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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

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Automated Vision-Based Bolt Handling for Industrial Applications Using a Manipulator

Automated Vision-Based Bolt Handling for Industrial Applicat...

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international conference on control, Mechatronics and automation (ICCMA)

作者： Surya Prakash S. K Amit Shukla Smrithi S School of Mechanical and Materials Engineering IIT Mandi Indian Institute of Technology Mandi Mandi India Centre for Artificial Intelligence and Robotics IIT Mandi Indian Institute of Technology Mandi Mandi India

ISBN: (数字)9798331517519

ISBN: (纸本)9798331517526

Fasteners are critical components in industrial assembly processes. Accurate identification and size estimation of fasteners are essential for enhancing the efficiency and precision of these processes. However, the detection and segmentation of fasteners in factory environments are challenging due to their limited visual features and frequent overlap. this paper presents a novel approach for automated bolt handling using 3D point cloud data acquired from an RGB-D camera. Our method employs k-means clustering for segmentation and Oriented Chamfer matching for precise pose estimation, enabling a 6-DOF robotic arm to accurately pick and place bolts. Color-based segmentation and contour analysis facilitate size estimation for subsequent sorting. Experiments conducted in a simulated shop floor environment using Gazebo (ROS1) with a Kinova Gen3 Lite arm demonstrated the system’s ability to handle overlapping bolts and achieved bolt sorting without any miss-classifications. this research contributes to enhanced automation and productivity in industrial automation, with potential applications in various industries requiring precise component handling, such as automotive, aerospace, and electronics.

关键词： Visualization Solid modeling automation Accuracy three-dimensional displays Pose estimation Fasteners Manipulators Cameras Sorting

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Network clustering along diabetes progression in three tissues of Goto-Kakizaki rats

Network clustering along diabetes progression in three tissu...

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IEEE international conference on Systems Biology

作者： Xinrong Zhou Katsuhisa Horimoto Shigeru Saito Luonan Chen Huarong Zhou Tongji Hospital Huazhong University of Science and Technology Wuhan Hubei China Division of Chem&Bio Informatics INFOCOM Corporation Tokyo Japan Computational Biology Research Center National Institute of AIST Tokyo Japan Key Laboratory of Systems Biology Chinese Academy of Sciences Shanghai China SIBS-Novo Nordisk Translational Research Centre for PreDiabetes Chinese Academy of Sciences Shanghai China

We investigated the macroscopic changes in the regulatory coordination of diabetes progression during three periods in three tissues, adipose, liver and muscle, of Goto-Kakizaki (GK) rats. For this purpose, we performed network clustering by the Newman algorithm for the regulatory networks inferred by a modified path consistency algorithm, and investigated the biological functions of each cluster by an enrichment analysis of the constituent genes. We then compared the network clusters characterized by biological functions with the diabetes progression of GK rats in each of the three tissues. the network structure, the number of clusters, and the number of clusters characterized by biological functions during the three periods showed similar patterns in the three tissues. In contrast, further scrutiny of the biological functions at coordinated clusters revealed characteristic differences between the three tissues along the diabetes progression. In particular, the hypothetical roles of each tissue emerged: adipose and liver function at the cellular and molecular levels at the early stage, respectively, and all three tissues are responsible for diabetes progression, under the control of various transcriptional regulators.

关键词： Diabetes Liver Biological tissues Muscles Clustering algorithms

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Link Failure Emulation with Dijkstra and Bellman-Ford Algorithm in Software Defined Network Architecture (Case Study: Telkom University Topology)

Link Failure Emulation with Dijkstra and Bellman-Ford Algori...

