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检索条件"任意字段=2023 International Conference on Frontiers of Robotics and Software Engineering, FRSE 2023"

共 115 条记录，以下是81-90 订阅

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Design and Implementation of A Novel 4-DoF Robot for Assisted Needle Puncture Deployment

Design and Implementation of A Novel 4-DoF Robot for Assiste...

引用

frontiers of robotics and software engineering (frse), international conference on

作者： Zhijie Pan Guoku Jia Jie Zhu Jiangnan Wang Wen Luo Mengtang Li School of Intelligent Systems Engineering Shenzhen Campus of Sun Yat-sen University Shenzhen China Department of Aerospace Engineering California Institute of Technology Pasadena USA

The robot-assisted minimally invasive percutaneous biopsy has improved the accuracy and speed of the puncture operation. However, currently available robot systems used in interventional surgery are relatively large in size or complex to control, making them difficult to be used in practices. As an improvement to current robot-assisted puncture systems, a compact four degree of freedom (DoF) punctuation needle deployment robot has been designed and corresponding kinematic model has been established. A first-generation prototype has been constructed to evaluate accuracy of the punctuation catheter orientation control. The experimental results show that the robot’s orientation control error is less than 0.4°. Conclusively, the developed robot system demonstrates promising ability to accurately assist and guide surgeons in minimally invasive percutaneous biopsy.

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A Monocular Biological Simultaneous Localization and Mapping Method Based on a Bionic Vision Model

A Monocular Biological Simultaneous Localization and Mapping...

引用

frontiers of robotics and software engineering (frse), international conference on

作者： Sitong Guo Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Key Laboratory of Collaborative sensing and autonomous unmanned systems of Zhejiang Province Hangzhou China

Animals can navigate robustly through large unknown environments, utilizing inaccurate sensor and egomotion cues. Inspired by the mechanism of the human visual system, this paper presents a biological simultaneous localization and mapping (SLAM) system based on a monocular vision sensor to perform navigation tasks in complex environments. Specifically, our contributions are two folds: an improved monocular visual odometry with a scale recovery algorithm to calibrate the estimated robot pose, and a bionic vision model based on image enhancement algorithm and feature extraction approach to detect closed-loop. Experiments on public datasets demonstrate that our proposed method performs competitively in illumination-varying scenarios indoors and outdoors, which achieve a trade-off to maintain performances in terms of accuracy, execution time, and robustness.

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EFNQL: An Efficient Method Based On Q-learning And Fuzzy Neural Networks In Robocup Soccer Simulation

EFNQL: An Efficient Method Based On Q-learning And Fuzzy Neu...

引用

frontiers of robotics and software engineering (frse), international conference on

作者： Lepeng Wang Zhiqiu Tan Jiangyi Liu Yinze Yang School of Computer Science and Engineering Central South University Changsha China

Robocup Soccer Simulation is considered to be one of the world’s most prestigious and large-scale robotics events, attracting researchers from all over the world. In Robocup Soccer Simulation 2D, the challenge has always been to organize intelligent agents to collaborate and analyze scenarios in order to develop more effective strategies for launching shots and dribbling. To address this challenge, an efficient algorithmic architecture called EFNQL has been developed that utilizes fuzzy control, fuzzy neural networks, and Q-learning to optimize the strategy of the agents in Robocup Soccer Simulation competitions. The architecture first establishes fuzzy rules using fuzzy control theory, then processes more complex information on the playing field using fuzzy neural networks, and finally completes fuzzy reasoning by applying Q-learning related theory for learning. Through extensive experimentation, this thesis found that the scoring rate and ball control rate were significantly improved, ultimately resulting in a second-place finish at the 2022 RoboCup China Open.

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Multi-source Transfer-assisted Evolutionary Optimization for Dynamic Human-Robot Collaborative Disassembly Planning

Multi-source Transfer-assisted Evolutionary Optimization for...

