| تعداد نشریات | 24 |
| تعداد شمارهها | 917 |
| تعداد مقالات | 8,230 |
| تعداد مشاهده مقاله | 16,274,705 |
| تعداد دریافت فایل اصل مقاله | 13,751,935 |
Magnetic microrobot navigation in a two-dimensional environment for gene delivery using natural language processing | ||
| Iran Agricultural Research | ||
| مقالات آماده انتشار، پذیرفته شده، انتشار آنلاین از تاریخ 08 مرداد 1405 اصل مقاله (717.49 K) | ||
| نوع مقاله: Research Paper | ||
| شناسه دیجیتال (DOI): 10.22099/iar.2026.54562.1720 | ||
| نویسندگان | ||
| Khashayar Zare1؛ Soleiman Hosseinpour* 1؛ Rojina Alizadeh2؛ Dorsa Saeekia2 | ||
| 1Department of Agricultural Machinery, Faculty of Agriculture and Natural Resources, University of Tehran, Karaj, I. R. Iran | ||
| 2Alborz Province Education and Training Office for Brilliant Talents, Karaj, I. R. Iran | ||
| چکیده | ||
| In this study, an interactive system combining the Vosk speech-to-text (STT) engine with a natural language processing (NLP) model was developed for controlling a disk-shaped magnetic microrobot. The system was designed based on the “human-in-the-loop” (HITL) approach, in which a human operator guides the microrobot in a two-dimensional space using voice commands. For performance analysis, a pre-trained DistilBERT model was employed, achieving an accuracy of 100% during training and 95.9% on validation data. In the test phase, the STT toolkit alone correctly converted only 32.65% of voice commands into text; however, after processing by the NLP model, the overall system accuracy increased to 79.59%. This indicates that the NLP model can compensate for errors in speech-to-text conversion. Furthermore, the developed model achieved an average processing time of 0.108 seconds, which is significantly faster than DistilBERT’s 6.30 seconds, while maintaining classification accuracy. The results demonstrate that integrating an STT engine with a lightweight, accurate NLP model is an effective approach for controlling microrobot through voice commands. This system could pave the way for the development of voice-based navigation technologies in gene delivery, biological, and industrial applications. | ||
| کلیدواژهها | ||
| Gene delivery؛ Magnetic microbot؛ Microbotics؛ Natural language processing؛ Navigation and control | ||
| مراجع | ||
|
Agrahari, V., Agrahari, V., Chou, M. L., Chew, C. H., Noll, J., & Burnouf, T. (2020). Intelligent micro-/nanorobots as drug and cell carrier devices for biomedical therapeutic advancement: Promising development opportunities and translational challenges. Biomaterials, 260, 120163. https://doi.org/10.1016/j.biomaterials.2020.120163
Chen, X., Li, Y., Wang, C., Chen, Z., Xu, Z., Xia, F., Yan, Y., & Gao, M. (2025). Micro/nanorobots in antimicrobial therapy: Addressing challenges of antibiotic resistance. Materials Today Bio, 32, 101936. https://doi.org/10.1016/j.mtbio.2025.101936
Chowdhary, K. (2020). Natural language processing. Fundamentals of Artificial Intelligence. Springer natuer link.
Hou, C., Yang, S., Chan, K. F., & Zhang, L. (2025). Micro/nanorobots with remote sensing capabilities for intelligent and miniaturized biomedical platforms. Biomedical Instrumentation, 1, 100024. https://doi.org/10.1016/j.bmi.2025.100024
Hurtado-Velasco, R., & Gonzalez-Llorente, J. (2016). Simulation of the magnetic field generated by square shape Helmholtz coils. Applied Mathematical Modelling, 40(23-24), 9835-9847. https://doi.org/10.1016/j.apm.2016.06.027
Jaderberg, M., Simonyan, K., & Zisserman, A. (2015). Spatial transformer networks. Advances in Neural Information Processing Systems, 28, 2017-2025.
