Human life is invaluable,and timely efforts are crucial to rescue individuals trapped under debris following an earthquake.To identify opportunities for improving post-earthquake search and rescue(SAR)robotics,we get ...Human life is invaluable,and timely efforts are crucial to rescue individuals trapped under debris following an earthquake.To identify opportunities for improving post-earthquake search and rescue(SAR)robotics,we get insights through four different sources:(i)A literature review of disaster robotics and victim psychology,(ii)A public survey on earthquake awareness and their view of rescue robots,(iii)Semi-structured interviews with first responders,and(iv)Responses from GenAI chatbots which were prompted to assume the role of expert rescuers.The triangulated analysis show that there are challenges in mobility,autonomy,communication,situational awareness,and human-robot collaboration.The public respondents showed high acceptance of robot-assisted rescue and prioritised survivor detection,sensing,and communication as essential functionalities of robots.The experts expressed limitations in current equipment,the need for improved victim localisation,and interest in XR-based training and robot-assisted debris handling.The GenAI chatbots highlighted structural risk assessment,multi-sensor fusion,and supervised autonomy.Therefore,this study identifies critical robot features,outlines multi-modal interaction requirements,and highlights gaps in current SAR practice.These findings offer robot design directions for developing effective,trustworthy SAR robots,which can be integrated to future response disaster-workflows.展开更多
Deep learning has become integral to robotics,particularly in tasks such as robotic grasping,where objects often exhibit diverse shapes,textures,and physical properties.In robotic grasping tasks,due to the diverse cha...Deep learning has become integral to robotics,particularly in tasks such as robotic grasping,where objects often exhibit diverse shapes,textures,and physical properties.In robotic grasping tasks,due to the diverse characteristics of the targets,frequent adjustments to the network architecture and parameters are required to avoid a decrease in model accuracy,which presents a significant challenge for non-experts.Neural Architecture Search(NAS)provides a compelling method through the automated generation of network architectures,enabling the discovery of models that achieve high accuracy through efficient search algorithms.Compared to manually designed networks,NAS methods can significantly reduce design costs,time expenditure,and improve model performance.However,such methods often involve complex topological connections,and these redundant structures can severely reduce computational efficiency.To overcome this challenge,this work puts forward a robotic grasp detection framework founded on NAS.The method automatically designs a lightweight network with high accuracy and low topological complexity,effectively adapting to the target object to generate the optimal grasp pose,thereby significantly improving the success rate of robotic grasping.Additionally,we use Class Activation Mapping(CAM)as an interpretability tool,which captures sensitive information during the perception process through visualized results.The searched model achieved competitive,and in some cases superior,performance on the Cornell and Jacquard public datasets,achieving accuracies of 98.3%and 96.8%,respectively,while sustaining a detection speed of 89 frames per second with only 0.41 million parameters.To further validate its effectiveness beyond benchmark evaluations,we conducted real-world grasping experiments on a UR5 robotic arm,where the model demonstrated reliable performance across diverse objects and high grasp success rates,thereby confirming its practical applicability in robotic manipulation tasks.展开更多
To integrate reasoning and text retrieval, the architecture of a semantic search engine which includes several kinds of queries is proposed, and the semantic search engine Smartch is designed and implemented. Based on...To integrate reasoning and text retrieval, the architecture of a semantic search engine which includes several kinds of queries is proposed, and the semantic search engine Smartch is designed and implemented. Based on a logical reasoning process and a graphic user-defined process, Smartch provides four kinds of search services. They are basic search, concept search, graphic user-defined query and association relationship search. The experimental results show that compared with the traditional search engine, the recall and precision of Smartch are improved. Graphic user-defined queries can accurately locate the information of user needs. Association relationship search can find complicated relationships between concepts. Smartch can perform some intelligent functions based on ontology inference.展开更多
