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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of robotics and mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale robotics lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic Engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

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Computational Approach for Automated Segmentation and Classification of Region of Interest in Lateral Breast Thermograms

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Computers, Materials & Continua 2024年第9期80卷 4749-4765页

作者： Dennies Tsietso Abid Yahya Ravi Samikannu Basit Qureshi Muhammad Babar Department of Electrical Computer and Telecommunications EngineeringBotswana International University of Science and TechnologyPalapyePrivate Bag 16Botswana College of Computer and Information Sciences Prince Sultan UniversityRiyadh11586Saudi Arabia robotics and Internet of Things lab Prince Sultan UniversityRiyadh11586Saudi Arabia

Breast cancer is one of the major health issues with high mortality rates and a substantial impact on patients and healthcare systems *** Computer-Aided Diagnosis(CAD)tools,based on breast thermograms,have been developed for early detection of this ***,accurately segmenting the Region of Interest(ROI)fromthermograms remains *** paper presents an approach that leverages image acquisition protocol parameters to identify the lateral breast region and estimate its bottomboundary using a second-degree *** proposed method demonstrated high efficacy,achieving an impressive Jaccard coefficient of 86%and a Dice index of 92%when evaluated against manually created ground *** features were extracted from each view’s ROI,with significant features selected via Mutual Information for training Multi-Layer Perceptron(MLP)and K-Nearest Neighbors(KNN)*** findings revealed that the MLP classifier outperformed the KNN,achieving an accuracy of 86%,a specificity of 100%,and an Area Under the Curve(AUC)of *** consistency of the method across both sides of the breast suggests its viability as an auto-segmentation ***,the classification results suggests that lateral views of breast thermograms harbor valuable features that can significantly aid in the early detection of breast cancer.

关键词： Breast cancer CAD machine learning ROI segmentation thermography

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Thermal and Magnetic Dual-Responsive Catheter-Assisted Shape Memory Microrobots for Multistage Vascular Embolization

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Research 2024年第3期2024卷 529-543页

作者： Qianbi Peng Shu Wang Jianguo Han Chenyang Huang Hengyuan Yu Dong Li Ming Qiu Si Cheng Chong Wu Mingxue Cai Shixiong Fu Binghan Chen Xinyu Wu Shiwei Du Tiantian Xu Guangdong Provincial Key lab of robotics and Intelligent Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina University of Chinese Academy of Sciences BeijingChina Department of Neurosurgery South China HospitalMedical SchoolShenzhen University.ShenzhenChina The Key laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina.

Catheters navigating through complex vessels,such as sharp turns or multiple U-turns,remain challenging for vascular ***,we propose a novel multistage vascular embolization strategy for hard-to-reach vessels that releases untethered swimming shape-memory magnetic microrobots(SMMs)from the prior catheter to the vessel ***,made of organo-gel with magnetic particles,ensure biocompatibility,radiopacity,thrombosis,and fast thermal and magnetic *** SMM is initially a linear shape with a 0.5-mm diameter at 20°C inserted in a *** transforms into a predetermined helix within 2 s at 38°C blood temperature after being pushed out of the catheter into the *** enable agile swimming in confined and tortuous vessels and can swim upstream using helical propulsion with rotating magnetic ***,we validated this multistage vascular embolization in living rabbits,completing 100-cm travel and renal artery embolization in 2 *** 4 weeks,the SMMs maintained the embolic position,and the kidney volume decreased by 36%.

关键词： turns maintained travel

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Experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulators

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Chinese Journal of Mechanical Engineering 2011年第5期24卷 713-722页

作者： CECCARELLI Marco CARBONE Giuseppe laboratory of robotics and mechatronics (LARM) University of Cassino

An extensive research activity has been focused on the upper and lower limbs of humanoid robots. However, due to mechanical design difficulties and complex control of multi-body system, the torso of humanoid robot is somehow a neglected or simplified design part. In this paper, operation performance of a new waist-trunk system as torso for humanoid robots is presented through results of lab experimental tests. The proposed waist-trunk system is composed of two 3 DOFs （degrees of freedom） parallel manipulators, which are connected in a serial chain architecture. A prototype is built by using two prototypes of CaPaMan （Cassino Parallel Manipulator）, which are convenient stiff architectures with easy-operation characteristics. Experimental tests are carried out with the aims to imitate lateral-bending and transverse-rotation movements of human torso. Operation performances like displacements, accelerations, and actuation torque are measured for a performance evaluation and design characterization of the used manipulator solution imitating human torso. Experimental test results are illustrated and discussed to show the practical operation feasibility of the proposed architecture and the operation characteristics of the built prototype.

