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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

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Continuum Robot Shape Estimation Using Magnetic Ball Chains

Continuum Robot Shape Estimation Using Magnetic Ball Chains

引用

2024 international conference on intelligent Robots and Systems

作者： Pittiglio, Giovanni Donder, Abdulhamit Dupont, Pierre E. Worcester Polytech Inst WPI Dept Robot Engn Worcester MA 01605 USA Harvard Med Sch Boston Childrens Hosp Dept Cardiovasc Surg Boston MA 02115 USA

ISBN: (纸本)9798350377712;9798350377705

Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This paper proposes the use of magnetic ball chains as a means of generating shape-specific magnetic fields that can be detected by an external array of Hall effect sensors. Such a ball chain, encased in a flexible polymer sleeve, could be inserted inside the lumen of any continuum robot to provide real-time shape feedback. The sleeve could be removed, as needed, during the procedure to enable use of the entire lumen. To investigate this approach, a shape-sensing model for a steerable catheter tip is derived and an observability and sensitivity analysis are presented. Experiments show maximum estimation errors of 7.1% and mean of 2.9% of the tip position with respect to total length.

关键词： Medical Robots and Systems Steerable Catheters Flexible robotics Magnetic Sensing Continuum robots

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Two Quality control Algorithms for Echocardiographic Report Text Based on Natural Language Processing 5

Two Quality Control Algorithms for Echocardiographic Report ...

引用

5th international conference on control, robotics, and intelligent System, CCRIS 2024

作者： Gan, Jianhong Yin, Yiduo Xie, Shenghua School of Software Engineering Chengdu University of Information Technology Chengdu610500 China Cardiovascular Ultrasound and Non-invasive Cardiology Department Sichuan Academy of Medical Sciences Sichuan Provincial People's Hospital Chengdu610072 China

ISBN: (数字)9781510685871

ISBN: (纸本)9781510685864

Effective quality control of ultrasound examination report provides guarantee for the accuracy of clinical ultrasound diagnosis. Two quality control methods of ultrasound diagnosis report text are presented in this paper to detect abnormal words and evaluate completeness of report text, respectively. One is the detection of abnormal words in report text based on deep learning model of Chinese word segmentation (CWS), which realizes the detection of various abnormal words in the report text, such as misspelled words, unwanted repeated words and non-professional words. In this paper, a BILSTM-CRF model combining character similarity features is proposed. The character similarity matrix is calculated by cosine similarity, and then the matrix is connected with the character encoding direction as the input data of the BiLSTM input layer. The other is Chinese sentence segment (CSS) in the ultrasonic report, mainly to cluster the clauses according to tissue and function of the *** experiment results show: (1) The improved deep learning model in this paper can accurately segment the text of echocardiography reports. The model with the most comprehensive effect on the verification set was selected as the final model of this paper based on the models trained with multiple sets of parameters. The accuracy rate of this model was 0.945, the recall rate was 0.939, and the F1 value was 0.947, all at a relatively high level. Can effectively detect abnormal words in the report. (2) The segmentation algorithm in this paper was used to test the results of automatic segmentation of echocardiographic reports combined with the results of manual segmentation by doctors. The accuracy of the dynamic segmentation method is above 90%, which can effectively segment the original echocardiogram report text according to the structure and function of the heart, and then be used to evaluate the completeness of the report description. © 2024 SPIE.

关键词： Echocardiography

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Behavior-based Vehicle and Implement control with Minimal Communication 4

Behavior-based Vehicle and Implement Control with Minimal Co...

引用

4th international conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2024

作者： Gassen, Eike Berns, Karsten Robotics Research Lab University of Kaiserslautern-Landau Kaiserslautern67663 Germany

ISBN: (纸本)9798350391183

This paper proposes an approach and workflow for autonomous control of implements and vehicles in agriculture. We introduce a control and communication concept for this purpose. The integrated behavior-based control architecture carries out the control. The cross-Application use of a sensor on various existing attachments turns simple implements into intelligent, autonomous ones. This concept is being tested and evaluated on selected implements. © 2024 IEEE.

关键词： behavior-based control system robotics

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Target Detection Method Based on Joint Matching of Edge and Region Features 8

Target Detection Method Based on Joint Matching of Edge and ...