In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Targ...In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Target search in complex water environments has always been a major challenge in the field of underwater robots.To address this problem,this paper proposes a multi-biomimetic robot fish collaborative target search method based on Distributed Model Predictive Control(DMPC).First,we established a bionic robot fish kinematic model and a multi-biomimetic robot fish communication model;second,this paper proposed a distributed model predictive control algorithm based on the distributed search theory framework,so that the bionic robot fish can dynamically adjust their search path according to each other’s position information and search status,avoid repeated coverage or missing areas,and thus improve the search efficiency;third,we conducted simulation experiments based on DMPC,and the results showed that the proposed method has a target search success rate of more than 90%in static targets,dynamic targets,and obstacle environments.Finally,we compared this method with Centralized Model Predictive Control(CMPC)and Random Walk(RW)algorithms.The DMPC approach demonstrates significant advantages,achieving a remarkable target search success rate of 94.17%.These findings comprehensively validate the effectiveness and superiority of the proposed methodology.It can be seen that DMPC can effectively dispatch multiple bionic robot fish to work together to achieve efficient search of vast waters.It can significantly improve the flexibility,scalability,robustness and cooperation efficiency of the system and has broad application prospects.展开更多
Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore,...Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore, combining the training goal of mechanical design, manufacturing and automation in Beijing (Beijing), it is necessary to cultivate new direction and cultivate new growth point for “old” mechanical specialty. And social and economic development has a very important significance.展开更多
Muscle cell-powered biohybrid robots represent a transformative fusion of biological tissue engineering and robotics,offering unprecedented potential for biomedical applications targeted at drug delivery,regenerative ...Muscle cell-powered biohybrid robots represent a transformative fusion of biological tissue engineering and robotics,offering unprecedented potential for biomedical applications targeted at drug delivery,regenerative medicine,bioengineered heart patches,lab-on-a-chip devices,biosensors,and soft surgical tools.This review categorizes the currently available examples and further explores advanced biofabrication techniques that drive the development of biohybrid systems,with a focus on 3D bioprinting,electrospinning,micro/nano patterning,self-assembly,and microfluidic devices.These fabrication strategies facilitate precise cell alignment,enhance electrical and mechanical properties,and enable the seamless integration of biological components with engineered structures.By incorporating both cardiomyocytes and skeletal muscle cells,biohybrid robots achieve controlled actuation,autonomous movement,and adaptability to environmental stimuli.Furthermore,we discuss the latest optimization strategies in biofabrication,addressing key challenges such as scalability,biocompatibility,and functional integration.Biohybrid robots,including swimmers,actuators,and pumps,enable targeted drug delivery,assistive devices,and fluid transport in engineered tissues.Their integration with biological systems advances regenerative medicine,disease modeling,drug screening,and soft robotics.This review provides a comprehensive perspective on the state-of-the-art advancements and potential optimization in the fabrication techniques,paving the way for the next generation of biohybrid robotic systems.展开更多
The multi-robot systems(MRS)exploration and fire searching problem is an important application of mobile robots which require massive computation capability that exceeds the ability of traditional MRS′s.This paper pr...The multi-robot systems(MRS)exploration and fire searching problem is an important application of mobile robots which require massive computation capability that exceeds the ability of traditional MRS′s.This paper propose a cloud-based hybrid decentralized partially observable semi-Markov decision process(HDec-POSMDPs)model.The proposed model is implemented for MRS exploration and fire searching application based on the Internet of things(IoT)cloud robotics framework.In this implementation the heavy and expensive computational tasks are offloaded to the cloud servers.The proposed model achieves a significant improvement in the computation burden of the whole task relative to a traditional MRS.The proposed model is applied to explore and search for fire objects in an unknown environment;using different sets of robots sizes.The preliminary evaluation of this implementation demonstrates that as the parallelism of computational instances increase the delay of new actuation commands which will be decreased,the mean time of task completion is decreased,the number of turns in the path from the start pose cells to the target cells is minimized and the energy consumption for each robot is reduced.展开更多
The meta search engines provide service to the users by dispensing the users' requests to the existing search engines. The existing search engines selected by meta search engine determine the searching quality. Be...The meta search engines provide service to the users by dispensing the users' requests to the existing search engines. The existing search engines selected by meta search engine determine the searching quality. Because the performance of the existing search engines and the users' requests are changed dynamically, it is not favorable for the fixed search engines to optimize the holistic performance of the meta search engine. This paper applies the genetic algorithm (GA) to realize the scheduling strategy of agent manager in our meta search engine, GSE(general search engine), which can simulate the evolution process of living things more lively and more efficiently. By using GA, the combination of search engines can be optimized and hence the holistic performance of GSE can be improved dramatically.展开更多
