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Control Theory and Technology 2021年第4期19卷 421-424页

作者： Jiangping Hu wenxue wang School of Automation Engineering University of Electronic Science and Technology of China(UESTC)Chengdu610054SichuanChina Shenyang Institute of Automation Chinese Academy of SciencesBeijing100190China

It is our great pleasure to organize this special issue in Control Theory and Technology in honor of the 65th birthday of Professor Bijoy K. Ghosh, who has made many truly outstanding contributions to the field of systems and control through the years, which include robust and nonlinear control, robotics and machine vision in his earlier research period, and his recent focus on biology and biomedical modeling, learning control and multi-agent systems to name a few.

关键词： agent control honor

Quantum-enhanced reinforcement learning for control:a preliminary study

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Control Theory and Technology 2021年第4期19卷 455-464页

作者： Yazhou Hu Fengzhen Tang Jun Chen wenxue wang College of Mechanical and Electronic Engineering Northwest A&F UniversityYanglingShaanxi 712100China The State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangLiaoning 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyangLiaoning 110169China

Reinforcement learning is one of the fastest growing areas in machine learning,and has obtained great achievements in biomedicine,Internet of Things(IoT),logistics,robotic control,***,there are still many challenges for engineering applications,such as how to speed up the learning process,how to balance the trade-of between exploration and *** technology,which can solve complex problems faster than classical methods,especially in supercomputers,provides us a new paradigm to overcome these challenges in reinforcement *** this paper,a quantum-enhanced reinforcement learning is pictured for optimal *** this algorithm,the states and actions of reinforcement learning are quantized by quantum *** then,a probability amplifcation method,which can efectively avoid the trade-of between exploration and exploitation via quantized technology,is ***,the optimal control policy is learnt during the process of reinforcement *** performance of this quantized algorithm is demonstrated in both MountainCar reinforcement learning environment and CartPole reinforcement learning environment—one kind of classical control reinforcement learning environment in the OpenAI *** preliminary study results validate that,compared with Q-learning,this quantized reinforcement learning method has better control performance without considering the trade-of between exploration and *** learning performance of this new algorithm is stable with diferent learning rates from 0.01 to 0.10,which means it is promising to be employed in unknown dynamics systems.

关键词： Quantum theory Reinforcement learning Quantum computation State superposition Optimal control

Development and Future Challenges of Bio-Syncretic Robots

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Engineering 2018年第4期4卷 452-463页

作者： Chuang Zhang wenxue wang Ning Xi Yuechao wang Lianqing Liu Stute Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China University of Chinese Academy of Sciences Beijing 100049 China Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam Hong Kong China

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

关键词： Bio-syncretic robot Hybrid robot Bio-actuator Cardiomyocyte Muscle cells

Development of micro-and nanorobotics: A review

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Science China(Technological Sciences) 2019年第1期62卷 1-20页

作者： YANG Jia ZHANG Chuang wang XiaoDong wang wenxue XI Ning LIU LianQing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Emerging Technologies Institute Department of Industrial & Manufacturing Systems Engineering University of Hong Kong

Micro-and nanorobotic is an emerging field of research arising from the cross-fusion of micro/nano technology and robotics and has become an important part of robotics. Micro-and nanorobots have the advantages of small size, low weight, large thrust-toweight ratio, high flexibility, and high sensitivity. Due to the characteristics distinguishing from macroscopic robots, micro-and nanorobots have stimulated the research interest of the scientific community and opened up numerous application fields such as drug delivery and disease diagnosis. In the past 30 years, research on micro-and nanorobots has made considerable *** article provides a comprehensive overview of the development of these robots. First, the application of the robots is reviewed. Then, the key components of the robots are discussed separately, covering their actuation, design, fabrication and control. In addition, from the perspectives of intelligence and sensing, clinical applications, materials and performance, the challenges that may be encountered in the development of such robots in the future are discussed. Finally, the entire article is summarized, and concepts for future micro-and nanorobots are described.

