Article
Chemistry, Analytical
Seyeong Im, Sungjun Kim, Joongho Yun, Jaekwang Nam
Summary: This paper proposes a novel compact magnetic navigation system, C-Mag, that consists of two electromagnets and a robotic arm for manipulating a magnetic capsule in a large 3-dimensional space. The C-Mag was optimized to generate a maximum magnetic field of 18.65 mT and successfully demonstrated effective manipulation of the magnetic capsule. This study is expected to contribute to the further development of magnetic navigation systems for the treatment of gastrointestinal problems.
Article
Automation & Control Systems
Lidong Yang, Mengmeng Sun, Moqiu Zhang, Li Zhang
Summary: In this work, a soft ferrofluid robot (FR) is studied, which is controlled by dynamic magnetic fields to achieve rolling, wobbling, oscillating, and dragging motion modes. The aim is to provide more adaptable motion modes for the robot and reduce the complexity of the magnetic actuation system.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Chemistry, Multidisciplinary
Pengchao Zhao, Fuyang Qu, Hao Fu, Jianyang Zhao, Jiaxin Guo, Jiankun Xu, Yi-Ping Ho, Michael K. Chan, Liming Bian
Summary: Developing magnetic ultrasoft robots requires materials with excessive deformability, responsive actuation, and rapid adaptability, which are difficult to achieve with current soft polymeric materials. We have developed a magnetically actuatable and water immiscible coacervate liquid robot based on magnetic core-shell nanoparticles. This millimeter-sized liquid robot can remain stable under changing conditions, release loaded cargoes on demand, squeeze through capillary networks within seconds, and achieve intravascular targeting guided by a magnetic field. This coacervate-based liquid robot represents a distinct design strategy for high-performance ultrasoft robots in biomedicine.
JOURNAL OF THE AMERICAN CHEMICAL SOCIETY
(2023)
Article
Environmental Sciences
Wenju Mao, Heng Liu, Wei Hao, Fuzeng Yang, Zhijie Liu
Summary: Our research focuses on the development of an autonomous robotic navigation system for orchard harvesting. The system uses a dual master-slave mode with a navigation tractor orchard transport robot as the master and a navigation orchard picking robot as the slave. By utilizing a global positioning system (GNSS) and various algorithms, the system is able to switch navigation modes and track waypoints effectively. Experimental results show that the system meets the communication requirements in the orchard and can achieve repeated stops and joint harvesting.
Article
Robotics
Adriano M. C. Rezende, Vinicius M. Goncalves, Luciano C. A. Pimenta
Summary: This work presents a methodology for computing an artificial time-varying vector field in $n$ dimensions that defines trajectories converging to a desired curve. The methodology is validated through convergence proofs and the demonstration of ultimate bounds in the presence of bounded disturbances. Simulations and experiments with a quadrotor are presented to validate the methodology.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Computer Science, Information Systems
Silvia Guillen-Ruiz, Juan Pedro Bandera, Alejandro Hidalgo-Paniagua, Antonio Bandera
Summary: In recent years, there has been growing commercial and research interest in service robots operating in everyday environments. These devices are expected to autonomously navigate in crowded environments while taking into account movement efficiency, safety, and social acceptability. Incorporating socially aware criteria into traditional path planning modules to react to human behavior without causing discomfort presents a complex challenge. This review explores approaches to socially aware navigation and categorizes them based on the strategies adopted by robots to manage interaction or cooperation with humans.
Article
Engineering, Electrical & Electronic
Lingling Zheng, Shuxiang Guo, Zixu Wang, Takashi Tamiya
Summary: This paper introduces a novel single-function design concept for capsule robots, separating diagnosis and treatment functions to improve efficiency. By proposing a docking-separation method, effective docking and rapid separation of capsule robots are achieved, increasing coverage of the entire intestinal tract.