A new mapping approach for automated ontology mapping using web search engines （such as Google） is presented. Based on lexico-syntactic patterns, the hyponymy relationships between ontology concepts can be obtained ...A new mapping approach for automated ontology mapping using web search engines （such as Google） is presented. Based on lexico-syntactic patterns, the hyponymy relationships between ontology concepts can be obtained from the web by search engines and an initial candidate mapping set consisting of ontology concept pairs is generated. According to the concept hierarchies of ontologies, a set of production rules is proposed to delete the concept pairs inconsistent with the ontology semantics from the initial candidate mapping set and add the concept pairs consistent with the ontology semantics to it. Finally, ontology mappings are chosen from the candidate mapping set automatically with a mapping select rule which is based on mutual information. Experimental results show that the F-measure can reach 75% to 100% and it can effectively accomplish the mapping between ontologies.展开更多
A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot...A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.展开更多
The problem of associating the agricultural market names on web sites with their locations is essential for geographical analysis of the agricultural products. In this paper, an algorithm which employs the administrat...The problem of associating the agricultural market names on web sites with their locations is essential for geographical analysis of the agricultural products. In this paper, an algorithm which employs the administrative ontology and the statistics from the search results were proposed. The experiments with 100 market names collected from web sites were conducted. The experimental results demonstrate that the algorithm proposed obtains satisfactory performance in resolving the problem above, thus the effectiveness of the method is verified.展开更多
An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torc...An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model,both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.展开更多
At present, how to enable Search Engine to construct user personal interest model initially, master user＇s personalized information timely and provide personalized services accurately have become the hotspot in the r...At present, how to enable Search Engine to construct user personal interest model initially, master user＇s personalized information timely and provide personalized services accurately have become the hotspot in the research of Search Engine area. Aiming at the problems of user model＇s construction and combining techniques of manual customization modeling and automatic analytical modeling, a User Interest Model （UIM） is proposed in the paper. On the basis of it, the corresponding establishment and update algorithms of User lnterest Profile （UIP） are presented subsequently. Simulation tests proved that the UIM proposed and corresponding algorithms could enhance the retrieval precision effectively and have superior adaptability.展开更多
An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module ...An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.展开更多
Because the web is huge and web pages are updated frequently, the index maintained by a search engine has to refresh web pages periodically. This is extremely resource consuming because the search engine needs to craw...Because the web is huge and web pages are updated frequently, the index maintained by a search engine has to refresh web pages periodically. This is extremely resource consuming because the search engine needs to crawl the web and download web pages to refresh its index, Based on present technologies of web refreshing, we present a cooperative schema between web server and search engine for maintaining freshness of web repository. The web server provides metadata defined through XML standard to describe web sites. Before updating the web page the crawler visits the meta-data files. If the meta-data indicates that the page is not modified, then the crawler will not update it. So this schema can save bandwidth resource. A primitive model based on the schema is implemented. The cost and efficiency of the schema are analyzed.展开更多
Articular cartilage damage caused by trauma or degenerative pathologies such as osteoarthritis can result in significant pain,mobility issues,and disability.Current surgical treatments have a limited capacity for effi...Articular cartilage damage caused by trauma or degenerative pathologies such as osteoarthritis can result in significant pain,mobility issues,and disability.Current surgical treatments have a limited capacity for efficacious cartilage repair,and long-term patient outcomes are not satisfying.Three-dimensional bioprinting has been used to fabricate biochemical and biophysical environments that aim to recapitulate the native microenvironment and promote tissue regeneration.However,conventional in vitro bioprinting has limitations due to the challenges associated with the fabrication and implantation of bioprinted constructs and their integration with the native cartilage tissue.In situ bioprinting is a novel strategy to directly deliver bioinks to the desired anatomical site and has the potential to overcome major shortcomings associated with conventional bioprinting.In this review,we focus on the new frontier of robotic-assisted in situ bioprinting surgical systems for cartilage regeneration.We outline existing clinical approaches and the utilization of robotic-assisted surgical systems.Handheld and robotic-assisted in situ bioprinting techniques including minimally invasive and non-invasive approaches are defined and presented.Finally,we discuss the challenges and potential future perspectives of in situ bioprinting for cartilage applications.展开更多
