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\u8bba\u6587\u9898\u76ee\uff1aAutonomous 3D positional control of a magnetic microrobot using reinforcement learning<\/span><\/span><\/span><\/section>\n
\u8bba\u6587\u671f\u520a\uff1aNature Machine Intelligence<\/span><\/span><\/em><\/em><\/span><\/section>\n
\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/www.nature.com\/articles\/s42256-023-00779-2<\/span><\/span><\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/blockquote>\n
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\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u8be5\u7814\u7a76\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u673a\u5668\u5b66\u4e60\u7684\u901a\u8fc7\u7535\u78c1\u7ebf\u5708\u4ea7\u751f\u7684\u68af\u5ea6\u573a\u6765\u63a7\u5236\u78c1\u6027\u5fae\u578b\u673a\u5668\u4eba\u4f4d\u7f6e\u7684\u65b9\u6cd5\u3002\u8be5\u7814\u7a76\u4f7f\u7528\u5f3a\u5316\u5b66\u4e60\u548c\u6e10\u8fdb\u8bad\u7ec3\u65b9\u6cd5\u901a\u8fc7\u76f4\u63a5\u7ba1\u7406\u7ebf\u5708\u7535\u6d41\u6765\u63a7\u5236\u5fae\u578b\u673a\u5668\u4eba\u5728\u5b9a\u4e49\u7684\u5de5\u4f5c\u533a\u57df\u5185\u7684\u4e09\u7ef4\u4f4d\u7f6e\u3002\u7814\u7a76\u5f00\u53d1\u4e86\u4e00\u4e2a\u6a21\u62df\u73af\u5883\u8fdb\u884c\u521d\u6b65\u63a2\u7d22\uff0c\u4ee5\u51cf\u5c11\u6574\u4f53\u8bad\u7ec3\u65f6\u95f4\u3002\u5728\u6a21\u62df\u8bad\u7ec3\u4e4b\u540e\uff0c\u5b66\u4e60\u8fc7\u7a0b\u88ab\u8f6c\u79fb\u5230\u53cd\u6620\u771f\u5b9e\u4e16\u754c\u590d\u6742\u6027\u7684\u7269\u7406\u7535\u78c1\u9a71\u52a8\u7cfb\u7edf\u4e0a\u3002\u8be5\u7814\u7a76\u63d0\u51fa\u7684\u65b9\u6cd5\u76f8\u8f83\u4e8e\u4f20\u7edf\u7684\u6bd4\u4f8b-\u79ef\u5206-\u5fae\u5206\u63a7\u5236<\/span>\uff08PID control, proportional-integral-derivative control\uff09<\/span>\u66f4\u51c6\u786e\u548c\u9ad8\u6548\u3002\u8be5\u65b9\u6cd5\u8fd8\u7ed3\u5408\u4e86\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\uff0c\u5b9e\u73b0\u4e86\u5168\u81ea\u4e3b\u63a7\u5236\u3002\u5e76\u4e14\uff0c\u8fd9\u79cd\u65b9\u6cd5\u662f\u5bf9\u5fae\u578b\u673a\u5668\u4eba\u8bbe\u8ba1\u3001\u73af\u5883\u548c\u78c1\u6027\u7cfb\u7edf\u7684\u975e\u7ebf\u6027\u90fd\u975e\u5e38\u654f\u611f\u7684\u590d\u6742\u6570\u5b66\u6a21\u578b\u7684\u4e00\u79cd\u66ff\u4ee3\u65b9\u6848\u3002<\/span><\/section>\n

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\u56fe1 a\u3001\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684\u78c1\u6027\u5fae\u578b\u673a\u5668\u4eba\u5bfc\u822a\u3002\u8be5\u7814\u7a76\u5f00\u53d1\u4e86\u4e00\u79cd\u4f7f\u7528\u5f3a\u5316\u5b66\u4e60\u63a7\u5236\u5916\u90e8\u6fc0\u52b1\u7cfb\u7edf\uff08EAS\uff09\u5728\u590d\u6742\u73af\u5883\u4e2d\u5bfc\u822a\u5fae\u578b\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u65b9\u6cd5\u3002b\u3001RL \u4ee3\u7406\u901a\u8fc7\u6539\u53d8 EAS \u7ebf\u5708\u7535\u6d41\u6765\u7cbe\u786e\u63a7\u5236 MR \u7684\u4f4d\u7f6e PMR\u3002MR \u6309\u7167\u7b56\u7565\u03c0\uff08\u795e\u7ecf\u7f51\u7edc\uff0c RL \u4ee3\u7406\u7684\u4e00\u90e8\u5206\uff09\u4ee5\u6700\u5c11\u7684\u6b65\u6570\u8fbe\u5230\u76ee\u6807\u4f4d\u7f6e PT\uff0c\u540c\u65f6\u5fc5\u987b\u4fdd\u6301\u5728\u5b9a\u4e49\u7684\u5de5\u4f5c\u533a\u611f\u5174\u8da3\u533a\u57df \uff08ROI, region of interest\uff09 \u5185\u3002c\u3001\u8be5\u7814\u7a76\u91c7\u7528\u4e86\u4e00\u4e2a\u56db\u6b65\u7684\u8bad\u7ec3\u8fc7\u7a0b\uff0c\u4ee5\u51cf\u5c11\u4ee3\u7406\u7684\u8bad\u7ec3\u65f6\u95f4\u5e76\u63d0\u9ad8\u51c6\u786e\u6027\u3002\u8fd9\u6709\u52a9\u4e8e\u521d\u59cb\u63a2\u7d22\u5e76\u9010\u6e10\u589e\u52a0\u590d\u6742\u6027\uff0c\u786e\u4fdd\u51c6\u786e\u7684\u5bfc\u822a\u3002<\/span><\/p>\n


