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检索条件"任意字段=3rd International Symposium on Control Engineering and Robotics, ISCER 2024"

共 600 条记录，以下是81-90 订阅

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Teeth Detection for Panoramic Dental X-Ray Image by Rotated Tooth Template for Telemedicine Technology 3

Teeth Detection for Panoramic Dental X-Ray Image by Rotated ...

引用

3rd international symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Sirinart, Nirunchara Paton, Wanwisa Wareethip, Piyamaporn Charoenpong, Theekapun Srinakharinwirot University Faculty of Engineering Department of Biomedical Engineering Nakhon Nayok Thailand

ISBN: (纸本)9781665473538

Telemedicine technology is important for rural area or underdeveloped countries. Panoramic dental x-ray image is used to diagnosis impacted tooth. A process to diagnosis impacted tooth is teeth detection. In this paper, we proposed a method for teeth detection by rotated tooth template. This method consisted of template preparation and image correlation computation step. Template of teeth is varied in the range of 0-360 degrees for detection impacted tooth. Correlation ratio between template and test image is computed. Correlation ratio over threshold is defined as teeth. To test the performance of the method, fifty images are used. Based on the results, both normal tooth and impacted tooth can be detected. This method prove that the rotated tooth template has potential to detection impacted tooth. © 2023 IEEE.

关键词： Template matching

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Welding simulation based on Tecnomatix industrial robot 24

Welding simulation based on Tecnomatix industrial robot

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Ma, Jun Li, Wei Sun, Haote Wang, Junyan School of Mechanical Engineering Xijing University Shaanxi Xi'an710123 China

ISBN: (纸本)9798400709951

Robots are widely used in the field of automatic welding, which not only improves the stability and efficiency of welding, but also becomes an important equipment for modern industrial production. In order to improve the efficiency of welding robot, and solve the problems of welding gun and welding model interference, welding spot allocation and welding path planning in actual production. Therefore, it is of great significance to study whether the welding point and path planning of the robot is reasonable for the robot to complete the welding task, accelerate the welding speed, and improve the efficiency of the welding production of the roof of the car. With the introduction of Industry 4.0 and intelligent manufacturing, the birth of digital twins has gradually attracted our attention. Therefore, this paper takes the welding of the car roof cover as the object and uses the virtual simulation software Process simulate under Tecnomatix to conduct 1:1 virtual simulation to avoid the problems of spatial interference and unreachable of the welding robot in the real situation of welding, so as to make the welding process of the welding robot more smooth. Simulation software Tecnomatix Plant Simulation was originally created for a modelling and subsequent simulation of production and logistics processes. This paper briefly discusses the application of Tecnomatix in digital welding. The digital twin provides a new idea in the field of automatic welding. © 2024 ACM.

关键词： Robot programming

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A Skin Segmentation Method for touchless image viewer in the operating room by 2D camera 3

A Skin Segmentation Method for touchless image viewer in the...

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3rd international symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Rungpanich, Pichayapa Pattanaworapan, Paanchat Kiatsoontorn, Kraiyot Charoenpong, Theekapun Srinakharinwirot University Dept. of Biomedical Engineering Faculty of Engineering Nakhonnayok Thailand Kasetsart University Laboratory School Centre for Educational Research and Development Bangkok Thailand Hrh Princess Maha Chakri Sirindhorn Medical Center Faculty of Engineering Srinakharinwirot University Dept. of Surgery Nakhonnayok Thailand

ISBN: (纸本)9781665473538

Contamination in operating room lead to infection in a patient specially during surgery. A touchless technology can be used to reduce contamination in the operating room when surgeon uses an X-ray image viewer. Skin segmentation is an important processing for touchless image viewer in an operating room. In this paper, we proposed a skin color segmentation method using threshold in color space. This method consists of three steps: 1) frame extraction, 2) color space conversion, 3) skin color segmentation. To test the performance of the proposed method, 601 images are used in the experiment. Accuracy rate is 50.46%. This is satisfactory for applying implementation algorithm for hand detection in future. © 2023 IEEE.

