Guest Editorial for Special Issue on Human-centered Intelligent Robots:Issues and Challenges

The special issue aims to address a broad spectrum of topics ranging from human-centered intelligent robots acting as a servant,secretary,or companion to intelligent robotic functions.The special issue publishes original papers of innovative ideas and concepts,new discoveries,and novel applications and business models relevant to the field of human-centered intelligent robots.In this special issue,modeling,intelligent control,

The application research progress of intelligent robot in orthopedics

This paper introduces the application of intelligent robot in orthopedic treatment and nursing research progress,and summarizes the advantages and disadvantages of intelligent robot,the prospect.The aim is to help medical staff understand the basic overview of intelligent robot,and learn cutting-edge knowledge,promote the deep integration of intelligent robot technology and orthopedics field,and provide reference for the future research direction of intelligent robot technology in orthopedics field.

Brain-inspired Intelligent Robotics:Theoretical Analysis and Systematic Application

Traditional joint-link robots have been widely used in production lines because of their high precision for single tasks.With the development of the manufacturing and service industries,the requirement for the comprehensive performance of robotics is growing.Numerous types of bio-inspired robotics have been investigated to realize human-like motion control and manipulation.A study route from inner mechanisms to external structures is proposed to imitate humans and animals better.With this idea,a brain-inspired intelligent robotic system is constructed that contains visual cognition,decision-making,motion control,and musculoskeletal structures.This paper reviews cutting-edge research in brain-inspired visual cognition,decision-making,motion control,and musculoskeletal systems.Two software systems and a corresponding hardware system are established,aiming at the verification and applications of next-generationbrain-inspired musculoskeletal robots.

A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

Humanoid robots have attracted much attention by virtue of their compatibility with human environments.However,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current state.Hence,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse scenarios.Here,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is presented.Versatile humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble interfaces.Additionally,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered environments.Overall,this article elaborates on the reasoning behind the design choices,and outlines each subsystem.Lastly,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

Current Researches and Future Development Trend of Intelligent Robot: A Review

With the advancing of industrialization and the advent of the information age, intelligent robots play an increasingly important role in intelligent manufacturing, intelligent transportation system, the Internet of things, medical health and intelligent services. Based on working experiences in and reviews on intelligent robot studies both in China and abroad, the authors summarized researches on key and leading technologies related to human-robot collaboration, driverless technology, emotion recognition, brain-computer interface, bionic software robot and cloud platform, big data network, etc. The development trend of intelligent robot was discussed, and reflections on and suggestions to intelligent robot development in China were proposed. The review is not only meant to overview leading technologies of intelligent robot all over the world, but also provide related theories, methods and technical guidance to the technological and industrial development of intelligent robot in China.

Design of intelligent line-tracking chess robot based on STM32

An intelligent line-tracking chess robot based on STM32 is introduced in this paper. Its hardware consists of photo- electric detection circuit, main control circuit, motor driven circuit, steering engine driven circuit and dial switch. The hardware structure and software flow chart of the system are described in details in this paper. The robot is driven by rear wheel motors, and the real-time position of the robot is determined by the ground information collected by infrared sensors. The heading direction of robot is adjusted by steering engine installed in front wheel, and the open angle of manipulator is controlled by the other steering engine which can ensure the robot moving chessmen accurately and quickly during the moving process. The test shows that the kind of intelligent chess robot can complete the task in a fast and accurate way.

Design of intelligent line-tracking robot based on STM32

An intelligent line-tracking robot using the enhanced microprocessor STM32F103RBT6 as its core controller is introduced in this paper. The hardware configuration and line-tracking control principle of the system are described, and the black-white marked program design of the sensor is analyzed. Two motors are respectively driven by two H-bridge driving circuits, which are formed by four discrete components of metal oxide semiconductor （MOS） field effect transistor respectively. By altering values of voltage directions and pulse width modulation （PWM）, the walking direction and the speed of robot are adjusted, and the traditional PID control theory is adopted to adjust the robot during walking process. The results indicate that the design is scientific and reasonable, low cost, good adaptability and high applicability.

Application and Effect of Intelligent Disinfection Robot in Non-Negative Pressure Isolation Ward of Novel Coronavirus Pneumonia Designated Hospital

The application of intelligent disinfection robot in designated non-negative pressure isolation ward during the outbreak in novel coronavirus pneumonia. The construction and competition, disinfection mode of intelligent disinfection robot, the setting of disinfection point built on area and number of isolation ward, can be introduced below. Frequency can realize remote control when staff uses a table to give instruction and set disinfection mode, and then the intelligent disinfection robot returns automatically to the charging pile to charge when the instruction is completed. It can also autonomously move to sterilize without human participation, which makes man-machine separation and accurate disinfection come true. The chance of contact infection and exposure is decreased when an intelligent disinfection robot is used to sterilize the environment and object surface in an isolation ward, which can also reduce occupational exposure, achieve occupational protection of medical workers and ensure there is no hospital infection.

