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

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Soft actuators that self-create bone for biohybrid (micro)robotics 5

Soft actuators that self-create bone for biohybrid (micro)ro...

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5th international conference on Manipulation, automation, and robotics at Small Scales (MARSS)

作者： Cao, Danfeng Martinez, Jose G. Hara, Emilio Satoshi Jager, Edwin W. H. Linkoping Univ Dept Phys Chem & Biol IFM S-58183 Linkoping Sweden Okayama Univ Dept Biomat Grad Sch Med Dent & Pharmaceut Sci Okayama 7008558 Japan

ISBN: (数字)9781665459730

ISBN: (纸本)9781665459730

Here we present a new class of variable stiffness actuators for soft robotics based on biohybrid materials that change their state from soft-to-hard by creating their own bones. the biohybrid variable stiffness soft actuators were fabricated by combining the electromechanically active polymer polypyrrole (PPy) with a soft substrate of polydimethylsiloxane or alginate gel. these actuators were functionalized with cell-derived plasma membrane nanofragments (PMNFs), which promote rapid mineralization within 2 days. these actuators were used in robotic devices, and PMNF mineralization resulted in the robotic devices to achieve a soft to stiff state change and thereby a decreased or stopped actuation. Moreover, perpendicularly and diagonally patterned actuators were prepared. the patterned actuators showed programmed directional actuation motion and could be fixated in this programmed state. Finally, patterned actuators that combined soft and rigid parts in one actuator showed more complex actuation motion. Together, these variable stiffness actuators could expand the range of applications of morphing robotics with more complex structures and functions.

关键词： Actuators Shape Mineralization Soft robotics Bending Bones Biomembranes

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Exploring Innovations in Autonomous robotics and Mechatronics: Application in Manufacturing and Healthcare 5

Exploring Innovations in Autonomous Robotics and Mechatronic...

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5th international conference on Smart Electronics and Communication, ICOSEC 2024

作者： Shalini, T.Grace Ganeshabu, L. Chemudugunta, Priyanka Yamsani, Nagendar Kumar, Ch.Ashok Athiraja, A. School of Computing Department of Computational Intelligence Chengalpattu Tamil Nadu Kattankulathur India Rajalakshmi Engineering College Department of Robotics and Automation Thandalam Mevalurkuppam Rajalakshmi Nagar Tamil Nadu Chennai India Karpaga Vinayaga College of Engineering and Technology Department of Robotics and Automation Tamil Nadu Chengalpattu India Sr University Department of School of Computer Science and Artificial Engineering Warangal India Malla Reddy Engineering College Department of Mechanical Engineering Main Campus Hyderabad Telangana Maisammaguda India Telangana Secunderabad India

ISBN: (纸本)9798331504403

Autonomous robotics and mechatronics have drastically changed the manufacturing and healthcare sectors by increasing productivity, precision, and flexibility. this work addresses the pressing need for new methods to advance these sectors by merging intelligent algorithms with autonomous systems. A hybrid strategy was employed, combining Deep Reinforcement Learning (DRL) and Adaptive control Systems (ACS), to develop and optimize robotic operations. Extensive studies were conducted to assess the success of this strategy, which demonstrated a 25% reduction in operating expenses and a 30% increase in production efficiency in manufacturing settings. the method produced a precision rate of about 99% in the healthcare industry, which is significantly better than the 93% average of current systems. It also reduced patient recovery times by an estimated 20%. these results highlight the improved performance and promise of ACS with DRL combination in autonomous robotics, which may have revolutionary implications for the manufacturing and healthcare industries. the success, highlighted by economic and medical benefits, demonstrates the efficacy of our methodology and provides a strong platform for future developments in autonomous robotics and mechatronics. © 2024 IEEE.

关键词： Deep reinforcement learning

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Visual marker localization in robot-assisted stereotactic neurosurgery

Visual marker localization in robot-assisted stereotactic ne...