引用

8th international conference on robotics, control and Automation (ICRCA)

作者： Liang, He Liu, Xia Shen, AoTian Jianghan Univ Sch Intelligent Mfg Wuhan Peoples R China

ISBN: (纸本)9798350344738;9798350344721

In the field of robot autonomous recognition and grabbing of objects, this paper proposes a method based on joint matching of edge and region features. First, this method performs median filtering and noise reduction preprocessing on the collected images, extract object edge information using Canny edge detection algorithm, and then segment the image area using edge information. Secondly, use the target object template to perform the first contour moment matching with the segmented edge area set image to obtain the candidate area set image of the target object. Finally, the target object is identified by matching the feature points in the template image and candidate region set image. The differences between traditional methods and this method under low light conditions are compared, the experiment have shown that this method can detect and recognize target objects under darker conditions, with a success rate of over 94%, greatly improving the accuracy of object detection in the scene mentioned above.

关键词： low light intensity regional segmentation object detection

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Design and Experiment of Safflower intelligent Picking end Effector System 10

Design and Experiment of Safflower Intelligent Picking end E...

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10th international conference on Electrical Engineering, control and robotics (EECR)

作者： Chen, Bangbang Ding, Feng Ma, Baojian Liu, Xiangdong Xian Technol Univ Sch Mechatron Engn Xian 710021 Peoples R China Xinjiang Inst Technol Aksu 843100 Peoples R China

ISBN: (纸本)9798350370010;9798350370003

Aiming at the problems of low degree of intelligent mechanization, high labor intensity and low efficiency of manual picking of safflower silk, a terminal actuator system structure which can match the intelligent picking of safflower silk was studied. The material characteristics of safflower silk were statistically analyzed, and the picking demand and key influencing factors of the picking head were identified. Taking Omron cp1e series PLC as the control core, the intelligent picking end effector test bench system was designed. According to the working requirements of the end effector, the electrical control system was constructed and the bench test was built. With the help of design expert software and CCD experimental design method, the mathematical regression model of cutting motor speed and lifting motor speed on silk picking success was obtained, and the optimal combination parameters were determined through optimization numerical module optimization. The test bench verification was carried out. The results showed that the continuous influence factors, the cutting motor speed had more significant influence on the picking success rate than the lifting motor speed. When the cutting motor speed was 31.7 r/min and the lifting motor speed was 51.3 r/min, the picking success rate was more than 90%, and the error between the experimental value and the theoretical optimization value was within 2.5%, which met the operation requirements of intelligent picking end effector.

关键词： intelligent picking end effector PLC control system experimental design

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An Integrated Position-velocity-force Method for Safety-enhanced Shared control in Robot-assisted Surgical Cutting

An Integrated Position-velocity-force Method for Safety-enha...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Xiao, Xilin Li, Xiaojian Shi, Yudong Fang, Jin Li, Lin He, Pengfei Mo, Hangjie Hefei Univ Technol Sch Management Hefei Peoples R China Hefei Univ Technol Key Lab Proc Optimizat & Intelligent Decis Making Hefei Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Numerous studies have emphasized the application of autonomous intelligence in human-robot shared control to enhance surgical convenience and efficiency. However, the neglect of human dominance may reduce surgical safety. This paper developed a safety-enhanced human-robot shared control method by intelligently allocating control authority, with the surgeon remaining the leader during the surgical procedure. Three controllers are designed initially, including a master hand position (MP) controller and a master hand velocity (MV) controller related to the surgeon's manipulation, and a planned trajectory tracking (PT) controller related to the robot. In precision surgical manipulation scenarios, precise tracking of the human's operation is achieved by combining MP and MV controllers, while a combination of MV and PT controllers is developed in high-efficiency surgical scenarios, which relaxes the requirement for precise tracking of hand position and enables precise robot assistance guided by the velocity of human hand. The autonomous scenarios and controllers switching are accomplished through a motion fusion mechanism, which is achieved via optimizing evaluation functions that are reliant on future states. Furthermore, a force feedback mechanism is proposed to help human understand the intent of autonomous control to improve safety. The feasibility and effectiveness of this method have been validated through simulations and experiments.

关键词： surgical robot shared control motion fusion safety-enhanced force feedback

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Research on Stochastic Dual control Method of Unmanned Aerial Vehicle Attitude Angle with Outliers 7

Research on Stochastic Dual Control Method of Unmanned Aeria...

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7th international conference on intelligent robotics and control Engineering, IRCE 2024

作者： Wang, Diandian Zhang, Xiaoyan Xie, Yuxuan Huang, Jiaoru Qian, Fucai Chen, Chaobo Xi'an Technological University School of Electronic Information Engineering Xi'an China Xi'an University of Technology School of Automation and Information Engineering Xi'an China

ISBN: (纸本)9798350352399

This paper proposals a detection method for external noise, which can address the issue of the simultaneous existence of parameter uncertainty and outliers in the UAV attitude angle system. The distance and direction criteria can detect the outliers in system output, incorporates Kalman filtering to deal with the external noise and internal parameters of the system. Based on the method of detecting the outliers of the system, we propose a stochastic dual control method. The method's efficacy is validated via simulation. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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A Framework for Neurosymbolic Goal-Conditioned Continual Learning in Open World Environments

A Framework for Neurosymbolic Goal-Conditioned Continual Lea...