IEEE SENSORS JOURNAL
(2021)
Article
Computer Science, Artificial Intelligence
Linhai Xie, Yishu Miao, Sen Wang, Phil Blunsom, Zhihua Wang, Changhao Chen, Andrew Markham, Niki Trigoni
Summary: This paper presents a new framework for reinforcement learning that incorporates a stochastic switch to address high variance issues. Experimental results demonstrate that with stochastic guidance, DDPG navigation policies can be trained effectively and achieve significantly better performance compared to state-of-the-art baseline models.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2021)
Article
Computer Science, Artificial Intelligence
Xuesu Xiao, Bo Liu, Garrett Warnell, Peter Stone
Summary: Moving in complex environments is crucial for intelligent mobile robots, and researchers and engineers have been dedicated to developing navigation systems to achieve this capability. Recently, there has been a growing interest in applying machine learning techniques, especially deep learning, for motion planning and control in mobile robot navigation. However, there hasn't been much direct comparison between the classical and emerging paradigms in this field. This article surveys recent works that utilize machine learning within the context of classical navigation systems, categorizes them, and identifies common challenges and promising future directions.
Article
Engineering, Multidisciplinary
Yong Hun Kim, Hak Ju Kim, Joo Han Lee, San Hee Kang, Eung Ju Kim, Jin Woo Song
Summary: This paper presents a new magnetic map-matching algorithm based on sequential batch fusion, which allows for real-time computation and more stable indoor localization of mobile robots. The algorithm addresses the limitations of conventional magnetic map-matching localization, such as the inability to conduct real-time navigation using a batch process and the occurrence of navigation failures or significant localization errors due to magnetic field distortion. Through weight convergence and magnetic field similarity, the proposed algorithm achieves measurement updates and demonstrates superior performance compared to conventional methods, with a position error of only 1 m in a path where the conventional method fails. As a result, it offers a cost-effective alternative to other sensor-based indoor navigation systems.
Article
Engineering, Electrical & Electronic
Jiaoying Jiang, Zixin Que, Kok-Meng Lee, Jingjing Ji
Summary: This article introduces a multi-DOF motion sensing system using a permanent magnet and a magnetic tensor sensor. The system measures the relative position and orientation of the magnet in a 3-D space. The design incorporates redundant differential measurements and a fully connected artificial neural network to improve accuracy.
IEEE SENSORS JOURNAL
(2023)
Article
Robotics
Li Fan, Jianchang Liu, Wenle Zhang, Peng Xu
Summary: This paper introduces a conformal navigation transformation method for collision-free navigation of robots in complex environments. By using navigation functions and the proposed transformation, feedback controllers for robot motion control are derived, and an iterative method is proposed to handle navigation problems in multiply-connected workspaces.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Automation & Control Systems
Wonseo Lee, Jaekwang Nam, Jongyul Kim, Eunsoo Jung, Nahyun Kim, Gunhee Jang
Summary: A multifunctional magnetic catheter robot (MCR) is proposed for treating occlusive vascular disease by generating steering, tunneling, and stent delivery motions using external magnetic fields. The MCR is manipulated remotely and has novel structures with magnetic joints and tension springs for selective stent delivery. Experimental verification and in vitro testing demonstrate the effectiveness of the MCR for treating occlusive vascular disease.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Acoustics
Xianmei Zhang, Fan Li, Chenghui Wang, Jianzhong Guo, Runyang Mo, Jing Hu, Shi Chen, Jiaxin He, Honghan Liu
Summary: This study simplified the growth process of a gas nucleus in a micro-cavity and considered the full confinement effect of the surrounding medium. The numerical results showed that the initial position of the gas nucleus, cavity size, and properties of the surrounding medium have significant impacts on the nucleation time, radial oscillation, and translational motion of the cavitation bubble.
ULTRASONICS SONOCHEMISTRY
(2022)
Article
Automation & Control Systems
Jia Guo, Dongyu Li, Bo He, Shuzhi Sam Ge
Summary: In this article, an intelligent collaborative system for robotic navigation and control (CNaC) governed by the Euler-Lagrange equation is proposed. A state reconstruction based on neural networks navigation (SR-NNN) law is designed to estimate the current position of the robot for intelligent CNaC. The system has been demonstrated by simulation tracking sample and real experiments, which verifies its effectiveness.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
