't been a similar model at home and abroad now. The model can not only wholly describe robot team, but also quantitatively describe dynamical evolution course of the team formation.

Keywords： robot robot team dynamical evolution

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Selective and Independent Control of Microrobots in a Magnetic Field: A Review Review

Min Wang, Tianyi Wu, Rui Liu, Zhuoran Zhang, Jun Liu

Engineering 2023, Volume 24, Issue 5, Pages 21-38 doi: 10.1016/j.eng.2023.02.011

Abstract:

Due to the unique advantages of untethered connections and a high level of safety, magnetic actuation is a commonly used technique in microrobotics for propelling microswimmers, manipulating fluidics, and navigating medical devices. However, the microrobots or actuated targets are exposed to identical and homogeneous driving magnetic fields, which makes it challenging to selectively control a single robot or a specific group among multiple targets. This paper reviews recent advances in selective and independent control for multi-microrobot or multi-joint microrobot systems driven by magnetic fields. These selective and independent control approaches decode the global magnetic field into specific configurations for the individualized actuation of multiple microrobots. The methods include applying distinct properties for each microrobot or creating heterogeneous magnetic fields at different locations. Independent control of the selected targets enables the effective cooperation of multiple microrobots to accomplish more complicated operations. In this review, we provide a unique perspective to explain how to manipulate individual microrobots to achieve a high level of group intelligence on a small scale, which could help accelerate the translational development of microrobotic technology for real-life applications.

Keywords： Microrobot Magnetic microrobot Independent control Selective control Microrobotic manipulation

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Development and Future Challenges of Bio-Syncretic Robots Review

Chuang Zhang,Wenxue Wang,Ning Xi,Yuechao Wang,Lianqing Liu

Engineering 2018, Volume 4, Issue 4, Pages 452-463 doi: 10.1016/j.eng.2018.07.005

Abstract:

Bio-syncretic robots consisting of both living biological materials and non-living systems possess desirable attributes such as high energy efficiency, intrinsic safety, high sensitivity, and self-repairing capabilities. Compared with living biological materials or non-living traditional robots based on electromechanical systems, the combined system of a bio-syncretic robot holds many advantages. Therefore, developing bio-syncretic robots has been a topic of great interest, and significant progress has been achieved in this area over the past decade. This review systematically summarizes the development of bio-syncretic robots. First, potential trends in the development of bio-syncretic robots are discussed. Next, the current performance of bio-syncretic robots, including simple movement and controllability of velocity and direction, is reviewed. The living biological materials and non-living materials that are used in bio-syncretic robots, and the corresponding fabrication methods, are then discussed. In addition, recently developed control methods for bio-syncretic robots, including physical and chemical control methods, are described. Finally, challenges in the development of bio-syncretic robots are discussed from multiple viewpoints, including sensing and intelligence, living and non-living materials, control approaches, and information technology.

Keywords： Bio-syncretic robot Hybrid robot Bio-actuator Cardiomyocyte Muscle cells

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Shen Yajing: Bionic Micro Robots and Systems for Biomedical Engineering (2022-6-22)

27 Jul 2022

Keywords：仿生机器人

Cross-industry standard test method developments: from manufacturing to wearable robots Review

Roger BOSTELMAN, Elena MESSINA, Sebti FOUFOU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 10, Pages 1447-1457 doi: 10.1631/FITEE.1601316

Abstract: Manufacturing robotics is moving towards human-robot collaboration with light duty robots being used side by side with workers. Similarly, exoskeletons that are both passive (spring and counterbalance forces) and active (motor forces) are worn by humans and used to move body parts. Exoskeletons are also called ‘wearable robots’ when they are actively controlled using a computer and integrated sensing. Safety standards now allow, through risk assessment, both manufacturing and wearable robots to be used. However, performance standards for both systems are still lacking. Ongoing research to develop standard test methods to assess the performance of manufacturing robots and emergency response robots can inspire similar test methods for exoskeletons. This paper describes recent research on performance standards for manufacturing robots as well as search and rescue robots. It also discusses how the performance of wearable robots could benefit from using the same test methods.

Keywords： Wearable robot Exoskeleton Cross-industry Artifact Standards Grasping

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Shi Qing: Research on Intelligent Bionic Robot Mouse for Animal Behavior Interaction (2022-6-22)

26 Jul 2022

Keywords：仿生机器人

Development Strategies for Artificial Intelligence and Robotics in Medicine

Han Xiaoguang, Zhu Xiaolong, Jiang Yuzhen, He Da, Liu Wenyong,Duan Xingguang, Tian Wei

Strategic Study of CAE 2023, Volume 25, Issue 5, Pages 43-54 doi: 10.15302/J-SSCAE-2023.07.031

Abstract:

China is facing significant challenges in healthcare owing to a severe aging population, continuously increasing healthcare demands, and uneven distribution of healthcare resources. The application of artificial intelligence (AI) and robotics in the human medical and health field can provide innovative support in theory and diagnosis for surgeons, researchers, and patients, contributing to improved clinical outcomes, reduced medical costs, and the promotion of balanced distribution of healthcare resources. This paper starts from four aspects: surgical robots, rehabilitation and nursing robots, assisted telemedicine, and medical AI, extracts the typical applications of AI and robots in the medical field, assesses the current status of AI and robotics in medicine, and evaluates pertinent policies, laws, and regulatory frameworks. Based on the understanding of the challenges faced in the development of AI and robotics in medicine in China, it delineates phased development goals and identifies future key directions: advancing toward differentiated, miniaturized, and intelligent surgical robotics; emphasizing patient-centered rehabilitation and nursing robotics; achieving multi-tasking and high situational awareness in assisted telemedicine; and promoting medical AI for healthcare innovation. This paper suggests determining promising research directions for surgical robotics, promoting domestic production of core components, exploring commercially viable models that align with national conditions, expanding the coverage of product applications, focusing on the development of specialized talent pools, implementing technology innovation driven by clinical demands, and strengthening regulations to reduce medical accidents and safeguard data privacy. These measures are expected to foster high-quality development of AI and robotics in medicine in China.

Keywords： smart healthcare artificial intelligence surgical robotics rehabilitation and nursing robotics assisted telemedicine

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The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Strategic Study of CAE 2003, Volume 5, Issue 5, Pages 70-75

Abstract:

An obstacle avoidance strategy for mobile robot is presented based on obstacle position and size information. Furthermore, rational robot paths in obstacle avoidance are discussed in detail, which leads to the final important result of optimal path for mobile robot to avoid an obstacle. Simple as the results are, they have been shown by simulations te be effective and convenient in implementation. A good application prospect of the result can thus be expected.

Keywords： mobile robot ultrasonic sensor obstacle avoidance path planning optimal path

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Editorial Overview: Advances in Robotic Technologies

Tianran Wang

Engineering 2018, Volume 4, Issue 4, Pages 433-434 doi: 10.1016/j.eng.2018.07.016

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KeJia: towards an autonomous service robotwith tolerance of unexpected environmental changes Special Feature on Intelligent Robats

Wei SHUAI, Xiao-ping CHEN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3, Pages 307-317 doi: 10.1631/FITEE.1900096

Abstract:

KeJia is a domestic service robot, consisting of a mobile base, an arm, two cameras, and a set of software components for perception, manipulation, natural language understanding, motion and task planning, and decision making. With on-line running of these functions, a robot can adapt to dynamic environments which may have unexpected changes. In this paper, we propose a novel hierarchical method which combines motion planning with a neural network, so that the robot can tolerate errors from sensors, wear of parts, and human disturbances during motion execution. We evaluate our work on KeJia that cooks popcorn using a microwave oven, where humans try to disturb KeJia during the operation.

Keywords： Robot Task planning Manipulation

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Personalizing a Service Robot by Learning Human Habits from Behavioral Footprints Article

Kun Li, Max Q.-H. Meng

Engineering 2015, Volume 1, Issue 1, Pages 79-84 doi: 10.15302/J-ENG-2015024

Abstract:

For a domestic personal robot, personalized services are as important as predesigned tasks, because the robot needs to adjust the home state based on the operator's habits. An operator's habits are composed of cues, behaviors, and rewards. This article introduces behavioral footprints to describe the operator's behaviors in a house, and applies the inverse reinforcement learning technique to extract the operator's habits, represented by a reward function. We implemented the proposed approach with a mobile robot on indoor temperature adjustment, and compared this approach with a baseline method that recorded all the cues and behaviors of the operator. The result shows that the proposed approach allows the robot to reveal the operator's habits accurately and adjust the environment state accordingly.

Keywords： personalized robot habit learning behavioral footprints

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Research on Mobile Robots Motion Planning: A Survey

Liu Huajun,Yang Jingyu,Lu Jianfeng,Tang Zhenmin,Zhao Chunxia,Cheng Weiming

Strategic Study of CAE 2006, Volume 8, Issue 1, Pages 85-94

Abstract:

Mobile robots motion planning is one of the key technologies in the robot navigation. During the past 40 years of mobile robot development, lots of planning algorithms were proposed. Because of the tremendous difference among environment models and planning methods, it is difficult to compare them experimentally. This survey reviewed the classical planning algorithms in the history of robot development and presented a set of criteria of planners and the formal description of the problem of planning. The paper described each algorithm's principle or main technology in detail and classified the algorithms based on environment model and search strategy. They are classified into four categories, that is, planners based on geometry construction of free spaces, forward graph search algorithms, random sampling-based motion planning algorithms and intelligent planners. Last, The paper compared and summarized their performance and gave an outlook to the future research of the mobile robots motion planning.

Keywords： mobile robot motion planning robot navigation geometry construction heuristic search random sampling artificial intelligence