引用

2024 international conference on intelligent Robots and Systems

作者： Lorang, Pierrick Goel, Shivam Shukla, Yash Zips, Patrik Schetal, Matthias Tufts Univ 419 Boston Ave Medford MA 02155 USA AIT Austrian Inst Technol GmbH Ctr Vis Automat & Control Vienna Austria

ISBN: (纸本)9798350377712;9798350377705

In dynamic open-world environments, agents continually face new challenges due to sudden and unpredictable novelties, hindering Task and Motion Planning (TAMP) in autonomous systems. We introduce a novel TAMP architecture that integrates symbolic planning with reinforcement learning to enable autonomous adaptation in such environments, operating without human guidance. Our approach employs symbolic goal representation within a goal-oriented learning framework, coupled with planner-guided goal identification, effectively managing abrupt changes where traditional reinforcement learning, re-planning, and hybrid methods fall short. Through sequential novelty injections in our experiments, we assess our method's adaptability to continual learning scenarios. Extensive simulations conducted in a robotics domain corroborate the superiority of our approach, demonstrating faster convergence to higher performance compared to traditional methods. The success of our framework in navigating diverse novelty scenarios within a continuous domain underscores its potential for critical real-world applications.

关键词： Adversarial machine learning

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A Study of Submersible Positioning Based on Deep Reinforcement Learning and automatic control Algorithms 6

A Study of Submersible Positioning Based on Deep Reinforceme...

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6th international Symposium on robotics and intelligent Manufacturing Technology, ISRIMT 2024

作者： Liu, Wenjie Ma, Xunyi Zheng, Boyou Shen, Guoji National University of Defense Technology Changsha China National University of Defense Technology Key Laboratory of Equipment State Sensing and Smart Support Changsha China

ISBN: (纸本)9798331528942

In this paper, a position prediction model and a search model are developed to explore the application of Monte Carlo modeling and deep reinforcement learning and control algorithms to the localization of marine submersibles. A set of six-degree-of-freedom spatial equations of motion are developed using Newton's second law for analyzing the motion of a submersible in still water. Simulations confirm a high degree of similarity between the model and the actual motion. The Monte Carlo model is used to simulate the probability distribution, optimize the initial deployment position, and improve the efficiency of repositioning the faulty submersible. Among the compared search methods, reinforcement learning shows higher efficiency and resource savings with a minimum relative search time of 0.57 and a search completion rate of 0.95. An automatic control system combining deep reinforcement learning and control algorithms provides a hierarchical framework for real-time search path optimisation with improved adaptability and efficiency. For the multi-submarine task, an improved k-means clustering algorithm is used to construct a dynamic partitioning model to optimize the configuration of finite search devices. Simulation results show that the probability-based deployment scheme achieves a higher search success rate compared to the traditional approach. © 2024 IEEE.

关键词： Deep reinforcement learning

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Bounding Flight control of Dynamic Morphing Wings

Bounding Flight Control of Dynamic Morphing Wings

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IEEE/ASME international conference on Advanced intelligent Mechatronics (AIM)

作者： Gupta, Bibek Dhole, Aniket Salagame, Adarsh Niu, Xuejian Xu, Yizhe Venkatesh, Kaushik Ghanem, Paul Mandralis, Ioannis Sihite, Eric Ramezani, Alireza Northeastern Univ Dept Elect & Comp Engn Silicon Synapse Labs Boston MA 02115 USA CALTECH Dept Aerosp Engn Pasadena CA 91125 USA

ISBN: (纸本)9798350355376;9798350355369

Vertebrate flyers perform intermittent flights as bounding or oscillating flights for power management. Intermittent flights and the resulting oscillating height during flapping and soaring provide the means of increasing speed without increasing flapping speed. These maneuvers and their robotic biomimicry have remained unexplored so far, which, if understood, can lead to aerial robot designs with endured flight operations. This works attempts to achieve robotic bounding flight using Northeastern's Aerobat platform. Aerobat can dynamically morph its wings by collapsing them rapidly during each gaitcycle. We present a launcher designed that allows bounding flight experimentation of Aerobat in a computer-aided fashion. We augmented Aerobat with a plural tiny thruster to stabilize its unstable roll, pitch, and yaw dynamics. This paper presents our control design based on extending Aerobat's states to accommodate unobservable aerodynamic forces and offers experimental results to support our proposed approach.

关键词： robotics

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