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\u56fe5 \u5728\u8111\u8840\u7ba1\u4eff\u771f\u6a21\u578b\u4e2d\u5bfc\u822aMR\u3002a\u3001\u7f29\u5c0f\u6bd4\u4f8b\u7684MCA\u622a\u9762\u7684\u590d\u5236\u54c1\u4f5c\u4e3a\u8111\u8840\u7ba1\u4eff\u771f\u6a21\u578b\uff0c\u7528\u4e8e\u8bc4\u4f30RL\u4ee3\u7406\u4f5c\u4e3a\u6f5c\u5728\u533b\u7597\u5e94\u7528\u7684\u6027\u80fd\u3002b\u3001RL\u4ee3\u7406\u4ece\u6307\u5b9a\u7684\u8d77\u70b9\u5bfc\u822a\u5230\u76ee\u6807\u70b9\uff0c\u5373\u4eff\u771f\u6a21\u578b\u5185\u7684\u52a8\u8109\u7624\u3002<\/span><\/p>\n


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\u56fe6 \u5728\u4e0d\u540c\u73af\u5883\u4e0b\u5bf9MR\u8fdb\u884c\u5b8c\u5168\u81ea\u4e3b\u63a7\u5236\u3002a\u3001RL\u4ee3\u7406\u7528\u4e8e\u751f\u6210\u4e09\u7ef4\u95ed\u73af\u4f4d\u7f6e\u63a7\u5236\u7684\u6700\u4f18\u7535\u6d41\uff08\u5047\u8bbe\u975e\u7ebf\u6027\u7cfb\u7edf\u548c\u975e\u7ebf\u6027\u73af\u5883\uff09\u7684”\u5927\u8111”\uff08\u5bfc\u822a\u8f68\u8ff9\u662f\u7531\u4eba\u7c7b\u9009\u62e9\u7684\uff09\u3002RL\u4ee3\u7406\u4e0e\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u5408\u5e76\uff0c\u751f\u6210\u901a\u5411\u76ee\u6807\u7684\u8f68\u8ff9\uff1b\u8fd9\u6784\u6210\u4e86\u5b8c\u5168\u81ea\u4e3b\u63a7\u5236\u3002b\u3001c\u3001\u4f7f\u7528A*\u751f\u6210\u7684\u8f68\u8ff9\u7684\u4e24\u4e2a\u4e0d\u540c\u7684MR\u5bfc\u822a\u573a\u666f\uff1a\u7b2c\u4e00\u4e2a\u5305\u542b\u865a\u62df\u969c\u788d\u7269\uff08\u4e24\u4e2a\u5706\u67f1\u4f53\uff09\uff08b\uff09\uff0c\u7b2c\u4e8c\u4e2a\u5305\u542b\u4e00\u4e2a\u4e09\u7ef4\u865a\u62df\u901a\u9053\uff08c\uff09\u3002d\u3001\u4f7f\u7528\u56fe\u50cf\u5904\u7406\u68c0\u6d4b\u969c\u788d\u7269\u548c\u5f00\u653e\u7a7a\u95f4\uff0c\u7136\u540e\u8fdb\u884c\u73af\u5883\u6620\u5c04\u3002\u4f7f\u7528\u5e26\u6709\u969c\u788d\u7269\u7684\u7acb\u65b9\u4f53\u901a\u9053\u6765\u6d4b\u8bd5\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\u3002e\u3001\u8def\u5f84\u89c4\u5212\u7684\u7ed3\u679c\u3002f\u3001\u5728\u5e26\u6709\u7269\u7406\u969c\u788d\u7269\u7684\u901a\u9053\u4e2d\u5bfc\u822a\u3002g\u3001h\u3001i\u3001MR\u5bfc\u822a\u4e2d\u9047\u5230\u5355\u4e2a\u52a8\u6001\u969c\u788d\u7269\uff08g\uff09\u3001\u4e24\u4e2a\u52a8\u6001\u969c\u788d\u7269\uff08h\uff09\u548c\u4e24\u4e2a\u52a8\u6001\u969c\u788d\u7269\u52a0\u4e00\u4e2a\u9759\u6001\u969c\u788d\u7269\uff08i\uff09\u3002<\/span><\/p>\n