A new hybrid method with data‑characteristic‑driven analysis for artificial intelligence and robotics index return forecasting

Forecasting returns for the Artificial Intelligence and Robotics Index is of great significance for financial market stability,and the development of the artificial intelligence industry.To provide investors with a more reliable reference in terms of artificial intelligence index investment,this paper selects the NASDAQ CTA Artificial Intelligence and Robotics(AIRO)Index as the research target,and proposes innovative hybrid methods to forecast returns by considering its multiple structural characteristics.Specifically,this paper uses the ensemble empirical mode decomposition(EEMD)method and the modified iterative cumulative sum of squares(ICSS)algorithm to decompose the index returns and identify the structural breakpoints.Furthermore,it combines the least-square support vector machine approach with the particle swarm optimization method(PSO-LSSVM)and the generalized autoregressive conditional heteroskedasticity(GARCH)type models to construct innovative hybrid forecasting methods.On the one hand,the empirical results indicate that the AIRO index returns have complex structural characteristics,and present time-varying and nonlinear characteristics with high complexity and mutability;on the other hand,the newly proposed hybrid forecasting method(i.e.,the EEMD-PSO-LSSVM-ICSS-GARCH models)which considers these complex structural characteristics,can yield the optimal forecasting performance for the AIRO index returns.

Safety control strategy of spinal lamina cutting based on force and cutting depth signals

Laminectomy is one of the most common posterior spinal operations. Since the lamina is adjacent to important tissues such as nerves, once damaged, it can cause serious com-plications and even lead to paralysis. In order to prevent the above injuries and com-plications, ultrasonic bone scalpel and surgical robots have been introduced into spinal laminectomy, and many scholars have studied the recognition method of the bone tissue status. Currently, almost all methods to achieve recognition of bone tissue are based on sensor signals collected by high‐precision sensors installed at the end of surgical robots. However, the previous methods could not accurately identify the state of spinal bone tissue. Innovatively, the identification of bone tissue status was regarded as a time series classification task, and the classification algorithm LSTM‐FCN was used to process fusion signals composed of force and cutting depth signals, thus achieving an accurate classi-fication of the lamina bone tissue status. In addition, it was verified that the accuracy of the proposed method could reach 98.85% in identifying the state of porcine spinal laminectomy. And the maximum penetration distance can be controlled within 0.6 mm, which is safe and can be used in practice.

Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in clutter.To effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in clutter.Specifically,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping operations.In addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered environments.To further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end methods.Noted that the authors’system can be robustly applied to real-world use and extended to novel objects.Supplementary material is available at https://youtu.be/NhG\_k5v3NnM}{https://youtu.be/NhG\_k5v3NnM.

智能化养猪装备的研究进展

生猪智能养殖技术是指运用物联网、大数据分析、人工智能等技术,包括:传感器技术、信息化环境监测技术、养殖环境控制技术、RFID无线电子标签标识技术、局域网无线通讯技术、5G无线远程通信技术、视频远程监控与自动报警技术、疾病监测监控技术、质量追踪回溯技术、智能云计算技术,猪生长曲线与营养动态模型预测技术、发情自动监测和设备的自动控制技术等,集成开发并通过对生猪个体识别、环境和个体信息与环境信息智能感知、数据采集与转换、数据有线或无线传输、数据的智能分析与处理、对生产行为智能干预和精确、精细饲养于一体的养殖管理。通过运用这些先进的信息技术和管理方法,从而提高养猪的生产效益、动物健康和福利。此外,通过智能化设备和数据分析,智能化设备还可以帮助养殖企业提供精准的管理和监测,做出科学决策,实现企业的科学、高效、快速发展。本文根据国内外生猪智能化养殖技术进展,介绍了物联网技术、大数据分析、智能喂养系统、巡逻和机器人技术、人工智能技术等,并介绍了相关的案例,旨在为我国现代生猪养殖的智能化升级提供理论参考和技术支撑,为发展生猪产业新质生产力提供依据。

畜禽机器人技术研究进展与未来展望

随着现代畜禽养殖业面临的挑战日益增加,包括提高生产效率、降低成本、确保动物福利以及应对环境变化等,机器人技术的应用成为推动该行业转型的关键。文章综述了畜禽养殖机器人技术的研究进展,涵盖了饲喂机器人、清洁机器人、巡检机器人、挤奶机器人以及其他相关领域的研究现状和技术特点。机器人技术在提升畜禽养殖业自动化和智能化水平中具有重要作用。其中,饲喂机器人通过精准控制饲料投放,提高了饲喂效率和养殖动物健康水平;清洁机器人能有效地管理畜牧环境,提升养殖场卫生条件;巡检机器人通过实时监测环境和动物健康状况,优化了养殖管理;挤奶机器人则实现了奶牛养殖自动化,提高了生产效率。探讨了畜禽养殖机器人技术面临的挑战与机遇,并对未来的发展趋势进行了展望。

Six-step reasoning model for robot-soccer

The decision making system of robot soccer is a kind of knowledge system. A Six step Reasoning Model is established by formalizing its expert knowledge and decision making process. Furthermore, many other models can be considered as mutation and evolution of the Six step Reasoning Model.