引用

frontiers of robotics and software engineering (frse), international conference on

作者： Yilin Fang Jin Tu School of Information Engineering Wuhan University of Technology Wuhan China

Traditional manual disassembly can no longer meet the needs of modern enterprises, so more industrial robots are designed to assist or even replace humans to complete the disassembly. In actual disassembly environments, there are many uncertainties that affect the whole disassembly process. In this paper, a dynamic optimization problem of human and robot collaborative disassembly line balancing is studied, which is based on the uncertainty of human ability. Moreover, the dynamic optimization problem needs to follow the Pareto optimal solution set quickly and accurately, and transfer learning has been proved to be a suitable method. Therefore, this paper proposes a multi-source transfer-assisted evolutionary dynamic optimization algorithm. The algorithm reuses knowledge from multiple historical environments to accelerate the generation of initial population and improve the convergence speed of the solution. In the end, based on several sets of problem instances with different scales and environmental similarities, the effectiveness of the algorithm is validated through comparison of several competitors.

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Research on SaaS ERP service provider selection model of small and medium-sized enterprises based on ELECTRE-IV

Research on SaaS ERP service provider selection model of sma...

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frontiers of robotics and software engineering (frse), international conference on

作者： Yanying Shang Junfeng Jiang Ruochen Zhang School of Economics and Management Xi’an University of Technology Xi’an China School of Management Science and Engineering Nanjing University of Information Science and Technology Nanjing China

The choice of SaaS ERP service provider is the key for SMEs to successfully implement ERP projects. This paper aims to select the most suitable SaaS ERP service provider for enterprises and empirically analyses the influencing factors of SaaS ERP service provider selection through the two dimensions of the enterprise’s factors and SaaS ERP service provider factors. The influencing factors are determined as follows: SaaS ERP service provider strength, enterprise operation capability, SaaS ERP service platform configuration, and enterprise compatibility. Based on this, the index system of SaaS ERP service provider selection is determined. Aiming at the characteristics of multi-objective attributes and uncertainty, the fuzzy ELECTR-IV method is applied to establish the SaaS ERP service provider selection model of SME based on the “enterprise-service provider” matching perspective, and the case verification is carried out to guide the SaaS ERP service provider selection of SMEs.

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Trans-ARPG: Automated ICD Coding method based on Adversarial Reinforcement Path Generation and Transformer mechanism

Trans-ARPG: Automated ICD Coding method based on Adversarial...

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frontiers of robotics and software engineering (frse), international conference on

作者： Yunzhu Zhang Jin Zhang Xianfeng Liu College of Information Science and Engineering Hunan Normal University Chang Sha China

The international Classification of Diseases (ICD) is a vital tool used in clinical and health management, providing codes for disease classification. The use of deep learning techniques to automatically extract valuable information from medical records and assist in coding has gained significant attention due to the increasing volume of medical data and the advancement of precision medicine research. However, current coding methods face challenges such as the large candidate space for disease coding and imbalanced code distribution. This study focuses on these challenges and proposes a hierarchical ICD automatic coding method. By introducing a Transformer-based hierarchical path propagation mechanism, the study effectively captures the relationships between disease codes at different hierarchical levels and reduces the candidate space for coding. Experimental results demonstrate the method’s efficacy in information extraction and coding improvement.

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Learning of Leg Stiffness and Damping to Match Robot Dynamics

Learning of Leg Stiffness and Damping to Match Robot Dynamic...

