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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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Resolving control Hazard by Reconstituting Processor's Pipeline Organization 3

Resolving Control Hazard by Reconstituting Processor's Pipel...

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3rd international conference on Inventive Systems and control, ICISC 2019

作者： Pandey, Amit Faculty of Informatics IOT Hawassa University Hawassa Ethiopia

ISBN: (数字)9781538639504

ISBN: (纸本)9781538639504

control hazard is caused because the Instruction Fetch (IF) stage fetches the next instruction before the Instruction Decode (ID) stage can evaluate the branch condition. In the proposed design, IF stage consumes the first clock cycle in fetching the new instruction and then forwards the same instruction to the consecutive ID stage at the beginning of second clock cycle. In the case of branch instruction entering the ID stage, its outcome will only be available at the end of second clock cycle. Meanwhile, the IF stage will also be ready with the next fetched instruction. At this instant, a multiplexer is used to choose between both of these instructions from IF and ID stages. The output of this multiplexer is forwarded to the Program Counter (PC) register that will eventually result in resolving the control hazard without causing any stall. In addition, to prove the effectiveness of the proposed design, we have compared its outcome with the outcomes of the other existing architectures, such as Intel(R) core(TM) i3, i5 and i7 processors. We have used the Intel(R) VTune Amplifier 2018 software for studying the branch mispredictions and gathering the respective data. © 2019 IEEE.

关键词： Hazards

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A New Method to Render Virtual Walls for Haptic Systems: "Tracking Wall". Application to Needle Insertion Simulation 19

A New Method to Render Virtual Walls for Haptic Systems: "Tr...

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3rd international conference on Virtual and Augmented Reality Simulations (ICVARS)

作者： Alamilla, Ma de los Angeles D. Moreau, Richard Redarce, Tanneguy Univ Lyon INSA Lyon CNRS Ampere F-69621 Villeurbanne France

ISBN: (纸本)9781450365925

For medical training, the use of haptic systems is a way to improve skills of novices, due to their capabilities to reproduce the natural gestures or replicate different environments. A simulator based on a haptic interface allows to reproduce the feeling of inserting a needle and render the different stiffness tissues while a needle is inserted. The majority of needle insertion simulators make use of prosthesis or limbs which limits the training procedures. Some simulators offer more realistic behavior using control laws based on active walls. However, problems occur with the speed estimation and the damping factor. To overcome this, an algorithm which can be used in a haptic simulator for the intraarticular punction procedure was developed. This algorithm allows rendering different tissues stiffness while a needle penetrates it avoiding speed estimation problems and rumbling phenomena caused by high damping factors.

关键词： control Haptic systems Medical robotics Medical simulator

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Extensible High Force Manipulator For Complex Exploration

Extensible High Force Manipulator For Complex Exploration

引用

IEEE international conference on Soft robotics (RoboSoft)

作者： Josie Hughes Cosmio Della Santina Daniela Rus Distributed Robotics Lab CSAIL MIT.

ISBN: (数字)9781728165707

ISBN: (纸本)9781728165714

The development of compliant robotic manipulators which can show length change, compliance and dexterity could assist many challenging applications. Potential applications range from dexterous manipulation, robotic surgery or exploration of challenging environments. Despite significant developments in both fabrication and control approaches for continuum body manipulators, there have been few demonstrations of continuum body systems which display all these properties. We present a method for fabricating a continuum manipulation which shows extension, high force movements and a range of dexterous position. This approach uses 3D printing to create a flexible rack and pinion system. These high torque mechanisms are mounted at points along the 3D printed tracks to allow complex shape control of the continuum system. A controller has been also been developed based on a Piecewise Constant Curvature approximation to allow the position of the tip of the manipulator to be controlled, and motion paths to be followed. In this work, we show the force capabilities of this manipulator and demonstrate how multiple segments can be created for more complex movements.

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A Modular Hybrid Exoskeletal-Soft Glove for High Degree of Freedom Monitoring Capability 16

A Modular Hybrid Exoskeletal-Soft Glove for High Degree of F...

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16th IEEE international conference on Rehabilitation robotics (ICORR)

作者： Trott, Robert E. Kleinig, Timothy J. Hillier, Susan L. Hobbs, David A. Reynolds, Karen J. Flinders Univ S Australia Med Device Res Inst Adelaide SA Australia Flinders Univ S Australia Coll Sci & Engn Adelaide SA Australia Univ South Australia Div Hlth Sci Adelaide SA Australia Univ Adelaide Royal Adelaide Hosp Adelaide SA Australia Univ Adelaide Fac Hlth & Med Sci Adelaide SA Australia

