Advanced Design of Soft Robots with Artificial Intelligence

In recent years,breakthrough has been made in the field of artificial intelligence(AI),which has also revolutionized the industry of robotics.Soft robots featured with high-level safety,less weight,lower power consumption have always been one of the research hotspots.Recently,multifunctional sensors for perception of soft robotics have been rapidly developed,while more algorithms and models of machine learning with high accuracy have been optimized and proposed.Designs of soft robots with AI have also been advanced ranging from multimodal sensing,human-machine interaction to effective actuation in robotic systems.Nonethe-less,comprehensive reviews concerning the new developments and strategies for the ingenious design of the soft robotic systems equipped with AI are rare.Here,the new development is systematically reviewed in the field of soft robots with AI.First,background and mechanisms of soft robotic systems are briefed,after which development focused on how to endow the soft robots with AI,including the aspects of feeling,thought and reaction,is illustrated.Next,applications of soft robots with AI are systematically summarized and discussed together with advanced strategies proposed for performance enhancement.Design thoughts for future intelligent soft robotics are pointed out.Finally,some perspectives are put forward.

A path planning method for robot patrol inspection in chemical industrial parks

Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to harsh environment,are widely applied in such parks.However,they rely on manual readings which have problems like heavy patrol workload,high labor cost,high false positives/negatives and poor timeliness.To address the above problems,this study proposes a path planning method for robot patrol in chemical industrial parks,where a path optimization model based on improved iterated local search and random variable neighborhood descent(ILS-RVND)algorithm is established by integrating the actual requirements of patrol tasks in chemical industrial parks.Further,the effectiveness of the model and algorithm is verified by taking real park data as an example.The results show that compared with GA and ILS-RVND,the improved algorithm reduces quantification cost by about 24%and saves patrol time by about 36%.Apart from shortening the patrol time of robots,optimizing their patrol path and reducing their maintenance loss,the proposed algorithm also avoids the untimely patrol of robots and enhances the safety factor of equipment.

Artificial intelligence and robotics in regional anesthesia

Artificial intelligence(AI)technology is vital for practitioners to incorporate AI and robotics in day-to-day regional anesthesia practice.Recent literature is encouraging on its applications in regional anesthesia,but the data are limited.AI can help us identify and guide the needle tip precisely to the location.This may help us reduce the time,improve precision,and reduce the associated side effects of improper distribution of drugs.In this article,we discuss the potential roles of AI and robotics in regional anesthesia.

Hand-eye-vision based control for an inspection robot's autonomous line grasping

In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.

Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots

This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a single control input.First, a nonlinear dynamic model of the balance adjustment process of the PLI robot is constructed, and then the model is linearized at a nominal equilibrium point to overcome the computational infeasibility of the conventional backstepping technique. Second, to solve generalized stabilization control issue for underactuated systems with multiple equilibrium points,an equilibrium manifold linearized model is developed using a scheduling variable, and then a gain-scheduled backstepping control(GSBC) scheme for expanding the operational area of the controlled system is constructed. Finally, an adaptive mechanism is proposed to counteract the impact of external disturbances. The robust stability of the closed-loop system is ensured by Lyapunov theorem. Simulation results demonstrate the effectiveness and high performance of the proposed scheme compared with other control schemes.

Concrete Defects Inspection and 3D Mapping Using City Flyer Quadrotor Robot

The concrete aging problem has gained more attention in recent years as more bridges and tunnels in the United States lack proper maintenance. Though the Federal Highway Administration requires these public concrete structures to be inspected regularly, on-site manual inspection by human operators is time-consuming and labor-intensive. Conventional inspection approaches for concrete inspection, using RGB imagebased thresholding methods, are not able to determine metric information as well as accurate location information for assessed defects for conditions. To address this challenge, we propose a deep neural network(DNN) based concrete inspection system using a quadrotor flying robot(referred to as City Flyer) mounted with an RGB-D camera. The inspection system introduces several novel modules. Firstly, a visual-inertial fusion approach is introduced to perform camera and robot positioning and structure 3 D metric reconstruction. The reconstructed map is used to retrieve the location and metric information of the defects.Secondly, we introduce a DNN model, namely Ada Net, to detect concrete spalling and cracking, with the capability of maintaining robustness under various distances between the camera and concrete surface. In order to train the model, we craft a new dataset, i.e., the concrete structure spalling and cracking(CSSC)dataset, which is released publicly to the research community.Finally, we introduce a 3 D semantic mapping method using the annotated framework to reconstruct the concrete structure for visualization. We performed comparative studies and demonstrated that our Ada Net can achieve 8.41% higher detection accuracy than Res Nets and VGGs. Moreover, we conducted five field tests, of which three are manual hand-held tests and two are drone-based field tests. These results indicate that our system is capable of performing metric field inspection,and can serve as an effective tool for civil engineers.

Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line

A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.

Impacts of flexible obstructive working environment on dynamic performances of inspection robot for power transmission line

The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil^e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.

A Review of the Application of Artificial Intelligence in Orthopedic Diseases

In recent years,Artificial Intelligence(AI)has revolutionized people’s lives.AI has long made breakthrough progress in the field of surgery.However,the research on the application of AI in orthopedics is still in the exploratory stage.The paper first introduces the background of AI and orthopedic diseases,addresses the shortcomings of traditional methods in the detection of fractures and orthopedic diseases,draws out the advantages of deep learning and machine learning in image detection,and reviews the latest results of deep learning and machine learning applied to orthopedic image detection in recent years,describing the contributions,strengths and weaknesses,and the direction of the future improvements that can be made in each study.Next,the paper also introduces the difficulties of traditional orthopedic surgery and the roles played by AI in preoperative,intraoperative,and postoperative orthopedic surgery,scientifically discussing the advantages and prospects of AI in orthopedic surgery.Finally,the article discusses the limitations of current research and technology in clinical applications,proposes solutions to the problems,and summarizes and outlines possible future research directions.The main objective of this review is to inform future research and development of AI in orthopedics.

Localization of a Robotic Capsule for GI Motility Inspection with a Portable Ultrasonic System

The micro-systems used for in vivo physical inspection have many advantages over traditional methods. In order to aid diagnosis of gastrointestinal (GI) motility disorders, a capsule is developed for GI pressure and pH inspection. Localization of the capsule in GI tract with time is a necessary condition for subsequent data analysis and medical diagnosis. It is also a common problem facing all in vivo mobile micro-systems. An approach of segment localization by utilizing some key points along GI tract is proposed. A portable ultrasonic detecting device was designed for this purpose. Experiments under conditions similar to GI tract were carried out and the results proved the effectiveness and reliability of this method and the device.

Swarm intelligence based dynamic obstacle avoidance for mobile robots under unknown environment using WSN

To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.

An Active Endoscopy Robotic System for Direct Tracheal Inspection

The development of active endoscopy techniques is one important area of medical robot.This paper designed a new flexible and active endoscopy robotic system for direct tracheal inspection.The mobile mechanism of the robot is based on the inchworm movement actuated by pneumatic rubber actuator.There are five air chambers controlled independently,by adjusting pressures in air chambers,the robot can move in a straight mode or in a bending mode.The inspection sensors and some therapy surgery tools can be equipped in the front of the robot.The prototype was made and its mechanical characteristics were analyzed.The robot could move smoothly in a small plastic tube,and the robot is respectable to be used for inspection in human trachea directly.

Technological anxiety:Analysis of the impact of industrial intelligence on employment in China

Employment is the greatest livelihood.Whether the impact of industrial robotics technology materialized in machines on employment in the digital age is an“icing on the cake”or“adding fuel to the fire”needs further study.This study aims to analyze the impact of the installation and application of industrial robots on labor demand in the context of the Chinese economy.First,from the theoretical logic and the economic development law,this study gives the prior judgment and research hypothesis that industrial intelligence will increase jobs.Then,based on the panel data of 269 cities in China from 2006 to 2021,we use the two-way fixed effect model,dynamic threshold model,and two-stage intermediary effect model.The objective is to investigate the impact of industrial intelligence on enterprise labor demand and its path mechanism.Results show that the overall effect of industrial intelligence on the labor force with the installation density index of industrial robots as the proxy variable is the“creation effect”.In other words,advanced digital technology has created additional jobs,and the overall supply of employment in the labor market has increased.The conclusion is still valid after the endogeneity identification and robustness test.In addition,the positive effect has a nonlinear effect on the network scale.When the installation density of industrial robots exceeds a particular threshold value,the division of labor continues to deepen under the combined action of the production efficiency and compensation effects,which will cause enterprises to increase labor demand further.Further research showed that industrial intelligence can increase employment by promoting synergistic agglomeration and improving labor price distortions.This study concludes that in the digital China era,the introduction and installation of industrial robots by enterprises can affect the optimal allocation of the labor market.This phenomenon has essential experience and reference significance for guiding industrial digitalization and intelligent transformation and promoting the high-quality development of people’s livelihood.