关键词： humanoid robots waist-trunk system parallel manipulators experimental robotics

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Learning layout generation for virtual worlds

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Computational Visual Media 2024年第3期10卷 577-592页

作者： Weihao Cheng Ying Shan ARC lab TencentShenzhen 518057China

The emergence of the metaverse has ledto the rapidly increasing demand for the generation ofextensive 3D worlds. We consider that an engagingworld is built upon a rational layout of multiple landuse areas (e.g., forest, meadow, and farmland). Tothis end, we propose a generative model of landuse distribution that learns from geographic *** model is based on a transformer architecturethat generates a 2D map of the land-use layout,which can be conditioned on spatial and semanticcontrols, depending on whether either one or bothare provided. This model enables diverse layoutgeneration with user control and layout expansion byextending borders with partial inputs. To generatehigh-quality and satisfactory layouts, we devise ageometric objective function that supervises the modelto perceive layout shapes and regularize generationsusing geometric priors. Additionally, we devise aplanning objective function that supervises the modelto perceive progressive composition demands andsuppress generations deviating from controls. Toevaluate the spatial distribution of the generations, wetrain an autoencoder to embed land-use layouts intovectors to enable comparison between the real andgenerated data using the Wasserstein metric, which isinspired by the Fr´echet inception distance.

关键词： layout generation virtual worlds Transformer land-use

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Time-synchronous-averaging-spectrum based on super-resolution analysis and application in bearing fault signal identification

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第7期25卷 573-585页

作者： Zengle REN Yuan WANG Huiyue TANG Xin'an CHEN Wei FENG Guangdong Provincial Key laboratory of Construction robotics and Intelligent Construction Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Shenzhen EBORAIL Technology Co. Ltd.Shenzhen518038China National Supercomputing Center in Shenzhen Shenzhen518055China State Key lab of Rail Traffic Control and Safety Beijing Jiaotong UniversityBeijing100044China University of Chinese Academy of Sciences Beijing100190China Shenzhen University of Advanced Technology Shenzhen518107China

Time-synchronous-averaging(TSA)is based on the idea of denoising by averaging,and it extracts the periodic components of a quasiperiodic signal and keeps the extracted waveform *** paper studies the mathematical properties of TSA,where three propositions are given to reveal the nature of *** paper also proposes a TSA-spectrum based on super-resolution analysis and it decomposes a signal without using any base *** contrast to discrete Fourier transform spectrum(DFT-spectrum),which is a spectrum in frequency domain,TSA-spectrum is a period-based spectrum,which can present more details of the cross effects between different periodic components of a quasiperiodic ***,a case study is carried out using bearing fault analysis to illustrate the performance of TSA-spectrum,where the rotation speed fluctuation of the shaft is estimated,which is about 0.12 ms *** extracted fault signals are presented and some insights are *** believe that this paper can provide new motivation for TSA-spectrum to be widely used in applications involving quasiperiodic signal processing(QSP).

关键词： Time-synchronous-averaging(TSA) Spectrum Quasiperiodic signal processing(QSP) Super-resolution analysis Bearingfaultdetection

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A Survey on an Emerging Safety Challenge for Autonomous Vehicles:Safety of the Intended Functionality

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Engineering 2024年第2期33卷 17-34页

作者： Hong Wang Wenbo Shao Chen Sun Kai Yang Dongpu Cao Jun Li Tsinghua Intelligent Vehicle Design and Safety Research Institute School of Vehicle and MobilityTsinghua UniversityBeijing 100084China CogDrive lab Department of Mechanical and Mechatronics EngineeringUniversity of WaterlooWaterlooON N2L3G1Canada College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China