Interpreting and Extracting Open Knowledge for Human-Robot Interaction

A more natural way for non-expert users to express their tasks in an open-ended set is to use natural language. In this case,a human-centered intelligent agent/robot is required to be able to understand and generate plans for these naturally expressed tasks. For this purpose, it is a good way to enhance intelligent robot's abilities by utilizing open knowledge extracted from the web, instead of hand-coded knowledge. A key challenge of utilizing open knowledge lies in the semantic interpretation of the open knowledge organized in multiple modes, which can be unstructured or semi-structured, before one can use it.Previous approaches used a limited lexicon to employ combinatory categorial grammar(CCG) as the underlying formalism for semantic parsing over sentences. Here, we propose a more effective learning method to interpret semi-structured user instructions. Moreover, we present a new heuristic method to recover missing semantic information from the context of an instruction. Experiments showed that the proposed approach renders significant performance improvement compared to the baseline methods and the recovering method is promising.

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.

智能机器人在建设工程中的应用研究

随着科技的飞速发展,智能机器人技术日益成熟并广泛应用于建设工程领域,为传统建筑行业带来了革命性的变革。该文探讨了智能机器人在建设工程中的应用现状、优势、挑战及未来发展趋势。通过对建筑施工、清洁、维护等多个环节中智能机器人的应用进行综合分析,并结合具体案例详细阐述了智能机器人在提高施工效率、保障施工质量、降低劳动强度以及实现智能化和自动化施工等方面的显著作用。同时,该文也指出了智能机器人在建设工程应用中面临的技术成熟度、成本以及法律法规等的挑战,并展望了智能机器人技术的进一步发展。

Master-slave robot force telepresence technology

In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons, a master slave system with different kinematics has been developed. The system permits us to vary the ratio of the position/attitude, to design a master manipulator without considering the kinematics of the slave manipulator, and so on. To overcome the difficulties, a master slave manipulator system with different kinematics is proposed. The master manipulator is force controlled via a force torque sensor in the handle. As to master slave manipulator system with two way force feedback is concerned, the force goes to the actuator from the operator, and come back to the operator from the actuator. The working situation is viewed by the stereo TV supervisory system. The force and vision telepresence are thus achieved. In order to ensure the maneuverability, direct drive DC motors and PWM servo units are adopted to improve the response speed. It can provide force response in a wide range. A lot of experiments were performed with the master slave manipulator system force telepresence to study the force response under restricted environment. By two force sensors, the force position bilateral force response system effectively decreases the affection of friction and inertia force, and increases the authenticity of bilateral force response. When the slave manipulator arm is encountered with soft object(sponge), in the experiments, the operator can clearly have the fine feeling as if he himself is contacted with the object.

Mobileman,Construction Agile Goods Delivery Robot

The traditional automated guided vehicle(AGV) on goods delivery faces the challenges when task space expands beyond 2 D plans. 3 D environments such as uneven terrain, ramps, and staircase are typical in construction site. Thus, the key to introducing this technology into construction industry is to improve AGV’s stability and autonomous navigation ability in more complex three-dimensional environments. In this paper, mobileman, a novel tracked autonomous guide vehicle, is introduced. Compared with other construction robots, mobileman maximizes its load capacity on the basis of assuring accessibility. Furthermore, its modular designs and self-balancing platform enable it to cope with more complex challenging scenarios, such as staircase with 35-degree sloped staircase, while another modular design featured automated loading and unloading functionality. The mobile base specifications were presented in section two, and modular designs and exploration of the navigation system on construction site were illustrated in the rest of sections.

选煤厂火车车厢智能清扫技术研究与实践

针对煤炭装车环节火车车厢残留物人工清扫效率低、劳动强度大、安全风险高等问题,以焦作煤业(集团)有限责任公司赵固二矿选煤厂为试点,分析了车厢清理及残留物现状,进行了智能清扫机器人系统实施方案、工作流程等的研究,介绍了系统的基本结构、技术特点。现场实践表明,智能清扫机器人用于火车车厢残留物清扫,能够代替人工对车厢底部、侧面、端面、车厢顶部进行全断面清扫,每节车厢平均清扫时间节约12 min,减少了车厢余料,可减少用工13人,每年可以节约人工费、材料费及货延费300余万元,主要清扫技术指标完全能够满足现场装车需要。系统运行稳定,自动化、智能化水平高,减轻了员工劳动强度,提高了车厢清扫质量及效率,降低了安全风险,为企业带来了一定的经济效益、环保效益和社会效益。