引用

frontiers of robotics and software engineering (frse), international conference on

作者： Senwei Huang Xiuli Zhang School of Mechanical Electronic and Control Engineering Beijing Jiaotong University BJTU Beijing China

The spring-loaded inverted pendulum model, a simplified robot dynamics model, is regularly employed for the purpose of controlling the motion of legged robots. It has two key parameters to be determined, namely, spring stiffness and spring damping. For different robot systems, model parameters need to be set to match the robot’s dynamic characteristics. Nevertheless, it’s hard to match the model parameters with the robot’s dynamic characteristics through manual adjustment in engineering practice. Inspired by animals’ hierarchical and modular motion control features, this paper designs a hierarchical motion control framework for robot dynamics matching. The spring stiffness and damping of the SLIP model are learned through the deep reinforcement learning algorithm to match the control model with the robot’s dynamic characteristics. Finally, the performance of the hierarchical motion control framework is tested on a one-legged robot by using dynamics simulation software through comparative experiments. The simulation experimental results show that the robot with learned model parameters has a less mechanical cost of transport and better motion stability than the robot with fixed model parameters.

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Design and Experiments of A Climbing Robot for Inspection of Isolated Phase Bus

Design and Experiments of A Climbing Robot for Inspection of...

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frontiers of robotics and software engineering (frse), international conference on

作者： Haohong Su Ziming Ji Tianmiao Wang Taogang Hou Buhui Jiang School of Electronic Engineering Information Beijing Jiaotong University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China

Isolated phase bus in hydropower stations is characterized by unique pipeline structures, small operating space, and with vertical and horizontal sections. It is very difficult to manual patrol inspection. Therefore, there is an urgent need for a robot that can perform inspection in this special space to replace manual work. In this article, we propose a novel climbing robot. The robot has a flexible wheel leg structure, which can adapt to different sizes of pipe gaps and complete vertical climbing. We have completed the mechanical modeling of the robot and simulated the structural parameters. Therefore, the design parameters of the robot were determined, and the prototype of the robot were manufactured. Walking experiments were conducted to verify the robots walking ability and inspection ability.

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A Novel ArUco Marker for Event Cameras

A Novel ArUco Marker for Event Cameras

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frontiers of robotics and software engineering (frse), international conference on

作者： Yuxuan Huang Taogang Hou Shijie Zhang Xuan Pei Ruiqing Yu Hongjie Liu School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

The event camera is a novel visual sensor that only captures brightness changes information. It has the advantages of high dynamic range and no image blurring caused by high-speed movement. In addition, some existing machine vision markers perform well in tasks such as pose estimation and tracking, but there is not a marker that is suitable for event camera in static environment. In this paper, we designed a kind of marker using LED dot matrix for event camera with reference to ArUco marker, named as EVNT-ArUco. A detection method is proposed to identify EVNT-ArUco marker by capturing information of alternating bright and dark changes of LED matrix. Thus it can combine the advantages of event camera and markers. The experimental results show that the accuracy of the event camera to detect EVNT-ArUco marker is comparable to that of the traditional ArUco marker. Moreover, EVNT-ArUco marker performs significantly better than traditional markers under poor exposure conditions and fast motion environments.

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6d Pose Estimation Method Based on Improved Yolov7

6d Pose Estimation Method Based on Improved Yolov7

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frontiers of robotics and software engineering (frse), international conference on

作者： Min Hu Xiangyin Meng Yang Li Zhixiang Zeng Ruohao Shen School of Mechanical Engineering Southwest Jiaotong University Chengdu China School of Smart City and Intelligent Transportation Southwest Jiaotong University Chengdu China

In existing 6D pose estimation methods, there is often a high requirement for the precision of 3D models or UV textures of objects. To address these issues, a new 6D pose estimation algorithm is proposed based on improvements made to the latest object detection algorithm, Yolov7. By extending the prediction networks and modifying the loss function, as well as performing keypoint interpolation, the new 6D pose estimation algorithm is designed. Experimental results demonstrate that the proposed method achieves an ADD (Average Distance of Differences) score of 87.5% on the Linemod dataset, showing a 25% improvement compared to the keypoint-based BB8 method in terms of the ADD score. Specifically, when estimating the pose of transparent objects, the proposed method outperforms the PVNet method by approximately 10%. These results validate the excellent detection performance of the proposed method.

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