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2011 IEEE 5th international conference on robotics, automation and Mechatronics, RAM 2011

作者： Li, Yanjie Meng, Cai Liu, Da Wang, Tianmiao Image Processing Center School of Astronautics Beihang University Beijing 100191 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore 119613 Singapore Singapore Institute of Robotics School of Mechanics Engineering and Automation Beihang University Beijing 100191 China

ISBN: (纸本)9781612842509

An approach is developed to automatically detect and locate the visual markers glued on the head in robot assisted stereotactic neurosurgery. this approach has four major steps. At first, one special marker, defined as "B" marker, is searched in the entire image. By this the search range can be decreased because the distance of markers between each other cannot exceed the patient's head. Secondly, in the local image the candidate markers are searched which are marker-like connected region. their features are extracted and the false markers are discarded. thirdly, the method will try to find the missing markers with epipolar constraint in binocular cameras if some markers are lost. Finally the markers' can be located in space with stereopsis. We use four markers that are glued to the skin of head in our experiment. the markers' features are extracted using 82 pairs of images and the approach is tested on 166 pairs of other images. the false marker rate is only 0.08%. the approach can be used in head motion tracking and automatic image registration in robot-assisted stereotactic neurosurgery. © 2011 IEEE.

关键词： Neurosurgery

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Overtaking Behavior Simulation of Vehicle Platoon in Face-to-Face Traffic Flow 4

Overtaking Behavior Simulation of Vehicle Platoon in Face-to...

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4th international conference on robotics and automation Engineering, ICRAE 2019

作者： Kita, Eisuke Sakamoto, Hiroki Tamaki, Tatuhiro Graduate School of Informatics Nagoya University Nagoya Japan Graduate School of Information Science Nagoya University Nagoya Japan National Institute of Technology Okinawa College Nago Japan

ISBN: (纸本)9781728147406

Vehicle Platoon is the important technique for increasing the traffic capacity of road network safely. Our research group has been studying the velocity control model of the vehicle in the vehicle platoon. Previous studies focus on the control of vehicle in the platoon in order to make the platoon stable. the aim of this study is to control the vehicle velocity when a vehicle platoon overtakes a frontal vehicle without colliding with a vehicle traveling in the other lane. the velocity control model is defined as the vehicle following model. the validity of the model is confirmed in the computer simulation and the experiment of LEGO MINDSTORM. the results show that comparison of simulation and experiment shows that the experiment results agree well with the simulation results. © 2019 IEEE.

关键词： Velocity control

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Robot introduction in human work environment. developments, challenges and solutions

Robot introduction in human work environment. developments, ...

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5th IEEE international conference on Computational Cybernetics

作者： Ogorodnikova, O. Budapest Univ Technol & Econ H-1111 Budapest Hungary

ISBN: (纸本)9781424411450

Robots are an inevitable part of the future industry. their increased utilization will result in increased productivity, safer work environment and very helpful in human daily life. However, their successful implementation will only happen if their use will only benefit and not harm the human. that is why it is crucial to take into consideration safety aspect in human robot interaction and robotization on the whole. In this paper has attempted to summarize the major areas of research currently under investigation in the development of safe and reliable robot systems and its interaction with environment. these areas include hazards investigation, the design robot itself, standards development for safety, methods of safeguarding, etc. this study is aimed at understanding common safety problems with robot installation in human working environment. the purpose of this paper is to draw upon the vast bank of research in robot safety and indicate how the existing results may be generated and applied to the field of Human-Robotic interaction.

关键词： robotics and automation Safety Human robot interaction Hazards Orbital robotics Accidents Service robots Environmental economics Productivity Injuries

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Case study of a rapid prototyping method for optimizing soft gripper structures with integrated piezoresistive sensors 5

Case study of a rapid prototyping method for optimizing soft...

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5th international conference on Soft robotics (RoboSoft)

作者： Georgopoulou, Antonia Eckey, Louisa Marie Mondal, Somashree Clemens, Frank Empa Swiss Fed Labs Mat Sci & Technol Dept Funct Mat Uberlandstr 129 CH-8600 Dubendorf Switzerland Vrije Univ Brussel VUB Pl Laan 2 B-1050 Brussels Belgium Flanders Make Pl Laan 2 B-1050 Brussels Belgium

ISBN: (纸本)9781665408288

Closed-loop control systems and monitoring the activities of soft robots in the natural environment require sensing elements in soft actuator modules. In this study, additive manufacturing is used for sensorized soft actuator modules to investigate the influence of the Shore hardness and design aspects of an open-source tendon-based gripper structure, in a time-efficient way. Additionally, the placement of the piezoresistive sensing element (tension or compression side on the bending soft gripper) was investigated. A user-friendly method, based on thermoplastic material extrusion, has been explored to improve the future design optimization in of active soft robotic structures successfully. A higher Shore hardness resulted in a higher total deflection and a higher force to bend the gripper structure. By increasing the geometrical stiffness of the gripper printed with low Shore hardness, the total deflection was increased, but the force needed to activate the movement was higher in comparison to high Shore hardness and low geometrical stiffness. Moreover, the sensing element on the substrate of higher Shore hardness, leads to low drift, monotonic response, with good sensitivity, independent of the sampling rate. the gripper of higher Shore hardness had a larger functional range, being capable of gripping small and larger objects.