As data grows in size,search engines face new challenges in extracting more relevant content for users’searches.As a result,a number of retrieval and ranking algorithms have been employed to ensure that the results a...As data grows in size,search engines face new challenges in extracting more relevant content for users’searches.As a result,a number of retrieval and ranking algorithms have been employed to ensure that the results are relevant to the user’s requirements.Unfortunately,most existing indexes and ranking algo-rithms crawl documents and web pages based on a limited set of criteria designed to meet user expectations,making it impossible to deliver exceptionally accurate results.As a result,this study investigates and analyses how search engines work,as well as the elements that contribute to higher ranks.This paper addresses the issue of bias by proposing a new ranking algorithm based on the PageRank(PR)algorithm,which is one of the most widely used page ranking algorithms We pro-pose weighted PageRank(WPR)algorithms to test the relationship between these various measures.The Weighted Page Rank(WPR)model was used in three dis-tinct trials to compare the rankings of documents and pages based on one or more user preferences criteria.Thefindings of utilizing the Weighted Page Rank model showed that using multiple criteria to rankfinal pages is better than using only one,and that some criteria had a greater impact on ranking results than others.展开更多
An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove ...An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ±1.5 mm, and satisfy the requirement of practical welding project.展开更多
Web search engines are very useful information service tools in the Internet. The current web search engines produce search results relating to the search terms and the actual information collected by them. Since the ...Web search engines are very useful information service tools in the Internet. The current web search engines produce search results relating to the search terms and the actual information collected by them. Since the selections of the search results cannot affect the future ones, they may not cover most people’s interests. In this paper, feedback information produced by the user’s accessing lists will be represented by the rough set and can reconstruct the query string and influence the search results. And thus the search engines can provide self-adaptability. Key words WWW - search engine - query reconstruction - feedback CLC number TP 311. 135.4 Foundation item: Supported by the National Natural Science Fundation of China (60373066). National Grand Fundamental Research 973 Program of China (2002CB31200). Opening Foundation of State Key Laboratory of Software Engineering in Wuhan University, Opening Foundation of Jiangsu Key Laboratory of Computer Information Processing Technology in Soochow UniversityBiography: ZHANG Wei-feng (1975-), male, Ph.D. research direction: artificial intelligence, search engine, data mining, network language.展开更多
Space robots possess unique distinguishing features unlike general robots on earth, due to the particular environments in space. The developing of various practical space robots promoting the improvement of space scie...Space robots possess unique distinguishing features unlike general robots on earth, due to the particular environments in space. The developing of various practical space robots promoting the improvement of space science and technology is a complex man-machine-environment engineering problem. This paper analyses from the systems engineering viewpoint the space robot system in the scope of the architecture of robotics discipline, space environment characteristics, man-machine-environment system of space robots, the general methodology of project systems engineering and the process of space robot systems engineering.展开更多
文摘Human life is invaluable,and timely efforts are crucial to rescue individuals trapped under debris following an earthquake.To identify opportunities for improving post-earthquake search and rescue(SAR)robotics,we get insights through four different sources:(i)A literature review of disaster robotics and victim psychology,(ii)A public survey on earthquake awareness and their view of rescue robots,(iii)Semi-structured interviews with first responders,and(iv)Responses from GenAI chatbots which were prompted to assume the role of expert rescuers.The triangulated analysis show that there are challenges in mobility,autonomy,communication,situational awareness,and human-robot collaboration.The public respondents showed high acceptance of robot-assisted rescue and prioritised survivor detection,sensing,and communication as essential functionalities of robots.The experts expressed limitations in current equipment,the need for improved victim localisation,and interest in XR-based training and robot-assisted debris handling.The GenAI chatbots highlighted structural risk assessment,multi-sensor fusion,and supervised autonomy.Therefore,this study identifies critical robot features,outlines multi-modal interaction requirements,and highlights gaps in current SAR practice.These findings offer robot design directions for developing effective,trustworthy SAR robots,which can be integrated to future response disaster-workflows.