Spatial Patterns and Drivers of Intelligent Manufacturing from a‘Glob-allocal'Perspective:A Study of China's Industrial Robotics

The advancement of the intelligent manufacturing industry(IMI)represents the future direction for the world's manufactur-ing sector,offering a promising avenue to bolster national competitiveness and enhance industrial manufacturing efficiency.In this study,we took the industrial robot industry(IRI)as a case study to elucidate the spatial distribution and interconnections of IMI from a geographical perspective,and the modified diamond model(DM)was used to analyze the influencing factors.Results show that:1)the spatial pattern of IRI with various investment attributes in different industrial chain links is generally similar,centered in the southeast.Key investment areas are in the east and south.The spatial distribution of China's IRI covers a multitude of provinces and obtains differ-ent scales of investment in different countries(regions).2)The spatial correlation between foreign investors and China's provincial-level administrative regions(PARs)forms a network,and the network of foreign-invested enterprises is more stable.Different countries(regions)have distinct location preferences in China,with significant spatial differences in correlation degrees.3)Overall,the interac-tion of these factors shapes the location decisions and correlation patterns of industrial robot enterprises.This study not only contributes to our theoretical knowledge of the industrial spatial structure and industrial economy but also offers valuable references and sugges-tions for national IMI planning and relevant industry investors.

Current Situation and Development of Intelligence Robots

Industrial intelligent robots are treated as a measure of na- tional scientific level and technology innovation, and also the important symbol of high-level manufacturing, while service intelligent robots can directly affect people＇ s daily lives. The development of artificial robots in different areas is at- tracting much attention around the world. This article re- views the current situation and development of Chinese and international intelligent robot markets including industrial ro- bots and service robots. The intelligent robot technology and the classification of robots are also discussed. Finally, appli- cations of intelligent robots in various fields are concluded and the development trends and outlook of intelligent robots are explored.

Modelling and Backstepping Motion Control of the Aircraft Skin Inspection Robot

Aircraft skin health concerns whether the aircraft can fly safely.In this paper,an improved mechanical structure of the aircraft skin inspection robot was introduced.Considering that the aircraft skin surface is a curved environment,we assume that the curved environment is equivalent to an inclined plane with a change in inclination.Based on this assumption,the Cartesian dynamics model of the robot is established using the Lagrange method.In order to control the robot’s movement position accurately,a position backstepping control scheme for the aircraft skin inspection robot was presented.According to the dynamic model and taking into account the problems faced by the robot during its movement,a position constrained controller of the aircraft skin inspection robot is designed using the barrier Lyapunov function.Aiming at the disturbances in the robot,we adopt a fuzzy system to approximate the unknown dynamics related with system states.Finally,the simulation results of the designed position constrained controller were compared with the sliding mode controller,and prove the validity of the position constrained controller.

Research on Oil/Gas In-pipe Inspection Robot

A new type of in-pipe mobile robot was designed and developed on the basis of w heel in-pipe robot and crawler in-pipe robot. The three sets of driving wheels circumferentially 120° apart in the cross section, both front and rear driving wheels are distributed on the same parallelogram mechanis m. The driving motor drives the three sets of driving wheels by worm couple, the regulating motor makes the three sets of driving wheels push against the pipe inwall with stable and adequate pressing force by the ball screw pair and p ressure sensor, so the in-pipe robot can provide adequate and stable traction force. The robot mechanism is simple and sm all in size and work reliably . It is particularly suitable to the pipe with diameter 400～650 mm.

Robots into Reality--The booming of China’s robotics industry points to intelligent future

“Galbot,please help fetch a plush toy!”After receiving the order,Galbot,a humanoid robot,was able to identify and deliver the toy from among a range of items.The demonstration was given at the 2024 World Artificial Intelligence Conference(WAIC)held in Shanghai from July 4 to 6.

Technologies Supporting Artificial Intelligence and Robotics Application Development

Artificial intelligence(AI)and robotics have gone through three generations of development,from Turing test,logic theory machine,to expert system and self-driving car.In the third-generation today,AI and robotics have collaboratively been used in many areas in our society,including industry,business,manufacture,research,and education.There are many challenging problems in developing AI and robotics applications.We launch this new Journal of Artificial Intelligence and Technology to facilitate the exchange of the latest research and practice in AI and technologies.In this inaugural issue,we first introduce a few key technologies and platforms supporting the third-generation AI and robotics application development based on stacks of technologies and platforms.We present examples of such development environments created by both industry and academia.We also selected eight papers in the related areas to celebrate the foundation of this journal.

Research and Application of Artificial Intelligence in Electric Guitar Performance

The article explores the application of artificial intelligence technology in electric guitar playing.It delves into the advantages of artificial intelligence and its seamless integration into electric guitar performance.Additionally,it investigates the application of artificial intelligence technology through an intelligent playing robot.The research aims to offer substantial support for the advancement of artificial intelligence in electric guitar performance.