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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491-500 订阅

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Simulating the Primal Emotions of the Mammalian Brain: the Affective Feelings of Mental Life and Implications for Al-robotics

Simulating the Primal Emotions of the Mammalian Brain: The A...

引用

IEEE international conference on Industrial informatics (INDIN)

作者： Jaak Panksepp AGH University of Science and Technology Krakow Poland

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Multimodal Proximity and Visuotactile Sensing With a Selectively Transmissive Soft Membrane 5

Multimodal Proximity and Visuotactile Sensing With a Selecti...

引用

5th international conference on Soft robotics (RoboSoft)

作者： Yin, Jessica Campbell, Gregory M. Pikul, James Yim, Mark Univ Penn Dept Mech Engn & Appl Mech Philadelphia PA 19103 USA Univ Penn GRASP Lab Philadelphia PA 19103 USA

ISBN: (纸本)9781665408288

the most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the behavior of target objects during the critical moments as they transition out of static, controlled contact with an end-effector to dynamic and uncontrolled motion. In this work, we present a novel multimodal visuotactile sensor that provides simultaneous visuotactile and proximity depth data. the sensor integrates an RGB camera and air pressure sensor to sense touch with an infrared time-of-flight (ToF) camera to sense proximity by leveraging a selectively transmissive soft membrane to enable the dual sensing modalities. We present the mechanical design, fabrication techniques, algorithm implementations, and evaluation of the sensor's tactile and proximity modalities. the sensor is demonstrated in three open-loop robotic tasks: approaching and contacting an object, catching, and throwing. the fusion of tactile and proximity data could be used to capture key information about a target object's transition behavior for sensor-based control in dynamic manipulation.

关键词： Pressure sensors Fabrication Machine vision Robot vision systems Soft robotics Robot sensing systems Cameras

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Implementation of nonintrusive monitoring and fault diagnosis in industrial robot system 14

Implementation of nonintrusive monitoring and fault diagnosi...

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14th IEEE international conference on Industrial informatics (INDIN)

作者： Jokinen, Jani Lastra, Jose L. Martinez Tampere Univ Technol FAST Lab Tampere Finland

ISBN: (纸本)9781509028702

Monitoring and fault diagnosis systems are vital for industrial robot systems for better awareness of system status and shortening the down time. In many cases, the monitoring systems are not upgraded after the robot first installation, because the modifications could cause undesired disturbance for the production. However, for better monitoring and diagnostics rich information is essential that typically requires additional sensors and modifications to the robot system. this paper proposes a monitoring system that is possible to add-on to existing industrial robot system without any changes into the existing control and safety system. the statuses of all safety guard components are indirectly collected by optical sensors to ensure that safety aspects are maintained. the energy consumptions of the main components are monitored with energy analyser and nonintrusive current transformers. the proposed system also uses wireless technology for simplifying the installation. the main benefits of proposed solution are rapid deployment, easy scalability and enhanced fault diagnosis of the main components of the system.

关键词： monitoring system industrial automation robotics industrial safety energy monitoring embedded devices and systems

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Autonomous Cloud Robotic System for Smart Agriculture 5

Autonomous Cloud Robotic System for Smart Agriculture

引用

Moratuwa Engineering Research conference (MERCon) / 5th international Multidisciplinary Engineering Research conference

作者： Dharmasena, tharindu de Silva, Rajitha Abhayasingha, Nimsiri Abeygunawardhana, Pradeep Sri Lanka Inst Informat Technol Dept Comp Syst Engn Malabe Sri Lanka Sri Lanka Inst Informat Technol Dept Elect & Elect Engn Malabe Sri Lanka

ISBN: (纸本)9781728136325

Agriculture sector occupies 25.9% of the world employment. the demand for food production is rapidly increasing with the increase of world population. Developing the existing agricultural infrastructure by incorporating modern technologies will help to match this increasing demand. this paper proposes a automated system to optimally control the climate and irrigation in a greenhouse by monitoring temperature, soil moisture, humidity and pH through a cloud connected mobile robot which can detect the unhealthy plants using image processing. A fuzzy controller will control the heating and cooling system, irrigation system and humidifiers installed in the greenhouse based on the sensor readings. the mobile robot navigates through a predefined map of the greenhouse and collect soil samples to perform measurements while onboard sensors will collect the ambient climate data. A camera mounted on the mobile robot will capture the plant and detect unhealthy crops based on the colour and the texture of the leaves.