ISBN: (纸本)9781728127552

In this paper, we present a hybrid exoskeletal-soft glove for the application of on-axis angle sensors that can be placed close to the center of rotation of the digit joints. 3D printed exoskeletal digit segments that run medially on most digits connect to low friction bearings. Exoskeletal segments and bearings provide rigid fixation points for a variety of traditional angle sensors, while a combination of textile and rigid structure fixate exoskeletal digits to the digits and hand. Exoskeletal digits are designed modularly so that only required digits are used and to reduce difficulty in donning and doffing. On-axis measurement may prove useful in control or assessment tasks in rehabilitation. The articulation of the digits while wearing the glove is demonstrated, albeit without sensors, showing little restriction at an early stage of the design process. Exoskeletal metacarpophalangeal joints of the 3rd and 4th digits require more work as the flexion/extension joint axis is inaccessible and moves when the digits are articulated. The proposed device must be customized for an individual and will facilitate an alternative approach to existing hand posture monitoring techniques.

关键词： conferences Rehabilitation robotics

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2017 3rd international conference on control, automation and robotics, ICCAR 2017

2017 3rd International Conference on Control, Automation and...

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3rd international conference on control, automation and robotics, ICCAR 2017

ISBN: (纸本)9781509060870

The proceedings contain 152 papers. The topics discussed include: particle swarm optimization for high-DOF inverse kinematics;learning and correcting robot trajectory keypoints from a single demonstration;a clothoid based real-time interpolation concept for path smoothing;evaluation on path planning with a view towards application;a revised Gaussian distribution sampling scheme based on RRT∗ algorithms in robot motion planning;autonomous low limb exoskeleton to suppress the body weight;maximal operation time estimation for modular and self-reconfigurable robots with output current constraints;modeling and simulation of 5DOF robot manipulator and trajectory using Matlab and CATIA;inverse kinematics analysis of the three-legged reconfigurable spherical robot ii;mobile robot path planning in complex environments using ant colony optimization algorithm;a framework for the kinematic modeling of soft material robots combining finite element analysis and piecewise constant curvature kinematics;mobile robot positioning system for precision manufacturing: the laser lighthouse revisited;development and assessment of a powered 3D-printed prosthetic hand for transmetacarpal amputees;and minimalist mechanical design and characterization of an android for human robot interaction.

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Information Technology for Remote Evaluation of after Effects of Residues of Herbicides on Winter Crop Rape 3

Information Technology for Remote Evaluation of after Effect...

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3rd international conference on Advanced Information and Communications Technologies, AICT 2019

作者： Dolia, Mykola Lysenko, Vitaliy Pasichnyk, Natalia Opryshko, Oleksiy Komarchuk, Dmytro Miroshnyk, Volodymyr Lendiel, Taras Martsyfei, Artem Faculty of Plant Protection Biotechnology and Ecology National University of Life and Environmental Sciences of Ukraine Kyiv Ukraine Department of Automation and Robotics Systems National University of Life and Environmental Sciences of Ukraine Kyiv Ukraine

ISBN: (纸本)9781728123998

Thifensulfuron-methyl is an active substance of herbicides, highly toxic to sensitive plant species. It is used for controlling weeds in predecessor culture can cause damage to crops next year, such as rape. In rape growing, the early detection of the toxic effects of herbicide is critical for reanimation or other crops. Glyphosate in rape causes metabolic disorders in plants that affects their spectral characteristics. This makes it possible to use spectral remote sensing for early detection of damage. In order to determine the possibility of using spectral monitoring from the platform of an unmanned aerial vehicle (UAV), research was carried out at the industrial fields and experimental experimental field of NUBiP of Ukraine, in the optical range, using the RGB camera and the Slantrange complex. The image processing was carried out using firmware (software), as well as the standard and stress indexes provided by the developer. Data obtained from the FC200 optical camera in RGB format was computed in the mathematical package *** was found out that in winter crop rape, in the vegetative phase of 5-7 leaves, as a result of the action of the herbicide occurs anomalous coloring of the two lower leaves of the plant. To identify this feature in the optical range, the most informative are red and green channels. With the use of Slantrange 3 complex among the embedded stress indexes, SlantView software is the most informative of Veg. Fraction and Yield potential. It is shown that in order to increase the reliability of the data obtained, it is advisable to carry out additional research on the parameters of debugging the given system. © 2019 IEEE.

关键词： Herbicides

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Face Attribute Recognition with Multimodal Fusion

Face Attribute Recognition with Multimodal Fusion

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IEEE international conference on automation, Electronics and Electrical Engineering (AUTEEE)

作者： Ming Zhao Chang Liu Zeyu Zheng Qingfeng Yao Nan Yang Yuanye Xu Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728198279

ISBN: (纸本)9781728181585

Facial attribute recognition is a challenging question, especially the potential high-level semantic features between attributes are a research focus of attribute recognition research. In this paper, a face attribute recognition network is proposed based on multimodal fusion, which is completely data-driven and incorporates image features and advanced semantic features of attributes: 1) We design an image feature extraction network with an underlying shared network that does not restrict the specific form. Meanwhile, a layer-parameter orthogonalization operation is unveiled, which can increase the expressive power of the features. 2) Using graph convolutional networks (GCN), we build a semantic feature extraction network to extract advanced semantic features of face attributes and mine correlations between attributes. 3) To enhance the representation of features, we propose a multimodal fusion module to fuse two complementary representations of image features and semantic features. 4) We construct fused feature classification networks using attribute-independent high-level networks to predict multiple attributes separately. We have conducted extensive experiments to demonstrate the effectiveness of the proposed method and have obtained results that are competitive with state-of-the-art methods.