关键词： Operating rooms

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Consensus Condition Based on Free-Matrix-Based Integral Inequality for Multi-Agent Systems with Time Delays 3

Consensus Condition Based on Free-Matrix-Based Integral Ineq...

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3rd international symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Sub Lee, Ho Park, PooGyeon Postech Dept. Electrical Engineering Pohang Korea Republic of

ISBN: (纸本)9781665473538

This paper proposes the consensus condition based on free-matrix-based integral inequality for multi-agent systems with time-varying delays. The use of free-matrix-based integral inequality derives increasing the freedom between the states and their derivatives. The simulation results of a numerical example show that the proposed criteria are less conservative than the existing criteria, and achieve a consensus of multi-agent systems. © 2023 IEEE.

关键词： Multi agent systems

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A Comparative Study of Vehicle Platoon with Limited Output Information in Directed Topologies 3

A Comparative Study of Vehicle Platoon with Limited Output I...

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3rd international symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Prayitno, Agung Indrawati, Veronica Nilkhamhang, Itthisek University of Surabaya Department of Electrical Engineering Surabaya Indonesia School of Information Computer and Communication Technology Sirindhorn International Institute of Technology Thammasat University Thailand

ISBN: (纸本)9781665473538

This paper aims to study and compare the effect of limited-output information in various directed topology to the performance of vehicle platoon. Two distributed controllers based on limited-output information will be compared to cooperative state variable feedback control which designed based on full-state information. The comparison will be conducted for four common directed topologies in the vehicle platoon application. Simulation analysis is performed in three scenarios, namely under normal operations, when the leader moves with constant acceleration and when the platoon is subjected to constant communication delay. Performances comparison will be observed from inter-vehicular distance response in each follower and the results will be displayed with respect to the follower vehicle index in the platoon configuration. Finally, the behavior of each control scheme in various topologies will be summarized. © 2023 IEEE.

关键词： Topology

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Fully soft valve for autonomous pressure control 3

Fully soft valve for autonomous pressure control

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3rd international symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Zhang, Xinjie Oseyemi, Ayobami Elisha Yu, Shouyi Gu, Qiao Southeast University School of Mechanical Engineering Nanjing China Hohai University College of Mechanical and Electrical Engineering Changzhou China Third Affiliated Hospital of Soochow University Gynecology and Obstetrics Department Changzhou China

ISBN: (纸本)9781665437189

Entirely soft robots require various functional parts made of soft materials. This paper proposes a fully soft valve for autonomous pressure control in soft robots. The valve contains an elastomeric popper which snappily shifts between two stable positions under two critical control pressures-which can vary with respect to the thickness of the popper. As the popper can remain in either position, it acts as a mechanical switch to 'open' or 'close' the airflow channels in of the valve. Either state (i.e., open or close) can be maintained permanently without further actuation. By optimizing the geometry, the valve functions as a relief valve in a pneumatic circuit. The valve is then used to control the pneumatic pressure in a soft gripper system. When the system pressure is higher than the critical pressure of the valve, the compressed air is relieved through a vent, for the system to remain safe and stable. This work provides a strategy to develop entirely soft components for soft robotic control. © 2021 IEEE.

关键词： Pressure control

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Novel Dynamic Performance Evaluation Indices of Hybrid Industrial Robots 3

Novel Dynamic Performance Evaluation Indices of Hybrid Indus...

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3rd international symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Liu, Zilin Wu, Jun State Key Laboratory of Tribology Institute of Manufacturing Engineering Department of Mechanical Engineering Tsinghua University Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control Beijing China

ISBN: (纸本)9781665437189

Hybrid industrial robots have gained extensive attention due to the theoretical advantages of both serial robots and parallel robots. However, the multiple closed-loop structure makes its dynamic characteristics more complicated and the performance prediction more difficult, which leads to the limit of application. Taking a typical spray-painting robot as an example, this paper investigates the dynamic performance evaluation of hybrid industrial robots. The kinematic and dynamic modeling are performed first, and then two novel evaluation indices are proposed to evaluate joint-coupling effect and accelerating ability quantitatively. The simulations are performed to illustrate the change of the performance in the reachable workspace and time domain. The simulation results show that hybrid industrial robots have a strong dynamic coupling effect between joints at some poses. Moreover, the non-negligible joint friction leads to the reduction of the expected accelerating ability of joints, which may not meet the requirement of high-performance tasks. © 2021 IEEE.

