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检索条件"任意字段=25th International Conference on Methods and Models in Automation and Robotics"

共 1217 条记录，以下是211-220 订阅

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AutoLaparo: A New Dataset of Integrated Multi-tasks for Image-guided Surgical automation in Laparoscopic Hysterectomy 25th

AutoLaparo: A New Dataset of Integrated Multi-tasks for Imag...

引用

25th international conference on Medical Image Computing and Computer Assisted Intervention (MICCAI)

作者： Wang, Ziyi Lu, Bo Long, Yonghao Zhong, Fangxun Cheung, Tak-Hong Dou, Qi Liu, Yunhui Chinese Univ Hong Kong Dept Mech & Automat Engn Hong Kong Peoples R China Chinese Univ Hong Kong T Stone Robot Inst Hong Kong Peoples R China Soochow Univ Sch Mech & Elect Engn Robot & Microsyst Ctr Suzhou Peoples R China Chinese Univ Hong Kong Dept Comp Sci & Engn Hong Kong Peoples R China Chinese Univ Hong Kong Prince Wales Hosp Dept Obstet & Gynaecol Hong Kong Peoples R China

ISBN: (纸本)9783031164491;9783031164484

Computer-assisted minimally invasive surgery has great potential in benefiting modern operating theatres. the video data streamed from the endoscope provides rich information to support context-awareness for next-generation intelligent surgical systems. To achieve accurate perception and automatic manipulation during the procedure, learning based technique is a promising way, which enables advanced image analysis and scene understanding in recent years. However, learning such models highly relies on large-scale, high-quality, and multi-task labelled data. this is currently a bottleneck for the topic, as available public dataset is still extremely limited in the field of CAI. In this paper, we present and release the first integrated dataset (named AutoLaparo) with multiple image-based perception tasks to facilitate learning-based automation in hysterectomy surgery. Our AutoLaparo dataset is developed based on full-length videos of entire hysterectomy procedures. Specifically, three different yet highly correlated tasks are formulated in the dataset, including surgical workflow recognition, laparoscope motion prediction, and instrument and key anatomy segmentation. In addition, we provide experimental results with state-of-the-art models as reference benchmarks for further model developments and evaluations on this dataset. the dataset is available at https://***.

关键词： Surgical video dataset Image-guided robotic surgical automation Laparoscopic hysterectomy

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Modeling the structure of efficiency indicators in railway station management

Modeling the structure of efficiency indicators in railway s...

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international conference on methods and models in automation and robotics (MMAR)

作者： Robert Ranosz Barbara Kowal Tomasz Moś Zbigniew Jancewicz Department of Economics and Management in Industry Faculty of Civil Engineering and Resource Management AGH University of Krakow Kraków Poland Department Department of Strategy Office of Strategic Management Polskie Koleje Państwowe S.A. Warszawa Poland Office of Research Development and Digitization Polskie Koleje Państwowe S.A. Warszawa Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the authors attempted to build a structure of efficiency indicators for managing railway station assets. the study aims to answer the following research question: how to model the structure of performance indicators for railway station management? this study focuses on the station and the assets of the Premium station. the article proposes a general model for calculating Key Performance Indicators (KPIs), which, when supplied with data, will enable a unified comparative assessment of station asset management at various railway stations.

关键词： automation Key performance indicator Buildings Rail transportation Data models Asset management Robots

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Strategic Maintenance Optimization for Enhanced Operational Efficiency of Railway Station Infrastructure

Strategic Maintenance Optimization for Enhanced Operational ...

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international conference on methods and models in automation and robotics (MMAR)

作者： Katarzyna Grobler-Dębska Rafał Mularczyk Waldemar Bauer Edyta Kucharska Dep. of Automatic Control and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Effective maintenance is a hard but very important task allowing keeping assets in operation. In particular this is something very relevant for critical infrastructure that are railways and railway stations. European wide analyses show, that there is no harmonization in data standards nor there are good solutions allowing to assist station operators in maintenance management. In this paper we focus on handling available data streams, integrating them with a data lake based centralisation and using it to provide a decision support system. Such system, based on dashboards created with Business Intelligence software, can provide significant help in managing of assets. As an example we provide appropriate routing mechanisms allowing to use the available maintenance personnel with more efficiency.

关键词： Routing Rail transportation Software Maintenance Personnel Streams Standards

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Energy savings possibilities gained from neural network application in compressed air supervisory control systems

Energy savings possibilities gained from neural network appl...

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international conference on methods and models in automation and robotics (MMAR)

作者： Kamil Kasprzyk Adam Gałuszka Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

the aim of this paper is to check whenever usage of sequence based neural networks for predicting compressed air demand can be useful in screw compressor room supervisory control systems. Industrial enterprises frequently employ compressed air systems to generate the compressed air needed for daily operations. Data was gathered from three different compressor rooms with different air demand characteristics and configuration over the period of one month. then data was prepared, analyzed, trained and tested followed by simulation tests which determined usefulness of trained networks. Since nowadays high energy prices force energy saving build of the screw compressor itself the purpose of this text was to check if there is any room for optimization in less modern and also modern applications.

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Controlling a Teleoperated Robotic Eye Surgical System Under a Communication Channel’s Unknown Time Delay

Controlling a Teleoperated Robotic Eye Surgical System Under...