基金funded by Guangdong Basic and Applied Basic Research Foundation(2023B1515120064)National Natural Science Foundation of China(62273097).
文摘Deep learning has become integral to robotics,particularly in tasks such as robotic grasping,where objects often exhibit diverse shapes,textures,and physical properties.In robotic grasping tasks,due to the diverse characteristics of the targets,frequent adjustments to the network architecture and parameters are required to avoid a decrease in model accuracy,which presents a significant challenge for non-experts.Neural Architecture Search(NAS)provides a compelling method through the automated generation of network architectures,enabling the discovery of models that achieve high accuracy through efficient search algorithms.Compared to manually designed networks,NAS methods can significantly reduce design costs,time expenditure,and improve model performance.However,such methods often involve complex topological connections,and these redundant structures can severely reduce computational efficiency.To overcome this challenge,this work puts forward a robotic grasp detection framework founded on NAS.The method automatically designs a lightweight network with high accuracy and low topological complexity,effectively adapting to the target object to generate the optimal grasp pose,thereby significantly improving the success rate of robotic grasping.Additionally,we use Class Activation Mapping(CAM)as an interpretability tool,which captures sensitive information during the perception process through visualized results.The searched model achieved competitive,and in some cases superior,performance on the Cornell and Jacquard public datasets,achieving accuracies of 98.3%and 96.8%,respectively,while sustaining a detection speed of 89 frames per second with only 0.41 million parameters.To further validate its effectiveness beyond benchmark evaluations,we conducted real-world grasping experiments on a UR5 robotic arm,where the model demonstrated reliable performance across diverse objects and high grasp success rates,thereby confirming its practical applicability in robotic manipulation tasks.
基金The National Natural Science Foundation of China(No60403027)
文摘To integrate reasoning and text retrieval, the architecture of a semantic search engine which includes several kinds of queries is proposed, and the semantic search engine Smartch is designed and implemented. Based on a logical reasoning process and a graphic user-defined process, Smartch provides four kinds of search services. They are basic search, concept search, graphic user-defined query and association relationship search. The experimental results show that compared with the traditional search engine, the recall and precision of Smartch are improved. Graphic user-defined queries can accurately locate the information of user needs. Association relationship search can find complicated relationships between concepts. Smartch can perform some intelligent functions based on ontology inference.
基金funded by National Natural Science Foundation of China(Nos.62473236,62073196).
