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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

共 2302 条记录，以下是381-390 订阅

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Identifying the left ventricle optimally in cardiac mr images by comparing state-of-the-art segmentation methods 14

Identifying the left ventricle optimally in cardiac mr image...

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14th international conference on informatics in control, automation and robotics, ICINCO 2017

作者： Xiong, Jingjing Yang, Yongming Wang, Zhenzhou State Key Labs for Robotics Shenyang Institute of Automation Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang Liaoning Province China

ISBN: (纸本)9789897582646

In medical diagnosis, the movement of the left ventricle (LV) could be used to estimate the volume of the left ventricle and the dyssynchrony of the heart, which can provide the basis for diagnosis of heart diseases. Identification of the LV endocardium, especially the images with poor image quality and images in apical or basal slices, is still a very challenging problem. In this paper, an automatic segmentation method based on threshold is proposed. this method works well in image both with good quality and bad quality. We tested the proposed SDD method with other 15 state-of-the-art segmentation methods by 104 frames of testing Cardiac MR images from Computing and Computer Assisted Intervention (MICCAI) 2009 challenge. Finally, we assessed the deviation between the automatically segmented and benchmark manual contours. the proposed method achieved 0.9172 average Dice metric, 1.9817 mm average perpendicular distance (APD). these results compared with other methods indicate that the proposed SDD method is an effective and viable method to identify the boundary of left ventricle. © 2017 by SCITEPRESS - Science and Technology Publications, Lda. All Rights Reserved.

关键词： Heart

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Size Changing Soft Modules for Temperature Regulated Self-assembly and Self-disassembly 5

Size Changing Soft Modules for Temperature Regulated Self-as...

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5th international conference on Soft robotics (RoboSoft)

作者： Han, Junyi Lahondes, Quentin Miyashita, Shuhei Univ Sheffield Automat Control & Syst Engn Dept Sheffield S1 3JD S Yorkshire England

ISBN: (纸本)9781665408288

Self-assembly, a chemistry-inspired manufacturing method, has been hoped to make intricate small-size multi-material structures in a bottom-up manner. Inspired by the concept of annealing, this paper presents a novel cluster formation method of self-assembly modules by inducing the shape-changing mechanism by heat. the developed 1 cm sized module is made of temperature-responsive volume-changing hydrogel, pNIPAM, surrounding static magnet-embedded materials. the modules are placed in a vertically placed water tank while experiencing buoyancy and agitation from air bubbles and magnetically interacting with other modules. By starting the self-assembly process at a higher temperature, the modules initially show a higher magnetic bonding probability and form two-dimensional clusters. As the temperature reaches the ambient temperature, the modules increase their diameters which results in weak bonding forces, and shows disassembly processes. the method is proposed for the aim of a dynamic self-assembly process using temperature.

关键词： Heating systems Temperature distribution Self-assembly conferences Dynamics Buoyancy Soft robotics

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An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot 5

An Autonomous Obstacle Avoidance Path Planning Method Involv...

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5th international conference on Mechatronics, robotics and automation, ICMRA 2022

作者： Chen, Qiao Liu, Yiwei Chen, Zhuo Zhou, Yangjunjian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665472654

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots. © 2022 IEEE.

关键词： Motion planning

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control Program Design of Autonomous Vehicle Robot Using Grammatical Evolution 6

Control Program Design of Autonomous Vehicle Robot Using Gra...

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6th international conference on robotics and automation Engineering, ICRAE 2021

作者： Yamada, Syuya Sato, Ryoma Tamaki, Tatsuhiro Kita, Eisuke Nagoya University Graduate School of Informatics Nagoya Japan Nagoya University Graduate School of Information Science Nagoya Japan National Institute of Technology Okinawa College Department of Media Information Engineering Nago Japan

ISBN: (纸本)9781665406970

the automatic design of the control program of the vehicle robot is presented in this study. LEGO MINDSTORM EV3 and RVW Level Builder are used for this study. the control program of EV3 is designed automatically by using Grammatical Evolution (GE), which is one of the evolutionary algorithms. the generated program is applied for controlling EV3. the results show that the robot behavior in the experiment of EV3 was roughly equivalent to it in simulator. therefore, the proposed algorithm based on GE can generate the control program of robot automatically. © 2021 IEEE.

关键词： Machine design

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Domain Adaptation in LiDAR Semantic Segmentation by Aligning Class Distributions 18

Domain Adaptation in LiDAR Semantic Segmentation by Aligning...

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18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Alonso, Inigo Riazuelo, Luis Montesano, Luis Murillo, Ana C. Univ Zaragoza DIIS I3A RoPeRt Grp Zaragoza Spain Bitbrain Zaragoza Spain

ISBN: (纸本)9789897585227

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems, such as autonomous vehicles, during their decision making processes. Unfortunately, the annotation process for this task is very expensive. To overcome this, it is key to find models that generalize well or adapt to additional domains where labeled data is limited. this work addresses the problem of unsupervised domain adaptation for LiDAR semantic segmentation models. We propose simple but effective strategies to reduce the domain shift by aligning the data distribution on the input space. Besides, we present a learningbased module to align the distribution of the semantic classes of the target domain to the source domain. Our approach achieves new state-of-the-art results on three different public datasets, which showcase adaptation to three different domains.

