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Jang, H. J. Training in endoscopy: Colonoscopy. Clinical endoscopy 50, 322, https://doi.org/10.5946/ce.2017.077 (2017). Colonoscope training model, kyoto kagaku co., ltd, fushimi-ku kyoto, japan, https://www.kyotokagaku.com/products/detail01/m40.html (Accessed: 22-03-2019). The hyperparameters are chosen via grid search to have the least test loss. The list of searched hyperparameters and their candidates are the number of hidden layers h l ∈ 2 0 , 2 1 , ⋯ , 2 7, hidden units h u ∈ 1,2,3,4, and the learning rate α ∈ 0.0001 , 0.0002 , 0.0005 , 0.001 , ⋯ 0.05 , 0.01. As a result, a network with three hidden layers with eight hidden units, respectively, and a learning rate of 0.002 were used.
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Marchese, A. D. & Rus, D. Design, kinematics, and control of a soft spatial fluidic elastomer manipulator. The International Journal of Robotics Research 35, 840–869, https://doi.org/10.1177/0278364915587925 (2016).Hu FJ, Lin JW, Gu HJ (2019) Dynamic linear predictive optimization of flexible robot profiling MFA model. J Sens 2019:1–9 Araújo RDB, Coelho AAR (2017) Filtered predictive control design using multi-objective optimization based on genetic algorithm for handling offset in chemical processes. Chem Eng Res Des 117:265–273 Liu Y, Dong HB, Lohse N, Petrovic S (2016) A multi-objective genetic algorithm for optimization of energy consumption and shop floor production performance. Int J Prod Econ 179:259–272 As the name suggests, a flying air balloon robot is one that flies using one or more air balloons. Your average birthday party balloon is not going to cut it though; these balloons are much bigger. Like, really big. Airships Le, V. H. et al. Shape memory alloy–based biopsy device for active locomotive intestinal capsule endoscope. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 229, 255–263, https://doi.org/10.1177/0954411915576946 (2015).
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Fixed-wing drone: A fixed-wing drone has wings like an airplane. These drones are typically used for long-distance flights and can stay in the air for extended periods of time. Fixed-wing drones are more stable than rotary-wing drones and can carry heavier payloads, but they are more difficult to fly and are more expensive. Quadcopters Liu, Y. et al. Haustral loop extraction for ct colonography using geodesics. International journal of computer assisted radiology and surgery 12, 379–388, https://doi.org/10.1007/s11548-016-1497-x (2017). Bevan, R. & Rutter, M. Colorectal cancer screening—who, how, and when? Clin Endosc 51, 37–49, https://doi.org/10.5946/ce.2017.141 (2018). Saad A, Khan SA, Mahmood A (2018) A multi-objective evolutionary artificial bee colony algorithm for optimizing network topology design. Swarm Evolut Comput 38:187–201 It is well established that one of the main challenges for a robotic colonoscopy consists of the ability of the device to negotiate the acute angled splenic flexure at the junction between the transverse and the descending colon. This flexure has an angle ranging between 40° to 50° and a diameter of 30 mm after CO 2 inflation of the colon 24.Singh K, Singh K, Son LH, Aziz A (2018) Congestion control in wireless sensor networks by hybrid multi-objective optimization algorithm. Comput Netw 138:90–107
balloon robot using time-state Trajectory generation for balloon robot using time-state
Yegireddy NK, Panda S, Papinaidu T, Yadav KPK (2018) Multi-objective non dominated sorting genetic algorithm-II optimized PID controller for automatic voltage regulator systems. J Intell Fuzzy Syst 35(5):4971–4975
Alazmani, A., Hood, A., Jayne, D., Neville, A. & Culmer, P. Quantitative assessment of colorectal morphology: Implications for robotic colonoscopy. Medical Engineering & Physics 38, 148–154, https://doi.org/10.1016/j.medengphy.2015.11.018 (2016).
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