As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(SOTIF)has emerged,presenting significant challenges to the widespread deployment of *** focuses on issues arising from the functional insufficiencies of the AVs’intended functionality or its implementation,apart from conventional safety *** the systems engineering standpoint,this study offers a comprehensive exploration of the SOTIF landscape by reviewing academic research,practical activities,challenges,and perspectives across the development,verification,validation,and operation *** research encompasses system-level SOTIF studies and algorithm-related SOTIF issues and ***,it encapsulates practical SOTIF activities undertaken by corporations,government entities,and academic institutions spanning international and Chinese contexts,focusing on the overarching methodologies and practices in different ***,the paper presents future challenges and outlook pertaining to the development,verification,validation,and operation phases,motivating stakeholders to address the remaining obstacles and challenges.

关键词： Safety of the intended functionality Autonomous vehicles Artificial intelligence Uncertainty Verification Validation

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A survey on dynamic graph processing on GPUs: concepts, terminologies and systems

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Frontiers of Computer Science 2024年第4期18卷 1-23页

作者： Hongru GAO Xiaofei LIAO Zhiyuan SHAO Kexin LI Jiajie CHEN Hai JIN National Engineering Research Center for Big Data Technology and System/Services Computing Technology and System lab/Cluster and Grid Computing lab School of Computer Science and TechnologyHuazhong University of Science and TechnologyWuhan 430074China Zhejiang lab Hangzhou 311121China

Graphs that are used to model real-world entities with vertices and relationships among entities with edges,have proven to be a powerful tool for describing real-world problems in *** most real-world scenarios,entities and their relationships are subject to constant *** that record such changes are called dynamic *** recent years,the widespread application scenarios of dynamic graphs have stimulated extensive research on dynamic graph processing systems that continuously ingest graph updates and produce up-to-date graph analytics *** the scale of dynamic graphs becomes larger,higher performance requirements are demanded to dynamic graph processing *** the massive parallel processing power and high memory bandwidth,GPUs become mainstream vehicles to accelerate dynamic graph processing ***-based dynamic graph processing systems mainly address two challenges:maintaining the graph data when updates occur(i.e.,graph updating)and producing analytics results in time(i.e.,graph computing).In this paper,we survey GPU-based dynamic graph processing systems and review their methods on addressing both graph updating and graph *** comprehensively discuss existing dynamic graph processing systems on GPUs,we first introduce the terminologies of dynamic graph processing and then develop a taxonomy to describe the methods employed for graph updating and graph *** addition,we discuss the challenges and future research directions of dynamic graph processing on GPUs.

关键词： dynamic graphs graph processing graph algorithms GPUs

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Model architecture level privacy leakage in neural networks

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Science China(Information Sciences) 2024年第3期67卷 20-32页

作者： Yan LI Hongyang YAN Teng HUANG Zijie PAN Jiewei LAI Xiaoxue ZHANG Kongyang CHEN Jin LI Institute of Artificial Intelligent and Blockchain Guangzhou University Pazhou lab

Privacy leakage is one of the most critical issues in machine learning and has attracted growing interest for tasks such as demonstrating potential threats in model attacks and creating model *** recent years, numerous studies have revealed various privacy leakage risks(e.g., data reconstruction attack, membership inference attack, backdoor attack, and adversarial attack) and several targeted defense approaches(e.g., data denoising, differential privacy, and data encryption). However, existing solutions generally focus on model parameter levels to disclose(or repair) privacy threats during the model training and/or model interference process, which are rarely applied at the model architecture level. Thus, in this paper, we aim to exploit the potential privacy leakage at the model architecture level through a pioneer study on neural architecture search(NAS) paradigms which serves as a powerful tool to automate a neural network *** investigating the NAS procedure, we discover two attack threats in the model architecture level called the architectural dataset reconstruction attack and the architectural membership inference attack. Our theoretical analysis and experimental evaluation reveal that an attacker may leverage the output architecture of an ongoing NAS paradigm to reconstruct its original training set, or accurately infer the memberships of its training set simply from the model architecture. In this work, we also propose several defense approaches related to these model architecture attacks. We hope our work can highlight the need for greater attention to privacy protection in model architecture levels(e.g., NAS paradigms).

关键词： neural architecture search data reconstruction attack membership inference attack

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