关键词： Cloud robotics Smart Agriculture Internet of things Monitoring automation

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Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration 5

Waterproof Soft Robot Hand with Variable Stiffness Wire-driv...

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5th international conference on Soft robotics (RoboSoft)

作者： Hirose, Toshinori Kitagawa, Shingo Hasegawa, Shun Kakiuchi, Yohei Okada, Kei Inaba, Masayuki Univ Tokyo Grad Sch Informat Sci & Technol Dept Mechanoinformat Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan

ISBN: (纸本)9781665408288

We have proposed a soft flexible wire-driven finger mechanism with a soft skin and two coil springs. this finger mechanism has many joints on a narrow pitch, and good at distributing the contact pressure and following various object shapes, especially during human contact motions such as massage. But it is difficult to concentrate the contact pressure on the fingertips for pinching a small object or acupressure on the human body. therefore, in this paper, we propose the various stiffness wire-driven finger mechanism, which is a fusion of the conventional finger mechanism and a new various stiffness unit. this makes it possible to selectively change the stiffness of the variable stiffness unit, change the flexibility of the joints near the fingertip, and switch between distribution and concentration of contact pressure. the various stiffness unit is a tube containing a low melting point alloy (LMPA). A LMPA has the advantages of high tensile strength at high stiffness, and easy realization of a waterproof and compact structure compared to other methods such as powder jamming, ER fluid, MR fluid, and shape memory polymers (SMP). We also developed a waterproof soft robot hand using this finger mechanism and conducted massage and hair washing experiments by remote control.

关键词： Hair Fluids Shape Switched mode power supplies Metals Switches Soft robotics

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Development and Characterization of a Soft Valve for Automatic Fault Isolation in Inflatable Soft Robots 5

Development and Characterization of a Soft Valve for Automat...

引用

5th international conference on Soft robotics (RoboSoft)

作者： Pontin, Marco Miyashita, Shuhei Damian, Dana D. Univ Sheffield Automat Control & Syst Engn Dept Sheffield S Yorkshire England

ISBN: (纸本)9781665408288

Common causes of failure of inflatable soft robots are bursts due to wear, overpressurization or interactions with their surroundings. Resilience, the ability to survive such faults, is key for autonomous robotic systems, especially when human intervention is impossible or risky (e.g. robotic implants or space exploration). Although self-healing has been investigated as a possible solution, the approaches presented to date still have critical limitations. In this paper, we present a novel resilience mechanism based on soft valves. When used with soft actuators consisting of multiple inflatable segments connected in parallel, these are designed to readily isolate a burst section before the fault can propagate to the rest of the system. No additional sensing is required. the shut-off action of the valve is triggered by the pressure difference caused by the fault itself, as proved in the final application. the valve takes less than 30 ms to switch and can operate at various pressure levels: supply pressures up to 15 kPa were tested. this fault-isolating soft valve represents a new step towards soft robotic resilience, addressing soft robots vulnerabilities in difficult-to-access sites or in settings of high-risk for the system or its surroundings.

关键词： Actuators conferences Switches Implants Soft robotics Valves Robot sensing systems

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A Physical Simulator Integrated with Soft Sensors for Mastering Tissue Manipulation in Robotic Surgery 5

A Physical Simulator Integrated with Soft Sensors for Master...