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international conference of Information and Communication Technology (ICoICT)

作者： Anggie Nastiti Andrian Rakhmatsyah Muhammad Arief Nugroho Informatics Engineering Telkom University Bandung

ISBN: (纸本)9781538645734

In Telkom University, the topology used does not have backup link for campus internal network in case of link failure because the topology is still based on interVLAN where each switch only has one path to switch core. Data packets cannot be delivered from source to destination if there is a link failure on the path. Based on the problem, it is proposed a new architecture which is Software Defined Network (SDN) that can overcome the link failure by configuring the controller in order to move to alternative links that have been provided with OpenFlow. this architecture separates the control plane and data plane, so it is centralized and programmable. To look for alternative links when a link failure occurs, the shortest path algorithm is Dijkstra and Bellman-Ford algorithms. the test parameters performed in this research are functionality to determine whether the two algorithms can determine the path or not, and convergence time to find out how long it takes to form the path from source to destination. Scenario of the test is done before and after the link failure occurs by using Ryu as controller and Mininet as emulator. Based on the results of the tests conducted, it was found that Dijkstra and Bellman-Ford algorithm can be applied well on link failure emulation in accordance with the scenario and topology used in the test. In addition to convergence time parameters obtained that Dijkstra algorithm is superior compared to Bellman-Ford algorithm. the difference gained in both scenarios has a value that is not so great the difference.

关键词： Topology Network topology Switches Bandwidth Computer architecture Measurement

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Design and Real-Time control of a Robotic System for Fracture Manipulation

Design and Real-Time Control of a Robotic System for Fractur...

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Annual international conference of the IEEE Engineering in Medicine and Biology Society

作者： G. Dagnino I. Georgilas P. Tarassoli R. Atkins S. Dogramadzi the Bristol Robotics Laboratory University of the West of England Coldharbour Lane Frenchay BS16 1QY Bristol United Kingdom the University Hospitals Bristol UK

ISBN: (纸本)9781424492695

this paper presents the design, development and control of a new robotic system for fracture manipulation. the objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. the achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. the robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. the control architecture is also described here. the high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. the real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. the system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

关键词： PC FPGA 6-DOF

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Development of Robotic Boiler Header Inspection Device

Development of Robotic Boiler Header Inspection Device

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international conference on Soft Computing and Intelligent Systems

作者： Khairul Salleh Mohamed Sahari Adzly Anuar Syed Sulaiman Kaja Mohideen Mohd Zafri Baharuddin Iszmir Nazmi Ismail Nur Maisurah Hassan Basri Nur Shahida Roslin Mohd Azwan Aziz Badrol Ahmad Centre for Advanced Mechatronics and Robotics Universiti Tenaga Nasional TNB Research Sdn Bhd Lorong Ayer Itam Kawasan Institusi Penyelidikan

ISBN: (纸本)9781467327428

this paper discusses the development and actual site testing of an inspection robot designed for boiler header inspections in thermal power plants in Malaysia owned by Tenaga Nasional Berhad (TNB). the purpose of boiler headers are to tie up multiple boiler tubes together. Boiler headers are enclosed cylindrical pipes made of carbon steel, horizontal in nature, can range up to 25 m (from TNB database). these boiler headers are highly pressurized and high in temperature during operation, where the pressure goes up to a few bars and the temperature ranges between 500℃ until 800℃. Due to the severe working conditions, these boiler headers are exposed to threats of possible failure due to corrosion, pitting and cracks. During outage, after acquiring approval from Department of Safety and Health (DOSH), a small cut is made on the entry point and a boiler header inspection robot (BHIR) is then deployed into the boiler header, carrying a fiber optic camera. BHIR is developed to visually inspect the inner wall of boiler headers and check for signs of failures. this paper discusses the limitations and requirements of the robot, the prototype and also the procedures for actual site testing. Lastly, the site testing results is explained.

关键词： Boiler header inspection In-pipe robot Visual inspection Expandable platform Tethered control

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Grant Research of the Graduating Department as a Basis for Transdisciplinary Approach in Training Bachelors in the Direction of “Applied Mathematics and informatics”

Grant Research of the Graduating Department as a Basis for T...

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Technology Enhanced Learning in Higher Education (TELE), international conference on

作者： Alexander A. Voronin Inessa I. Isaeva Dept. of Fundamental Informatics and Optimal Control Volgograd State University Volgograd Russia

