In ophthalmic surgery, doctors are faced with a series of problems, such as the poor accuracy of surgery, the loss of internal visual field of eyeball, and the damage of the internal pathological structure and functio...
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ISBN:
(数字)9781728190105
ISBN:
(纸本)9781728190112
In ophthalmic surgery, doctors are faced with a series of problems, such as the poor accuracy of surgery, the loss of internal visual field of eyeball, and the damage of the internal pathological structure and function of eyeball caused by the slight non autonomous shaking of hands. Withthe advantages of tactile force feedback, high precision and good stability, the ophthalmic surgical robot can effectively solve these problems, which has great research and development value. According to the working environment of ophthalmic surgery and the operation requirements of doctors, this paper presents the design of an ophthalmic surgery robot with6 degrees of freedom and double parallelogram structure, it has a `fixed point' to ensure the safe and smooth operation, and its end effector can have three degrees of freedom actions: shear, rotation and swing. then, the coordinate system of ophthalmic surgery robot is established according to D-H method, and the forward and inverse kinematics are calculated and analyzed to determine the motion trajectory and pose transformation of the end effector of the robot. the spatial point distribution and trajectory of the robot end effector are simulated, and the change of motion parameters is analyzed. Finally, Omega. 7,an active manipulator with excellent performance and precision, is *** its inverse kinematics is solved. the angle information of the driving motor of each joint is calculated, which is used as the input of the controller of the end effector of the robot, which lays the foundation for the master-slave control of the ophthalmic surgery machine.
System identification is the process of developing models based on data collected from dynamic systems. A significant challenge in this field is accurately estimating model parameters using input-output data. this dat...
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ISBN:
(数字)9798331541699
ISBN:
(纸本)9798331541705
System identification is the process of developing models based on data collected from dynamic systems. A significant challenge in this field is accurately estimating model parameters using input-output data. this data, typically gathered through sensors, often contains noise due to inaccuracies in the sensors and errors during communication. the presence of such noise can lead to biased estimates of parameters, which undermines the model’s effectiveness. While traditional methods strive to minimize this bias during parameter estimation, they frequently encounter difficulties when dealing with high levels of noise. An alternative strategy involves employing filtering techniques to clean the data before estimation takes place. Low-pass (LP) filters are designed to reduce frequencies above a specific threshold and are widely used for mitigating noise issues. Among these filters, the Kolmogorov–Zurbenko (KZ) filter operates as multiple iterations of a moving average (MA) filter and has shown strong capabilities in reducing noise; it is commonly applied in high-resolution signal analysis and image processing tasks. In this study, we introduce two KZ filtering approaches aimed at denoising data prior to parameter estimation. theoretical evaluations and experimental findings indicate that the proposed KZ filtering method surpasses LP filters and wavelet denoising techniques, particularly in environments characterized by low Signal-to-Noise Ratios (SNR).
Material flow systems are widely used in industries and logistics and can reach dimensions up to several kilometres. Automated maintenance robots are one approach to improve the maintenance intensity and quality in co...
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ISBN:
(纸本)9781617387197
Material flow systems are widely used in industries and logistics and can reach dimensions up to several kilometres. Automated maintenance robots are one approach to improve the maintenance intensity and quality in combination with modest operating costs. In order to deploy these robots, models of the material flow systems have to be created that are suitable for robot navigation and path planning. A method for fast and automatable environment modelling based on the modular design of material flow systems and on existing layout plans is presented in this paper.
Imitation learning method transfers human behavior to the robots or machines. this method aims to allow robots or machines to learn by observing tasks performed by human operators and imitating these tasks, rather tha...
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ISBN:
(数字)9798331518158
ISBN:
(纸本)9798331518165
Imitation learning method transfers human behavior to the robots or machines. this method aims to allow robots or machines to learn by observing tasks performed by human operators and imitating these tasks, rather than direct programming. ACT as an imitation learning method shows the high capability for automating dexterous manipulation tasks. From the viewpoint of industrial application, pose of the target object will be varied. However, even if only for the initial object pose variation, imitation learning method like ACT usually needs a lot of demonstration data that covers pose variation to train the policy that can generalize for. Collecting large demonstration dataset takes many efforts. this study created an object pick-and-place controller to eliminate pose variation as a preprocess step with YOLOv8, which is a recent object detection technique. the preprocess step automatically moves the object to a specific position and eliminates the pose variation. We show that our system effectiveness on the randomly placed bag opening task that requires both generalization for object pose variation and dexterous bimanual manipulation. the bag opening task was conducted with ACT and preprocess applied ACT methods, and the results were evaluated to examine the effect of the preprocess method to generalization process.
the push for miniaturization and functional integration in electronics packaging is driving the adoption of increasingly complex three-dimensional designs, necessitating advanced optical 6D Pose Estimation techniques ...