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international conference on methods and models in automation and robotics (MMAR)

作者： Ali Soltani Sharif Abadi Andrew Ordys Barbara Pierscionek The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surgical instrument of the robot as it penetrates the human eye. Safe surgery requires accurate control of this force. In a teleoperated eye surgical system, there is likely to be a time delay that can affect the system control. this paper focuses on designing a predefined-time Sliding Mode Control (SMC) method to control a teleoperated robotic eye surgical system under an unknown time delay of the communication channel. the Lyapunov theory is used to prove the system stability. For the master and slave parts, manipulator robots are considered for designing and testing the controller. MATLAB software is used to simulate the controller. the simulation results show the robustness of the controller against the time delay of the communication channel.

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Prospective Estimation of BESS Nominal Values for Frequency Control with High PV and Wind Integration

Prospective Estimation of BESS Nominal Values for Frequency ...

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international conference on methods and models in automation and robotics (MMAR)

作者： Lázaro Guerra-Hernández Antonio A. Martínez-García Miriam Vilaragut-Llanes Yorlandys Salgado-Duarte Janusz Szpytko Technical Director of Electrical Union Havana Cuba Faculty of Electrical Engineering Technological University of Havana Havana Cuba Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland

Energy storage systems (BESS) have been proposed to mitigate photovoltaics (PV) and wind generation variability, reducing the need to operate traditional spinning reserves and offering auxiliary grid services. BESS selection necessary to mitigate PV and wind generation variability is directly related to the worst daily short-time PV and wind generation variability. this paper proposes a practical estimation of BESS nominal parameters required to mitigate prospective power generation variability associated with high PV and wind generation penetration in Electrical Power Systems (EPS) under actual conditions, which includes significant loads impact through scenario analysis.

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Neural network model of ship magnetic signature for different measurement depths

Neural network model of ship magnetic signature for differen...

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international conference on methods and models in automation and robotics (MMAR)

作者： Kajetan Zielonacki Jarosław Tarnawski Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper presents the development of a model of a corvette-type ship’s magnetic signature using an artificial neural network (ANN). the capabilities of ANNs to learn complex relationships between the vessel’s characteristics and the magnetic field at different depths are proposed as an alternative to a multi-dipole model. A training dataset, consisting of signatures prepared in finite element method (FEM) environment Simulia Opera was constructed. A feedforward neural network was developed through a comparative analysis of different activation functions available in MATLAB’s Deep Learning Toolbox and the grid search method. Verification was performed using the leave-one-out cross-validation method (LOOCV). the model proved to be highly effective in predicting the magnetic signature for the northward direction in any measurement depth, with prospects to expand it to estimate other directions.

关键词： Training Search methods Artificial neural networks Predictive models Mathematical models Finite element analysis Feedforward neural networks

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Nonlinear Luenberger observer for velocity estimation in active magnetic levitation system

Nonlinear Luenberger observer for velocity estimation in act...

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international conference on methods and models in automation and robotics (MMAR)

作者： Rafał Bieszczad Adam Piłat Department of Automatic Control and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Cracow Poland

this article presents the problem of designing a nonlinear observer for an active magnetic suspension system. the design process of the nonlinear Luenberger observer (also known as the Kazantzis-Kravaris-Luenberger observer) is discussed. Particular attention was paid to the main nonlinearity of the system - the electromagnetic force, which was modeled applying the function describing the change in inductance as a function of the distance of the levitating object from the electromagnet surface. theoretical analyses were confirmed by the results of experimental studies in which the task of moving the sphere between the given positions using current control was carried out. Control tasks were conducted in the real-time regime on an embedded platform. the measured signals and estimated velocity were analyzed in the context of future implementations in control applications.

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Stability analysis and stabilization of discretized uncertain spatially interconnected systems

Stability analysis and stabilization of discretized uncertai...

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international conference on methods and models in automation and robotics (MMAR)

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Łukasz Hładowski Anton Kummert Joerg Velten Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra Poland Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

In this paper spatially interconnected (ladder) systems have been discussed. First, the multidimensional, in that case, 2D - continuous in time and discrete in the spatial variable, has been introduced. Next, the temporal dynamics has been discretized, which has allowed to create the general, discrete model for the system dynamics. It has been assumed that system elements are the subject of uncertainty of the norm bounded form. Finally, robust stability testing and robust stabilizing controller design conditions have been proposed and its effectiveness is illustrated by an simulation example.

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Analysis of the decoupling control loop for a plant with input dynamics in the ADRC structure

Analysis of the decoupling control loop for a plant with inp...

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international conference on methods and models in automation and robotics (MMAR)

作者： Patryk Bartkowiak Dariusz Pazderski Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this study addresses the decoupling issue within the Active Disturbance Rejection Control (ADRC) framework, taking into account the existence of additional dynamics in the plant input path. these additional dynamics are not directly incorporated into the observer equations. the paper proposes a compensation strategy that employs a filter to shape the observer’s input signal. the transfer function forms for the structure under analysis, as well as the matching conditions in the input path, have been established. the findings indicate that while the use of an input filter can enhance the stability of the decoupling loop, it may also reduce the disturbance attenuation. the conclusions drawn from analytical studies and numerical simulations are validated by experimental results.

关键词： Robust control Matched filters Shape Transfer functions Observers Attenuation Numerical simulation

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