关键词： Sensitivity Force Soft robotics Bending Robot sensing systems Rapid prototyping Belts

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Proceedings of 15th international conference on Electromechanics and robotics "Zavalishin's Readings" 1

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丛书名： Smart Innovation, Systems and Technologies

1000年

作者： Andrey Ronzhin Vladislav Shishlakov

ISBN: (数字)9789811555800

ISBN: (纸本)9789811555794;9789811555824

this book features selected papers presented at the 15th international conference on Electromechanics and robotics “Zavalishin's Readings” – ER(ZR) 2020, held in Ufa, Russia, on 15–18 April 2020. the contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. the Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900–1968) – a Russian scientist, corresponding member of the USSR Academy of Sciences and founder of the school of valve energy converters based on electric machines and valve converters energy. the first conference was organized by the Institute of Innovative Technologies in Electromechanics and robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006.

关键词： robotics and automation robotics Mechatronics Power Electronics, Electrical Machines and Networks

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A Container Cloud Elastic Scaling Method Based on GRU Attention Mechanism 5

A Container Cloud Elastic Scaling Method Based on GRU Attent...

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5th international conference on Computer Engineering and Intelligent control, ICCEIC 2024

作者： Zhang, Yue Sun, Yong Song, Chunhe Gao, Pengpei Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China

ISBN: (纸本)9798331507992

In modern container cloud computing environments, achieving efficient elastic scaling is crucial to optimizing resource utilization and improving system performance. this paper proposes a new prediction model based on gated recurrent unit (GRU) and attention mechanism for load prediction and elastic scaling strategy optimization. the model uses the time series processing capability of GRU combined with the optimization characteristics of the attention mechanism to improve the accuracy and real-time performance of load prediction. Experimental results show that compared with traditional methods, the model can more accurately capture the load change trend and achieve more agile and efficient resource scheduling and management, thereby effectively reducing resource waste and improving service quality. this study provides a novel and effective solution for elastic scaling in container cloud environments. © 2024 IEEE.

关键词： Prediction models

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Trajectory Adaptation with Impedance control for Human-Robot Collaboration Tasks 8

Trajectory Adaptation with Impedance Control for Human-Robot...

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8th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Zhang, Chaoyi Luo, Jing Zeng, Chao Tang, Biwei Pang, Muye Yang, Chenguang School of Automation Wuhan University of Technology Wuhan430070 China University of Hamburg Department of Informatics Hamburg22527 Germany School of Automation Science and Engineering South China University of Technology Guangzhou510641 China

ISBN: (纸本)9798350300178

In human-robot collaboration tasks, an operator usually interacts with a robot physically and guides the robot to move by employing the interaction force in the model of impedance control. However, in physical human-robot interaction (pHRI), the trade-off between the position accuracy and interaction force is one of the main disadvantages of impedance control. In order to achieve compliant control with a high position control accuracy, a method of trajectory adaptation based on impedance control is proposed with minimized interaction force and small position error in pHRI and the effectiveness of the collaboration tasks is guaranteed. We use impedance control to generate the robot's movement for compliant control and use trajectory adaptation to regulate the robot's reference trajectory. By employing the proposed method, the interaction force can be reduced with small position error. the results of experiment verify the effectiveness of the proposed method. © 2023 IEEE.

关键词： Trajectories

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ICARM 2020 - 2020 5th IEEE international conference on Advanced robotics and Mechatronics

ICARM 2020 - 2020 5th IEEE International Conference on Advan...

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5th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2020

ISBN: (纸本)9781728164793

the proceedings contain 125 papers. the topics discussed include: tension sensor with soft optical fiber for tendon-driven robotic hand;sliding mode control of uncertain discrete-time nonlinear systems based on disturbance observer;a biologically-inspired soft exosuit for knee extension assistance during stair ascent;stability control for medical rescue robot in unconstructed environment;the arm planning with dynamic movement primitive for humanoid service robot;grasp detection based on faster region CNN;design of a virtual testing platform for assessing prosthetic knee joints;stiffness effect on periodic locomotion of legged robot based on dimensional analysis and fixed points search method;surface electromyography and force study for progressive rehabilitation training during different modes;robust adaptive fault-tolerant control for the turbofan aero-engine system;and dynamic torso posture compliance control for standing balance of position-controlled humanoid robots.

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