文摘In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Target search in complex water environments has always been a major challenge in the field of underwater robots.To address this problem,this paper proposes a multi-biomimetic robot fish collaborative target search method based on Distributed Model Predictive Control(DMPC).First,we established a bionic robot fish kinematic model and a multi-biomimetic robot fish communication model;second,this paper proposed a distributed model predictive control algorithm based on the distributed search theory framework,so that the bionic robot fish can dynamically adjust their search path according to each other’s position information and search status,avoid repeated coverage or missing areas,and thus improve the search efficiency;third,we conducted simulation experiments based on DMPC,and the results showed that the proposed method has a target search success rate of more than 90%in static targets,dynamic targets,and obstacle environments.Finally,we compared this method with Centralized Model Predictive Control(CMPC)and Random Walk(RW)algorithms.The DMPC approach demonstrates significant advantages,achieving a remarkable target search success rate of 94.17%.These findings comprehensively validate the effectiveness and superiority of the proposed methodology.It can be seen that DMPC can effectively dispatch multiple bionic robot fish to work together to achieve efficient search of vast waters.It can significantly improve the flexibility,scalability,robustness and cooperation efficiency of the system and has broad application prospects.
文摘Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore, combining the training goal of mechanical design, manufacturing and automation in Beijing (Beijing), it is necessary to cultivate new direction and cultivate new growth point for “old” mechanical specialty. And social and economic development has a very important significance.
基金funded by the National Institutes of Health(R01AR077132)AHA collaborative award(944227)supported by Marie-Curie post-doctoral fellowship awarded by European Commission(GAP-101109659)。
文摘Muscle cell-powered biohybrid robots represent a transformative fusion of biological tissue engineering and robotics,offering unprecedented potential for biomedical applications targeted at drug delivery,regenerative medicine,bioengineered heart patches,lab-on-a-chip devices,biosensors,and soft surgical tools.This review categorizes the currently available examples and further explores advanced biofabrication techniques that drive the development of biohybrid systems,with a focus on 3D bioprinting,electrospinning,micro/nano patterning,self-assembly,and microfluidic devices.These fabrication strategies facilitate precise cell alignment,enhance electrical and mechanical properties,and enable the seamless integration of biological components with engineered structures.By incorporating both cardiomyocytes and skeletal muscle cells,biohybrid robots achieve controlled actuation,autonomous movement,and adaptability to environmental stimuli.Furthermore,we discuss the latest optimization strategies in biofabrication,addressing key challenges such as scalability,biocompatibility,and functional integration.Biohybrid robots,including swimmers,actuators,and pumps,enable targeted drug delivery,assistive devices,and fluid transport in engineered tissues.Their integration with biological systems advances regenerative medicine,disease modeling,drug screening,and soft robotics.This review provides a comprehensive perspective on the state-of-the-art advancements and potential optimization in the fabrication techniques,paving the way for the next generation of biohybrid robotic systems.
基金Corresponding au-thor:Ayman El Shenawy received the Ph.D.degree in systems and computer engineer-ing from Al-Azhar University,Egypt in 2013.He is currently working as a lecturer at Systems and Computers Engineering Department,Faculty of Engineering Al-Azhar University,Egypt.He already de-veloped some breakthrough research in the mentioned areas.He made significant con-tributions to the stated research fields.His research interests include artificial intelligent methods,robotics and machine learning.E-mail:eaymanelshenawy@azhar.edu.eg ORCID iD:0000-0002-1309-644。
文摘The multi-robot systems(MRS)exploration and fire searching problem is an important application of mobile robots which require massive computation capability that exceeds the ability of traditional MRS′s.This paper propose a cloud-based hybrid decentralized partially observable semi-Markov decision process(HDec-POSMDPs)model.The proposed model is implemented for MRS exploration and fire searching application based on the Internet of things(IoT)cloud robotics framework.In this implementation the heavy and expensive computational tasks are offloaded to the cloud servers.The proposed model achieves a significant improvement in the computation burden of the whole task relative to a traditional MRS.The proposed model is applied to explore and search for fire objects in an unknown environment;using different sets of robots sizes.The preliminary evaluation of this implementation demonstrates that as the parallelism of computational instances increase the delay of new actuation commands which will be decreased,the mean time of task completion is decreased,the number of turns in the path from the start pose cells to the target cells is minimized and the energy consumption for each robot is reduced.