关键词： Industrial robots

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Distributed Multi-robot Collision Avoidance under Localization Uncertainty 3

Distributed Multi-robot Collision Avoidance under Localizati...

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3rd international symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Ai, Zhanqin Ma, Meng Zhao, Bo Hebei University of Technology School of Mechanical Engineering Tianjin China Nankai University College of Artificial Intelligence Tianjin China Tianjin University School of Electrical and Information Engineering Tianjin China

ISBN: (纸本)9781665437189

Multi-robot collision avoidance is an avoidable problem in the actual application of robots. Whether in multi-robot collaborative work or human-machine cooperation, the problem of multi-robot collision avoidance must be solved. In this paper, we put forward a distributed multi-robot collision avoidance algorithm, which ensures a crowd of robots to avoid colliding to each other while they are navigating to the goals cooperatively. To achieve this goal, a variant of the Voronoi diagram, the buffered Voronoi diagram, is utilized to incorporate robot path planning with their localization errors to guarantee safety. In order to verify our algorithm, a series of simulation experiments have been carried out. According to the analysis, the algorithm is effective in avoiding robot collision, which interlocks to each other when they are moving in space simultaneously. These results shed light for the robots can avoid collisions with each other under the control of the algorithm, and this research can be extended in the aspect of unmanned driving technology. © 2021 IEEE.

关键词： Collision avoidance

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The Experimental Adaptability Design and Verification of the Space Station Manipulator's Joint 3

The Experimental Adaptability Design and Verification of the...

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3rd international symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Li, Delun Zhang, Yun Wang, Kang Liu, Xin Zhang, Li Fan, Ning Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781665437189

The manipulator launched with the TianHe capsule is currently the most complex, intelligent, and integrated space intelligence system in China. It indicates that China has become the world's third country after Canada and Japan who has the ability to independently develop the Space Station Manipulator. When designing the manipulator, we have to concern the space environment of vibration, vacuum, thermal and electromagnetic radiation in aerospace, and the joints must adapt to the space environment. By adopting a series of methods of multi-point compression, solid silicate bonded MoS2 known as PM5, a combining of active thermal control and passive thermal control, the problem of environmental adaptability is solved. The joint successfully passed the verification of mechanical test, thermal cycle test, thermal vacuum test and life test. The environmental adaptability design and verification of the joint can be used as a reference for joints and end effectors of space manipulator. © 2021 IEEE.

关键词： Manipulators

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Deep Reinforcement Learning with Shaping Exploration Space for Robotic Assembly 3

Deep Reinforcement Learning with Shaping Exploration Space f...

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3rd international symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Wang, Chuang Lin, Chengqi Liu, Biao Su, Chupeng Xu, Pengpeng Xie, Longhan Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781665437189

Assembly is an essential part of complex product manufacturing. Due to the complexity of assembly operations and rapidly changing market demands, it is a labor-intensive industry with insufficient automation improvement. Force control methods are developed to allow industrial robots to do Contact-Rich manipulation with force sensors fixed at the end-effect. Deep Reinforcement Learning (DRL) provides a method to learn assembly skills by trial and error. Nevertheless, the performance of the framework combining DRL and force control is sensitive to the hyper-parameters, which limits the application in manufacturing. In this work, we analyze the force control based on primary impedance control and propose a method that designs hyper-parameters according to task information, thus speeding up learning and making the process safer by adding a constraint to the exploration space. © 2021 IEEE.

关键词： Reinforcement learning

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