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\u5728\u672a\u6765\uff0c\u7814\u7a76\u8005\u8ba4\u4e3a\u8be5\u65b9\u6cd5\u6709\u6f5c\u529b\u5e2e\u52a9\u63a7\u5236\u65cb\u8f6c\u548c\u632f\u8361\u78c1\u573a\u4e2d3D\u52a8\u6001\u73af\u5883\u4e2d\u7684MR\u7684\u4f4d\u7f6e\u3001\u65b9\u5411\u548c\u901f\u5ea6\u3002\u8be5\u6280\u672f\u8fd8\u53ef\u4ee5\u7528\u4e8e\u901a\u8fc7\u4e13\u6ce8\u4e8e\u8fdc\u79bb\u4e2d\u5fc3\u7684\u975e\u5747\u5300\u78c1\u573a\u4e0a\u7684MR\u8bad\u7ec3\u6765\u589e\u52a0\u73b0\u6709EAS\u7684\u5de5\u4f5c\u533a\u5927\u5c0f\u3002\u8be5\u65b9\u6cd5\u53ef\u4ee5\u4e0e\u5404\u79cd\u6210\u50cf\u548c\u78c1\u6027\u9a71\u52a8\u7cfb\u7edf\u4ee5\u53ca\u4fc3\u8fdb3D\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\u7684\u7b97\u6cd5\u76f8\u7ed3\u5408\u3002\u8fd9\u79cd\u7ed3\u5408\u5c06\u6269\u5c55\u8be5\u65b9\u6cd5\u5230\u5b9e\u9645\u533b\u5b66\u6210\u50cf\u5e94\u7528\u548c\u5b9e\u9a8c\u3002<\/span><\/section>\n

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\u7f16\u8bd1\uff5c\u4f59\u5b5f\u541b<\/span><\/span><\/section>\n

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\u5927\u8bed\u8a00\u6a21\u578b\u4e0e\u591a\u667a\u80fd\u4f53\u7cfb\u7edf\u8bfb\u4e66\u4f1a<\/strong><\/p>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n


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\u8be6\u60c5\u8bf7\u89c1\uff1a<\/span><\/section>\n
\u5927\u8bed\u8a00\u6a21\u578b\u4e0e\u591a\u667a\u80fd\u4f53\u7cfb\u7edf\u8bfb\u4e66\u4f1a\uff1a\u5927\u6a21\u578b\u8d4b\u80fd\u673a\u5668\u4eba\u6d8c\u73b0\u7fa4\u4f53\u667a\u80fd<\/a><\/span><\/section>\n


<\/p>\n


<\/section>\n
\u200d<\/span>\u63a8\u8350\u9605\u8bfb<\/span><\/strong><\/strong><\/strong><\/section>\n
1. <\/strong>\u53ef\u91cd\u6784\u5fae\u578b\u96c6\u7fa4\u673a\u5668\u4eba\uff0c\u70b9\u4eae\u672a\u6765\u533b\u7597\u4e0e\u73af\u5883\u4fee\u590d<\/a><\/strong><\/span><\/strong><\/strong><\/section>\n
2. <\/strong>\u7528\u7ec6\u80de\u5236\u9020\u7684\u751f\u7269\u6df7\u5408\u673a\u5668\u4eba\u2014\u2014\u673a\u5668\u4eba\u9886\u57df\u7684\u4e0b\u4e00\u4e2a\u524d\u6cbf<\/a><\/strong><\/span><\/strong><\/strong><\/section>\n
3.<\/strong> \u957f\u6587\u7efc\u8ff0\uff1a\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u8fc7\u53bb\u3001\u73b0\u5728\u4e0e\u672a\u6765<\/a><\/strong><\/strong><\/strong><\/span><\/section>\n
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4. <\/strong><\/strong><\/span>\u5f20\u6c5f\uff1a\u7b2c\u4e09\u4ee3\u4eba\u5de5\u667a\u80fd\u6280\u672f\u57fa\u7840\u2014\u2014\u4ece\u53ef\u5fae\u5206\u7f16\u7a0b\u5230\u56e0\u679c\u63a8\u7406 | \u96c6\u667a\u5b66\u56ed\u5168\u65b0\u8bfe\u7a0b<\/a><\/strong><\/strong><\/span><\/section>\n
5. <\/strong><\/strong><\/strong><\/strong>\u52a0\u5165\u96c6\u667a\u5b66\u56edVIP\uff0c\u4e00\u6b21\u6027\u83b7\u53d6\u96c6\u667a\u5e73\u53f0\u6240\u6709\u5185\u5bb9\u8d44\u6e90<\/a><\/strong><\/strong><\/strong><\/strong><\/strong><\/strong><\/strong><\/strong><\/span><\/strong><\/strong><\/strong><\/section>\n
6. <\/strong>\u52a0\u5165\u96c6\u667a\uff0c\u4e00\u8d77\u590d\u6742\uff01<\/strong><\/span><\/a><\/section>\n

<\/section>\n


<\/p>\n

\u70b9\u51fb\u201c\u9605\u8bfb\u539f\u6587\u201d\uff0c\u62a5\u540d\u8bfb\u4e66\u4f1a<\/strong><\/span><\/strong><\/span><\/strong><\/p>\n

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<\/mp-style-type><\/p>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

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