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5th international conference on Soft robotics (RoboSoft)

作者： Galeazzi, Dario Mariani, Andrea Tognarelli, Selene De Momi, Elena Menciassi, Arianna Politecn Milan Dept Elect Informat & Bioengn I-20133 Milan Italy Scuola Super Sant Anna BioRobot Inst I-56025 Pisa Italy Scuola Super Sant Anna Dept Excellence Robot & AI I-56025 Pisa Italy

ISBN: (纸本)9781665408288

Robot-assisted minimally invasive surgery requires the surgeons to learn the new control dynamics of the surgical instruments and, usually, how to deal with the loss of haptic feedback. Indeed, excessive forces applied to delicate tissues as blood vessels may cause dramatic intraoperative events, such as major bleeding. Training plays a paramount role to prevent the onset of such adverse events. this work focuses on the development of an anatomy-based physical simulator of pulmonary vein for mastering tissue manipulation while using a surgical robot. the silicone-based simulator was integrated with soft strain sensors. Sensor data were characterized and used for objective skill assessment and for giving a visuo-acoustic feedback to the trainee. Preliminary user studies were carried out using the da Vinci surgical system, which lacks haptic feedback. these tests allowed us to assess the construct validity of the simulator, as well as the effectiveness of the feedback to reduce the stress applied to the vein. Future studies include an extensive validation of such a simulator as a training platform, specifically focusing on how this type of training later translates into clinical performances.

关键词： Training Minimally invasive surgery Medical robotics Veins Soft sensors Lung Soft robotics

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Adaptive Positioning System Design Using AR Markers and Machine Learning for Mobile Robot 5

Adaptive Positioning System Design Using AR Markers and Mach...

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5th international conference on Computer Science and Engineering (UBMK)

作者： Seckin, Ahmet Cagdas Adnan Menderes Univ Comp Engn Dept Aydin Turkey

ISBN: (数字)9781728175652

ISBN: (纸本)9781728175652

Positioning is an important issue in areas such as navigation, robotics, automation, aerospace and aviation. Indoor positioning systems are becoming increasingly important, especially in areas such as industry, resource management and crowd sourcing. the study a system for mobile robot positioning is designed, the working area is fixed, but the visual positioning system can be moved. the site estimate of the designed system was carried out by Machine Learning. Successful results were achieved with the MLP and SVM methods used. It has been observed that MLP type networks provide lower RMSE values due to the algorithms used in position estimation. Although this value is taken from very different positions and from different angles, the achievement of low results proves the adaptability of the system. Long-term operation of the designed system was also tested and it was observed that the system was able to estimate the position of the robot that passed the route points with an average error of 0.895 cm.

关键词： positioning augmented reality robotics machine learning image processing

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Main Aspects Regarding the Mechanism of the Prosthesis for Human Hand - Synthesis, Analysis, Design and Functional Simulation

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5th international conference on robotics and automation Systems

作者： Staretu, Ionel Transilvania Univ Brasov Dept Prod Design & Robot Brasov Romania

ISBN: (纸本)9783908451884

In this paper are described the main stages of structural and cinematic synthesis and analysis, design and functional simulation regarding the mechanism of the human hand prosthesis. For the structural scheme, one uses three pivot joints only, and one movement for closing the palm. the technical project is complete. One command scheme is shown too. the functional simulation has been made in CAD and virtual reality for to identify the best solutions and to optimize the constructive solution and to use the prosthesis by human operator.

关键词： medical robotics human hand prosthesis synthesis design functional simulation

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2023 5th international conference on control and robotics, ICCR 2023

2023 5th International Conference on Control and Robotics, I...

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5th international conference on control and robotics, ICCR 2023

ISBN: (纸本)9798350307627

the proceedings contain 53 papers. the topics discussed include: enhancing robot self-localization accuracy and robustness: a variational autoencoder-based approach;predicting prostate cancer risk stratification based on PSA and functional subsets of peripheral lymphocyte;pipeline leak diagnosis based on SDAE;fiducial marker and camera-based passive high-accuracy 6-DoF tracking for mobile objects;RoboCon: a modular robotic containerization, orchestration, and load balancing technique for mixed hierarchy task handling across computing platforms;facial expression recognition based on dual scale hybrid attention mechanism;data selection using genetic algorithm to improve transfer learning efficiency in brain-machine-interface systems;and multi-missile cooperative guidance law under communication delay and topological transformation in 3-D.

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