Kahuttanaseth, W., Dressler, A., & Netramai, C. (2018). Commanding mobile robot movement based on natural language processing with RNN encoderdecoder. In 2018 5th International Conference on Business and Industrial Research (ICBIR) (pp. 161-166). IEEE. https://doi.org/10.1109/ICBIR.2018.8391185
Kingma, D. P., & Ba, J. (2014). Adam: A method for stochastic optimization. arXiv preprint arXiv, 1412, 6980. https://doi.org/10.48550/arXiv.1412.6980
Koroteev, M. V. (2021). BERT: A review of applications in natural language processing and understanding. arXiv, 2103, 11943. https://doi.org/10.48550/arXiv.2103.11943
Li, T., Chang, X., Wu, Z., Li, J., Shao, G., Deng, X., Qiu, J., Guo, B., Zhang, G., He, Q., Li, L., & Wang, J. (2017). Autonomous collision-free navigation of microvehicles in complex and dynamically changing environments. ACS Nano, 11(9), 9268-9275. https://doi.org/10.1021/acsnano.7b04525
Lu, X., Zhao, K., Liu, W., Yang, D., Shen, H., Peng, H., Guo, X., Li, J., & Wang, J. (2019). A human microrobot interface based on acoustic manipulation. ACS Nano, 13(10), 11443-11452. https://doi.org/10.1021/acsnano.9b04930
Medina-Sánchez, M., & Schmidt, O. G. (2017). Medical microbots need better imaging and control. Nature, 545(7655), 406-408. https://doi.org/10.1038/545406a
Obaigbena, A., Lottu, O. A., Ugwuanyi, E. D., Jacks, B. S., Sodiya, E. O., & Daraojimba, O. D. (2024). AI and human-robot interaction: A review of recent advances and challenges. GSC Advanced Research and Reviews, 18(2), 321-330. https://doi.org/10.30574/gscarr.2024.18.2.0070
Park, S., Wang, X., Menassa, C. C., Kamat, V. R., & Chai, J. Y. (2024). Natural language instructions for intuitive human interaction with robotic assistants in field construction work. Automation in Construction, 161, 105345. https://doi.org/10.1016/j.matdes.2023.111735
Patidar, R., & Soni, S. (2024). Enhancing human-robot interaction through advanced natural language processing techniques. International Journal of Scientific Research in Engineering and Management (IJSREM), 08, IJSREM35803. https://doi.org/10.55041/IJSREM35803
Qin, X., Xu, R., Wu, J., Liu, Y., Wang, T., Tu, H., Li, J., & Pang, Z. (2025). Recent advances in engineering nano/microrobots for tumor treatment. Acta Pharmaceutica Sinica B. 6222, 6252. https://doi.org/10.1016/j.apsb.2025.10.003
Rahmer, J., Stehning, C., & Gleich, B. (2017). Spatially selective remote magnetic actuation of identical helical micromachines. Science Robotics, 2(3), eaal2845. https://doi.org/10.1126/scirobotics.aal2845
Salehi, A., Hosseinpour, S., Tabatabaei, N., Soltani Firouz, M., & Yu, T. (2024). Intelligent navigation of a magnetic microrobot with model-free deep reinforcement learning in a real-world environment. Micromachines, 15(1), 112. https://doi.org/10.3390/mi15010112
Sanh, V., Debut, L., Chaumond, J., & Wolf, T. (2019). DistilBERT, a distilled version of BERT: smaller, faster, cheaper and lighter. arXiv preprint arXiv, 1910, 01108. https://doi.org/10.48550/arXiv.1910.01108
Schmidt, C. K., Medina-Sánchez, M., Edmondson, R. J., & Schmidt, O. G. (2020). Engineering microrobots for targeted cancer therapies from a medical perspective. Nature Communications, 11(1), 5618. https://doi.org/10.1038/s41467-020-19322-7
Shen, H., Cai, S., Wang, Z., Ge, Z., & Yang, W. (2023). Magnetically driven microrobots: Recent progress and future development. Materials & Design, 227, 111735. https://doi.org/10.1016/j.matdes.2023.111735
Sitti, M. (2017). Mobile microrobotics, 271. Retrived from: https://www.researchgate.net/publication/319173891_MOBILE_MICROROBOTICS
Sutton, R. S., & Barto, A. G. (1998). Reinforcement learning: An introduction. Cambridge: MIT press.
Vanzo, A., Croce, D., Bastianelli, E., Basili, R., & Nardi, D. (2020). Grounded language interpretation of robotic commands through structured learning. Artificial Intelligence, 278, 103181. https://doi.org/10.1016/j.artint.2019.103181
Wang, Q., Li, T., Fang, D., Li, X., Fang, L., Wang, X., Mao, C., Wang, F., & Wan, M. (2020). Micromotor for removal/detection of blood copper ion. Microchemical Journal, 158, 105125. https://doi.org/10.1016/j.microc.2020.105125
Xu, T., Yu, J., Yan, X., Choi, H., & Zhang, L. (2015). Magnetic actuation based motion control for microrobots: An overview. Micromachines, 6(9), 1346-1364. https://doi.org/10.3390/mi6091346
Yanmin, F., Dixiao, C., Yuguo, D., De, G., & Lin, F. (2019). The design and control of magnetized cell-based microrobot for targeting drug delivery. In 2019 IEEE 14th International Conference on Nano/Micro Engineered and Molecular Systems (NEMS) (pp. 273-276), Ieee. https://doi.org/10.1109/NEMS.2019.8915608
Yousefi, M., & Nejat Pishkenari, H. (2021). Independent position control of two identical magnetic microrobots in a plane using rotating permanent magnets. Journal of Micro-Bio Robotics, 17(1), 59-67. https://doi.org/10.1007/s12213-021-00143-w
Zhou, A., Zhang, Y., Xie, S., Chen, Y., Li, X., Wang, J., & Zou, J. (2021). Microplastics and their potential effects on the aquaculture systems: A critical review. Reviews in Aquaculture, 13(1), 719-733. https://doi.org/10.1111/raq.12496.
| ||
|
آمار تعداد مشاهده مقاله: 24 تعداد دریافت فایل اصل مقاله: 75 |
||