关键词： micro-and nanorobots magnetic actuation manipulation biohybrid robot

Quantitative characterization of cell physiological state based on dynamical cell mechanics for drug efficacy indication

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Journal of Pharmaceutical Analysis 2023年第4期13卷 388-402页

作者： Shuang Ma Junfeng Wu Zhihua Liu Rong He Yuechao wang Lianqing Liu Tianlu wang wenxue wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Thoracic Surgery Cancer Hospital of China Medical UniversityLiaoning Cancer Hospital and InstituteShenyang 110042China Department of Radiotherapy Cancer Hospital of China Medical UniversityLiaoning Cancer Hospital and InstituteShenyang 110042China

Cell mechanics is essential to cell development and function,and its dynamics evolution reflects the physiological state of ***,we investigate the dynamical mechanical properties of single cells under various drug conditions,and present two mathematical approaches to quantitatively characterizing the cell physiological *** is demonstrated that the cellular mechanical properties upon the drug action increase over time and tend to saturate,and can be mathematically characterized by a linear timeinvariant dynamical *** is shown that the transition matrices of dynamical cell systems significantly improve the classification accuracies of the cells under different drug ***,it is revealed that there exists a positive linear correlation between the cytoskeleton density and the cellular mechanical properties,and the physiological state of a cell in terms of its cytoskeleton density can be predicted from its mechanical properties by a linear regression *** study builds a relationship between the cellular mechanical properties and the cellular physiological state,adding information for evaluating drug efficacy.

关键词： Cellular mechanical properties Cytoskeleton Drug efficacy evaluation Cell system modelling Linear regression

Comparative experimental investigation of chemical grouting into a fracture with flowing and static water

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Mining Science and Technology 2011年第2期21卷 201-205页

作者： Zhang Gailing Zhan Kaiyu Gao Yue wang wenxue State Key Laboratory of Geomechanics and Deep Underground Engineering. School o/Resources and Geosciences China University of Mining ＆ Technology Xuzhou 221008. China Chongqing Design ＆ Research Institute Sino Coal International Engineering Group Chongqing 400016 China

We present a series of experimental tests on chemical grouting into a fracture with flowing and static water,using a transparent fracture grouting experimental *** of seepage pressure and grout propagation were compared in our *** results show that flowing water results in drops of seepage pressure,development of penetration radii in the upstream side and drops of propagation area during the same period,compared with grouting in static *** propagation area in static water is always round before grouts reach the joint ***,the propagation shape changes from round to an elliptic shape for grouting into a fracture with flowing water.A theoretical model for the grout penetration radius in a fracture considering flowing velocity was developed and validated by our experimental *** results are helpful in improving understanding of fracture grouting mechanism and in guiding engineering practices.

关键词： Rock fracture Chemical grouting Flowing water grouting Static water grouting Scale model test

A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic Systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang wenxue wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots

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National Science Review 2023年第8期10卷 222-231页

作者： Wenjun Tan Chuang Zhang Ruiqian wang Yuanyuan Fu Qin Chen Yongliang Yang wenxue wang Mingjun Zhang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Histology and Embryology Basic Medical CollegeChina Medical University Chengdu Institute of Biology Chinese Academy of Sciences Department of Biomedical Engineering School of Medicine Tsinghua University 7. Emerging Technologies InstituteDepartment of Industrial and Manufacturing Systems EngineeringUniversity of Hong Kong

The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish(Beaufortia kweichowensis) that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding(7.83 body lengths per second(BL/S)) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force(0.1 mN/mm2) generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish’s micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.

关键词： bioinspired underwater adhesion crawling robots rock-climbing fish Stefan adhesion underwater robots

Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis

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Journal of Bionic Engineering 2023年第3期20卷 992-1007页

作者： Ning Li Tie Yang Yang Yang Wenyuan Chen Peng Yu Chuang Zhang Ning Xi Ying Zhao wenxue wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong999077China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang110004China

Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.

关键词： Unpowered exoskeleton Health-paralysis combination Energy transfer Self-rehabilitation Shoulder mechanism design

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

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Journal of Bionic Engineering 2020年第6期17卷 1163-1174页

作者： Ning Li Tie Yang Yang Yang Peng Yu Xiujuan Xue Xingang Zhao Guoli Song Imad HElhajj wenxue wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Itelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Bejing 100049China Rehabilitation Center for the Disabled Shenyang 110015China Vision and Robotics Lab Department of Electrical and Computer EngineeringAmerican University of BeirutBeirut 11072020Lebanon Emerging Technologies Instinute Department of Industrial&Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong 999077China

Exoskeleton robots have demonstrated the potential to rehabilitate stroke ***,poor human-machine physiological coupling causes unexpected damage to human of muscles and ***,inferior humanoid kinematics control would restrict human natural *** to deal with these problems results in bottlenecks and hinders its *** this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human ***,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological ***,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the *** results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,***,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily *** work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

关键词： stroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model