基金Supported in part by the National Natural Science F oundation of China(NSFC) (6 0 0 730 12 )
文摘The meta search engines provide service to the users by dispensing the users' requests to the existing search engines. The existing search engines selected by meta search engine determine the searching quality. Because the performance of the existing search engines and the users' requests are changed dynamically, it is not favorable for the fixed search engines to optimize the holistic performance of the meta search engine. This paper applies the genetic algorithm (GA) to realize the scheduling strategy of agent manager in our meta search engine, GSE(general search engine), which can simulate the evolution process of living things more lively and more efficiently. By using GA, the combination of search engines can be optimized and hence the holistic performance of GSE can be improved dramatically.
基金The National Natural Science Foundation of China(No60425206,90412003)the Foundation of Excellent Doctoral Dis-sertation of Southeast University (NoYBJJ0502)
文摘A new mapping approach for automated ontology mapping using web search engines （such as Google） is presented. Based on lexico-syntactic patterns, the hyponymy relationships between ontology concepts can be obtained from the web by search engines and an initial candidate mapping set consisting of ontology concept pairs is generated. According to the concept hierarchies of ontologies, a set of production rules is proposed to delete the concept pairs inconsistent with the ontology semantics from the initial candidate mapping set and add the concept pairs consistent with the ontology semantics to it. Finally, ontology mappings are chosen from the candidate mapping set automatically with a mapping select rule which is based on mutual information. Experimental results show that the F-measure can reach 75% to 100% and it can effectively accomplish the mapping between ontologies.
基金National Natural Science Foundation of China(No. 60375029)National Hi-tech Research and Development Program of China(863 Program,No.2006AA04Z254)
文摘A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.
基金supported by the Knowledge Innovation Program of the Chinese Academy of Sciences
文摘The problem of associating the agricultural market names on web sites with their locations is essential for geographical analysis of the agricultural products. In this paper, an algorithm which employs the administrative ontology and the statistics from the search results were proposed. The experiments with 100 market names collected from web sites were conducted. The experimental results demonstrate that the algorithm proposed obtains satisfactory performance in resolving the problem above, thus the effectiveness of the method is verified.
基金the National High Technology Research and Development Program(863) of China(No.2009AAA042221)Shanghai Sciences&Technology Committee(No.11111100302)
文摘An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model,both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.
基金Supported by the National Natural Science Foundation of China (50674086)the Doctoral Foundation of Ministry of Education of China (20060290508)the Youth Scientific Research Foundation of CUMT (0D060125)
文摘At present, how to enable Search Engine to construct user personal interest model initially, master user＇s personalized information timely and provide personalized services accurately have become the hotspot in the research of Search Engine area. Aiming at the problems of user model＇s construction and combining techniques of manual customization modeling and automatic analytical modeling, a User Interest Model （UIM） is proposed in the paper. On the basis of it, the corresponding establishment and update algorithms of User lnterest Profile （UIP） are presented subsequently. Simulation tests proved that the UIM proposed and corresponding algorithms could enhance the retrieval precision effectively and have superior adaptability.
基金Projects(61573213,61473174,61473179)supported by the National Natural Science Foundation of ChinaProjects(ZR2015PF009,ZR2014FM007)supported by the Natural Science Foundation of Shandong Province,China+1 种基金Project(2014GGX103038)supported by the Shandong Province Science and Technology Development Program,ChinaProject(2014ZZCX04302)supported by the Special Technological Program of Transformation of Initiatively Innovative Achievements in Shandong Province,China
文摘An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.
基金Supported by the National Natural Science Funda-tion of China (60403027)
文摘Because the web is huge and web pages are updated frequently, the index maintained by a search engine has to refresh web pages periodically. This is extremely resource consuming because the search engine needs to crawl the web and download web pages to refresh its index, Based on present technologies of web refreshing, we present a cooperative schema between web server and search engine for maintaining freshness of web repository. The web server provides metadata defined through XML standard to describe web sites. Before updating the web page the crawler visits the meta-data files. If the meta-data indicates that the page is not modified, then the crawler will not update it. So this schema can save bandwidth resource. A primitive model based on the schema is implemented. The cost and efficiency of the schema are analyzed.