ISBN: (数字)9798350353532

ISBN: (纸本)9798350353549

this article presents a description of a transdisci-plinary project-research task, carried out within the framework of laboratory works on several disciplines of the 5th and 6th semesters of the educational process in the direction of bachelor's degree 01.03.02 “Applied Mathematics and informatics” in the form of a meta-game “Designing a management system for sustainable development of the territory of the northern part of the Volga-Akhtuba floodplain”, developed on the basis of the results obtained by the team of teachers and researchers of the Department of Fundamental informatics and Optimal Learning of the Volgograd State University implementing the RSF grant № 23-621-0017. the project-research task is aimed at the students' mastering the connection of substantive analysis of decision-making problems in the ecological-economic system with econometric, ecological-metric, expert, geoinformational, game-theoretic methods of research, methods of graph theory, integer optimization and computational experiment, methods and technologies of simulation hydrodynamic and geoinformational modeling and distributed computing. the relevance of the research topic proposed to the students is determined by the fact that nowadays all over the world the territories of floodplains of regulated rivers (FT) are subject to progressive ecological and socio-economic degradation due to the violation of the natural hydrological regime, depression of the river channel, high anthropogenic load. the assignment includes optimization of the hydraulic en-gineering project for installation of a system of flood dams by the Federal Center on the territory of the Volga-Akhtuba floodplain, taking into account the activity of its economic entities. To perform the work it is proposed to use the models and algorithms developed under the RSF grant: a program for calculating flood water dynamics, a geoinformational digital elevation model of the floodplain area, a heuristic algorithm for project optimizat

关键词： Training Biological system modeling Heuristic algorithms Mathematical models Rivers Floods informatics

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Embodied Neuromorphic Artificial Intelligence for robotics: Perspectives, Challenges, and Research Development Stack

Embodied Neuromorphic Artificial Intelligence for Robotics: ...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Rachmad Vidya Wicaksana Putra Alberto Marchisio Fakhreddine Zayer Jorge Dias Muhammad Shafique eBrain Lab Division of Engineering New York University (NYU) Abu Dhabi United Arab Emirates Khalifa University United Arab Emirates

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. therefore, robotic technologies have been deployed in a wide range of applications, ranging from personal to industrial use-cases. However, current robotic technologies and their computing paradigm still lack embodied intelligence to efficiently interact with operational environments, respond with correct/expected actions, and adapt to changes in the environments. Toward this, recent advances in neuromorphic computing with Spiking Neural Networks (SNN) have demonstrated the potential to enable the embodied intelligence for robotics through bio-plausible computing paradigm that mimics how the biological brain works, known as “neuromorphic artificial intelligence (AI)”. However, the field of neuromorphic AI-based robotics is still at an early stage, therefore its development and deployment for solving real-world problems expose new challenges in different design aspects, such as accuracy, adaptability, efficiency, reliability, and security. To address these challenges, this paper will discuss how we can enable embodied neuromorphic AI for robotic systems through our perspectives: (P1) Embodied intelligence based on effective learning rule, training mechanism, and adaptability; (P2) Cross-layer optimizations for energy-efficient neuromorphic computing; (P3) Representative and fair benchmarks; (P4) Low-cost reliability and safety enhancements; (P5) Security and privacy for neuromorphic computing; and (P6) A synergistic development for energy-efficient and robust neuromorphic-based robotics. Furthermore, this paper identifies research challenges and opportunities, as well as elaborates our vision for future research development toward embodied neuromorphic AI for robotics.

关键词： Training Accuracy Service robots Neuromorphic engineering Spiking neural networks Benchmark testing Energy efficiency Security Artificial intelligence Optimization

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Auto-generated control Program in Mobile Robot using Grammatical Evolution 22

Auto-generated Control Program in Mobile Robot using Grammat...

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Proceedings of the 8th international conference on robotics and Artificial Intelligence

作者： Firdaus Sukarman Eisuke Kita Graduate School of Informatics Nagoya University Japan

ISBN: (纸本)9781450397544

Complexity of robot control program is become a problem as variety of robot used today is dramatically increased due to demand of automation. Several studies has been made using GE to solve robot tasks but application in actual environment is still lack of proof. In this research, auto-generated control program using Grammatical Evolution (GE) is proposed to resolve the burden of constructing manually adjusted control program that consider both physical condition of robot and input from sensors. Grammatical Evolution (GE) is a genetic programming that map genotype to phenotype using predetermined grammar. As GE is subset to Genetic Programming which produce heuristics solution, the grammar-based algorithm enable the search range evolve in a set of rules. this search strategy can be applied to build the structure of control program which consists of multiple sets of program blocks with adjustable parameter. this system is evaluated using Santa Fe Trail problem with open world configuration. the results show the usability of the algorithm by manipulating crossover and mutation rates. Another important factors that effect the performance of the algorithm is the grammar that can govern the evolution of the control program. the proposed method able to generate control automatically with sets of rules determined using grammar.