关键词： Face recognition Feature extraction Semantics Task analysis automation Robots Manufacturing

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The Effect of Channel Characteristic on Millennial Moms Purchasing Behaviors of Baby Product

The Effect of Channel Characteristic on Millennial Moms Purc...

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international conference of Computer and informatics Engineering (IC2IE)

作者： Richardo Antolis Anna Amalyah Agus Faculty of Economic and Business University of Indonesia Depok Indonesia

ISBN: (数字)9781728182476

ISBN: (纸本)9781728182483

The rise of online channel has shifted how Indonesian people purchase their product, making them exposed to multiple channel. Millennial mom is one of the most affected segments as they are willing to spend more time to research for products. This study aims to understand the effect of channel characteristic on the channel selection intention of millennial moms following the theory of planned behavior and commitment trust theory. The study uses a quantitative approach with questionnaire as the instrument for data collection. The study included 296 respondent which are divided into three groups based on their preferred purchasing channel. Data is processed using LISREL edition 8.80 software. The result of the study concluded that certain channel characteristic has an effect on channel selection intention of millennial moms.

关键词： Sociology Software Safety Process control Pediatrics informatics Business

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Instant soft robot: A simple recipe for quick and easy manufacturing

Instant soft robot: A simple recipe for quick and easy manuf...

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IEEE international conference on Soft robotics (RoboSoft)

作者： J. Fras J. Glowka K. Althoefer Centre of Advanced Robotics @ Queen Mary (ARQ) Faculty of Science and Engineering Queen Mary University of London London UK Industrial Research Institute for Automation and Measurements PIAP Warsaw PL

ISBN: (数字)9781728165707

ISBN: (纸本)9781728165714

Soft robots offer interesting features and can be manufactured cheaply using widely available lab equipment. However, with increasing robot complexity, the manufacturing process often becomes expensive, requires sophisticated or experimental tools, highly skilled technicians and time. In this paper, we propose an alternative approach for the fabrication of soft pneumatic fiber-reinforced actuators. With the new design, a scaffolding to reinforce the actuator is printed inside a single-use mold. The mold is injected with silicone and broken apart, while the reinforcement detaches from the mold and remains within the actuator. Using flexible filaments such as nylon allows for the resulting actuators to be not only compliant but also squeezable. Our approach reduces the needed work effort and requires virtually no manufacturing skills when compared to current labor-intensive fabrication techniques. It also does not require any equipment other than an affordable, single nozzle desktop 3D printer. In the paper, we presented the design and fabrication process of different types of modules: linearly extending, bending and a manipulation module. We have compared the new instant design and the previous fiber-reinforced design in terms of bending, elongation and generated forces.

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Design and Characterization of a Miniature Hydraulic Power Supply for High-Bandwidth control of Soft robotics

Design and Characterization of a Miniature Hydraulic Power S...

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IEEE international conference on Soft robotics (RoboSoft)

作者： Damiano Padovani Eric J. Barth Engineering Department University of Agder Grimstad Norway Mechanical Engineering Department Vanderbilt University Nashville USA

ISBN: (数字)9781728165707

ISBN: (纸本)9781728165714

Soft robotics holds enormous promise for a wide class of applications. However, system controllability, bandwidth, portability, and energy efficiency of soft robot power supplies are often inadequate. Soft robotics desperately needs improved solutions to drive soft actuators either pneumatically or hydraulically. This research paper offers a contribution to bridge this gap. It deals with small-scale power supplies for hydraulically-driven soft robots based on fluidic elastomer actuators in the power range 5-400 W. A design procedure for such power supplies is developed with an emphasis on highbandwidth control. The performance requirements are established based on a literature survey, and design alternatives are discussed. Then, a prototype consisting of a 0.102 cm 3 /rev positive-displacement, external gear pump directly driven by a 70 W brushless dc motor is built and experimentally characterized. control of the targeted soft robots results possible because the proposed power supply has high-bandwidth varying between about 12 and 30 Hz (i.e., well above the actuators' mechanical frequency). The power supply's energy efficiency is also measured, and areas for its improvement are identified. The proposed solution is feasible, applicable to autonomous soft robots, scalable to the power levels of interest, and possibly useful for both tethered soft robots and rigid/semi-rigid robots.

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