关键词： robotics Autonomous Systems LiDAR Deep Learning Semantic Segmentation Domain Adaptation

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the hand-gesture-based control interface with wearable glove system 15

The hand-gesture-based control interface with wearable glove...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Berezhnoy, Vladislav Popov, Dmitry Afanasyev, Ilya Mavridis, Nikolaos Institute of Robotics Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia

ISBN: (纸本)9789897583216

the paper presents an approach to building a gesture-based control interface with a wearable glove system and a real-time gesture recognition algorithm. the glove-based system is a wireless wearable device with hardware components, including Arduino Nano controller, IMU and flex sensors, and software for gesture recognition. Our gesture recognition methodology requires two stages: 1) Building a library of dynamic gesture models with the reference human gesture graphs;2) Gesture capturing and evaluating with fuzzy c-means (FCM) clustering and constructing grammars of gestures by fuzzy membership functions. the system tests were provided with 6 different dynamic gestures to control position and orientation of a quadcopter in V-Rep simulator that has demonstrated encouraging results with a reasonable quality of real-time gesture-based quadcopter control. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Gesture recognition

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Coordination control policy for mobile sensor networks with shared heterogeneous resources

Coordination control policy for mobile sensor networks with ...

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5th international conference on control and automation, ICCA'05

作者： Giordano, Vincenzo Lewis, Frank Mireles, Josè Turchiano, Biagio Dipartimento di Elettrotecnica ed Elettronica Politecnico di Bari via Redavid 200 70125 Bari Italy Robotics and Automation Research Institute University of Texas at Arlington J. Newell Blvd. 7300 Fort Worth TX 76118 United States Institute de Ingenieria y Tecnologia Universidad Autonoma de Ciudad Juarez Ave. del Chiarro 450 Nte. Juarez C.P. 32310 Mexico

ISBN: (纸本)0780391381

this paper considers centralized coordination of cooperating heterogeneous wireless sensors with multiple shared resources. A discrete event controller (DEC) is used to sequence the most suitable tasks for stationary and mobile sensors according to the current perception of the environment, efficiently handling simultaneous missions of different priority. Its matrix formulation, apart from making the assignment of the mission planning straightforward and easily adaptable if agents or applications change, provides a powerful tool to analyze deadlock situations and implement efficient deadlock avoidance policies. It also represents a complete dynamical description of the system which allows computer simulation analysis. the matrix formulation also allows fast implementation of DEC for actual WSNs. © 2005 IEEE.

关键词： Mobile telecommunication systems

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Simultaneous design of structural and control systems using set-based design method 15

Simultaneous design of structural and control systems using ...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Ishikawa, Haruo Sasaki, Naoko Graduate School of Informatics and Emgineering University of Electro-Communications Chofu Tokyo Japan Center for International Programs and Exchange University of Electro-Communications Chofu Tokyo Japan

ISBN: (纸本)9789897583216

the design method capable of considering the influence factors related to control and structural design systems under conditions that simultaneously satisfy multi-objective performances over both the systems is investigated. the influence factors and performances have some kinds of uncertainty related to structural design and control system design. the uncertainty may be expressed in terms of set interval. Set-based design method is available as a design method that can take account of such uncertainty. In the method, instead of optimization, the concept of satisficing is used. In the present study, the applicability of set-based design method that has been studied in the field of structural design is investigated for the simultaneously satisficing design of control and structural systems. For discussing the applicability, an example problem of inverted pendulum with heteromorphic shape on cart is solved by optimal regulator method in modern control theory. As a result, the set intervals of influence factors which simultaneously satisfy the set intervals of multi-objective performances are obtained. From this result, the usefulness of set-based design method for simultaneous design of control and structural systems can be confirmed. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Structural design

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controllability of Fractional Linear Systems with Delays 25

Controllability of Fractional Linear Systems with Delays

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25th international conference on Methods and Models in automation and robotics, MMAR 2021

作者： Jerzy, Klamka Institute of Theoretical and Applied Informatics Polish Academy of Sciences Gliwice44-100 Poland

ISBN: (纸本)9781728173801

the main purpose of this paper is to study controllability of linear continuous-time fractional dynamical systems containing both lumped constant delay in state variables and distributed delays in admissible controls. Necessary and sufficient conditions for relative controllability in finite time interval are formulated and proved using theory of linear bounded operators, solution properties of fractional differential equations and results taken directly from linear matrix algebra. the main result of the paper is to show, that global relative controllability of fractional linear systems with different types of delays is equivalent to non-singularity of suitably defined relative controllability matrix. © 2021 IEEE.

关键词： Linear systems

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A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks 5

A new duty-cycling approach for 3D needle steering allowing ...

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5th IEEE RAS/EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Krupa, Alexandre Inria Rennes Bretagne Atlantique Rennes France IRISA Rennes France

ISBN: (纸本)9781479931262

We present a method for three dimensional steering of a beveled-tip flexible needle that can be used in medical robotics for percutaneous assistance procedures. the proposed solution is based on the design of a new duty-cycling control strategy that makes possible to control three degrees of freedom (DOFs) of the needle tip. these DOFs correspond to two rotations that are performed around the needle tip lateral axes and one translation along the needle shape axis. this approach has two advantages compared to existing methods. First it does not rely on a trajectory planning and opens therefore numerous closed-loop control scheme possibilities as for example the implementation of the visual servoing framework based on the task function approach. Second, it does not constraint the needle to follow a succession of planar arcs but allows non planar 3D trajectories. Experimental results of a targeting task performed by visual servoing demonstrate the feasibility of this new concept and its robustness to needle kinematic model errors.

关键词： Angular velocity Needles three-dimensional displays Trajectory Visual servoing Visualization Visual servoing NEEDLES three-dimensional displays ANGULAR VELOCITY trajectory needles Visualization medical robotics Steering

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