关键词： Grammatical Evolution (GE) Context-based Knowledge BNF Grammar

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Plasti-Former: An Optimal Transport Enhanced Transformer Based Inverse Dynamics Model for Plasticine Shape Manipulation

Plasti-Former: An Optimal Transport Enhanced Transformer Bas...

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international conference on control, automation and robotics (ICCAR)

作者： Dongxu Duan Houde Liu Chongkun Xia Mingqi Shao Yu Liang Bin Liang Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Automation Tsinghua University Beijing China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

Plasticine shape manipulation (PSM) is essential in food processing and ceramic production. However, it is challenging since high degrees of freedom of plasticine make it difficult for state representation and planning. Some previous approaches focus on optimizing actions using gradients provided by differentiable particle-based simulators, which still have a noticeable gap compared to real scenarios. In this paper, we use a long roller and present a specific inverse dynamics model (Plasti-Former) to perform PSM. the input to Plasti-Former consists of the provided sub-goals and the current point cloud state of the plasticine; the output is the robot's actions. Plasti-Former comprises a rolling direction prediction module and a rolling position prediction module. In the first module, we integrate optimal transport theory with a PointNet-based model trained with 30k virtual data and 6k actual data to predict the roller's rolling direction θ. In the second module, we predict the start rolling position (x, y) using an attention-based model. Note that the input of this attention-based model is a discretized spatial sequence uniquely designed by us, and the features of each subspace are constructed using the optimal transport vectors. We experimentally evaluate Plasti-Former on six representative sequential plasticine shape manipulation tasks and show that Plasti-Former outperforms state-of-the-art approaches in simu-lation. We also conducted the experiments in the real world, demonstrating a promising sim-to-real effect.

关键词： Point cloud compression Shape Production Predictive models Transformers Vectors Planning

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Optimizing Lighting Efficiency through Automated Smart Lighting Systems: A Study on Network-Based Performance

Optimizing Lighting Efficiency Through Automated Smart Light...

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international conference on Cybernetics and Intelligent System (ICORIS)

作者： Lestari Ningratna Sari Sri Huning Anwariningsih Hardika Khusnuliawati Dahlan Susilo Informatics Departement Universitas Sahid Surakarta Surakarta Indonesia

ISBN: (数字)9798331539603

ISBN: (纸本)9798331539610

Electrical lighting systems contribute to approximately 20% of global electricity consumption and 6% of carbon dioxide (CO2) emissions, underlining the urgent need for more efficient and adaptable lighting solutions. Addressing the inefficiency of traditional manual lighting controls is crucial for reducing energy waste, especially in the global energy crisis and increasing carbon emission reduction targets. Despite advances in lighting systems, existing solutions often lack integration of intelligent control and real-time adaptability across diverse networks. this research addresses these gaps by developing a novel automated smart lighting system to optimize energy usage through intelligent control across multiple network environments. the proposed prototype integrates Raspberry Pi modules, relay modules, JavaScript Object Notation (JSON), thonny IDE, and a web-based Application Programming Interface (API) to enable seamless automation and remote operation. the proposed system was tested under various conditions: local area network (LAN), wide area network (WAN), offline functionality, and across multiple web browsers to evaluate latency and operational reliability. the research results demonstrate that the system performs efficiently online and offline within the same or different networks. For online operations within the same network, delay times for light A ranged between 27 to 39 seconds, light B from 37 to 39 seconds, and light C at 33 seconds. the fastest delay on different networks was 5 seconds, with the longest at 39 seconds. Chrome browser exhibited the fastest performance with a delay of 6 seconds, while Samsung Internet had the longest delay at 39 seconds. these findings highlight the system's adaptability and potential for energy savings, though further work is required to optimize latency and extend network coverage.

关键词： Wide area networks Energy conservation Prototypes Carbon dioxide Browsers Delays Smart lighting Local area networks Testing Intelligent control

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