基金the funding provided by the United Kingdom(UK)Engineering and Physical Sciences Research Council(EPSRC)Doctoral Prize Fellowship(EP/R513131/1)。
文摘Articular cartilage damage caused by trauma or degenerative pathologies such as osteoarthritis can result in significant pain,mobility issues,and disability.Current surgical treatments have a limited capacity for efficacious cartilage repair,and long-term patient outcomes are not satisfying.Three-dimensional bioprinting has been used to fabricate biochemical and biophysical environments that aim to recapitulate the native microenvironment and promote tissue regeneration.However,conventional in vitro bioprinting has limitations due to the challenges associated with the fabrication and implantation of bioprinted constructs and their integration with the native cartilage tissue.In situ bioprinting is a novel strategy to directly deliver bioinks to the desired anatomical site and has the potential to overcome major shortcomings associated with conventional bioprinting.In this review,we focus on the new frontier of robotic-assisted in situ bioprinting surgical systems for cartilage regeneration.We outline existing clinical approaches and the utilization of robotic-assisted surgical systems.Handheld and robotic-assisted in situ bioprinting techniques including minimally invasive and non-invasive approaches are defined and presented.Finally,we discuss the challenges and potential future perspectives of in situ bioprinting for cartilage applications.
文摘As data grows in size,search engines face new challenges in extracting more relevant content for users’searches.As a result,a number of retrieval and ranking algorithms have been employed to ensure that the results are relevant to the user’s requirements.Unfortunately,most existing indexes and ranking algo-rithms crawl documents and web pages based on a limited set of criteria designed to meet user expectations,making it impossible to deliver exceptionally accurate results.As a result,this study investigates and analyses how search engines work,as well as the elements that contribute to higher ranks.This paper addresses the issue of bias by proposing a new ranking algorithm based on the PageRank(PR)algorithm,which is one of the most widely used page ranking algorithms We pro-pose weighted PageRank(WPR)algorithms to test the relationship between these various measures.The Weighted Page Rank(WPR)model was used in three dis-tinct trials to compare the rankings of documents and pages based on one or more user preferences criteria.Thefindings of utilizing the Weighted Page Rank model showed that using multiple criteria to rankfinal pages is better than using only one,and that some criteria had a greater impact on ranking results than others.
基金This project is supported by Program of International Science and Technology Cooperation(No.2004 DFA02400).
文摘An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ±1.5 mm, and satisfy the requirement of practical welding project.
文摘Web search engines are very useful information service tools in the Internet. The current web search engines produce search results relating to the search terms and the actual information collected by them. Since the selections of the search results cannot affect the future ones, they may not cover most people’s interests. In this paper, feedback information produced by the user’s accessing lists will be represented by the rough set and can reconstruct the query string and influence the search results. And thus the search engines can provide self-adaptability. Key words WWW - search engine - query reconstruction - feedback CLC number TP 311. 135.4 Foundation item: Supported by the National Natural Science Fundation of China (60373066). National Grand Fundamental Research 973 Program of China (2002CB31200). Opening Foundation of State Key Laboratory of Software Engineering in Wuhan University, Opening Foundation of Jiangsu Key Laboratory of Computer Information Processing Technology in Soochow UniversityBiography: ZHANG Wei-feng (1975-), male, Ph.D. research direction: artificial intelligence, search engine, data mining, network language.
文摘Space robots possess unique distinguishing features unlike general robots on earth, due to the particular environments in space. The developing of various practical space robots promoting the improvement of space science and technology is a complex man-machine-environment engineering problem. This paper analyses from the systems engineering viewpoint the space robot system in the scope of the architecture of robotics discipline, space environment characteristics, man-machine-environment system of space robots, the general methodology of project systems engineering and the process of space robot systems engineering.