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ISBN:
(数字)9798350358513
ISBN:
(纸本)9798350358520
the push for miniaturization and functional integration in electronics packaging is driving the adoption of increasingly complex three-dimensional designs, necessitating advanced optical 6D Pose Estimation techniques for precise automated manufacturing. this study covers the development, investigation, and comparison of two distinct optical approaches aimed at achieving precise pose detection with six degrees of freedom (6-DoF) of electronic components, in particular of Direct Bonded Copper substrates. One method involved using laser-engraved optical markers (specifically ArUco Markers), while the other relied on Keypoint Detection, utilizing YOLOv8 and Mask R-CNN trained on both real and synthetic data. Performance evaluation of these techniques was conducted by engineering a novel vision setup designed to maintain precise control over lighting conditions while facilitating accurate pose adjustments of the probe in six dimensions relative to the camera. the analysis revealed that the Keypoint Detection method, particularly with YOLOv8, exhibited superior accuracy in translation along the x- and y-directions, as well as rotation around the x- and y-axes. Conversely, the marker-based approach demonstrated significantly higher accuracy in translation in the z-direction and rotation around the z-axis. through a qualitative analysis coupled with extensive quantitative evaluation, the study reveals the strengths and weaknesses of 6D Pose Estimation methods, particularly when applied to miniature copper components.
the reliability of the electrical system is one of the most important aspects in ensuring the distribution of electrical power supply, especially in remote and isolated areas. Withthe increase in customer loads each ...
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ISBN:
(数字)9798331504694
ISBN:
(纸本)9798331504700
the reliability of the electrical system is one of the most important aspects in ensuring the distribution of electrical power supply, especially in remote and isolated areas. Withthe increase in customer loads each year, the stability of the power system is quite fluctuating, therefore PLN in this case as the main supplier of electrical power must guarantee the quality of power and the stability of the electrical power system. therefore, a thorough planning is needed to meet the needs of electrical power, especially in West Kutai Regency, East Kalimantan. this experiment focuses on optimizing the planning and operation control in Melak Isolated Electrical Power System in West Kutai Regency, East Kalimantan. therefore, the system is more reliable and stable, can meet the needs of the electrical energy supply in the area. Some of the steps taken in this experiment include conducting mathematical modeling of the generating system; determining the objective function; collecting planning data and generator operation dispatch; formulating parameters into objective functions; starting optimization of planning and operation; testing with planning and operation simulations; and analysis of optimization result data.
the development of practical motion planning algorithms and obstacle avoidance techniques is considered as one of the most important fields of study in the task of building autonomous or semiautonomous robot systems. ...
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ISBN:
(纸本)9781617387197
the development of practical motion planning algorithms and obstacle avoidance techniques is considered as one of the most important fields of study in the task of building autonomous or semiautonomous robot systems. the motion planners designed for humanoid robots combine both path planning generation and the ability of executing the resulting path with respect to their characteristics. these planners should consider the specific dynamical constraints and stability problems of the humanoid robots. In this paper, we present a time-efficient hybrid motion planning system for a Fujitsu HOAP-2 humanoid robot in indoor and miniature city environments. the proposed technique is a combination of sampling-based planner and D* Lite search to generate dynamic footstep placements in unknown environments. It generates the search space depending on non-uniform sampling of the free configuration space to direct the computational resources to troubled and difficult regions. D* Lite search is then implemented to find dynamic and low-cost footstep placements within the resulting configuration space. the proposed hybrid algorithm reduces the searching time and produces a smoother path for the humanoid robot with low cost.
Mount climbers always experiencing unexpected situation such as their cellphone is running out of battery especially in a long trip of mount climbing. this situation is become worst when they are stuck or ashtray in t...
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A novel flexure parallel robot with large workspace is proposed in this paper, which adopts wide-range flexure hinges as passive joints. the repeatability and resolution of this system can attain to the sub-micron sca...
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A novel flexure parallel robot with large workspace is proposed in this paper, which adopts wide-range flexure hinges as passive joints. the repeatability and resolution of this system can attain to the sub-micron scale over the cubic centimeter scale workspace. It is very necessary and important to establish the kinematics simulation model for a precision positioning parallel robot for the whole system later researches including mechanism parameters synthesis, system real-time control and so on. the kinematics simulation model of the whole system is presented based on the stiffness equations of the flexure hinges and the stiffness assembly method. And then an ADAMS-based virtual prototype model is built up in order to validate the kinematics model further, in which massless beam model is adopted to simulate the wide-range flexure hinge. Finally calculation examples are given in this paper, which indicates the kinematics model can be used in the real prototype system.
the rapid advancement of technology has transformed how music is accessed and consumed, particularly among younger audiences, making explicit content—such as themes of violence, sexuality, and coarse language—a grow...
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ISBN:
(数字)9798331539603
ISBN:
(纸本)9798331539610
the rapid advancement of technology has transformed how music is accessed and consumed, particularly among younger audiences, making explicit content—such as themes of violence, sexuality, and coarse language—a growing concern for their development. Most music platforms lack automated systems to effectively filter such content, creating a need for more reliable detection methods. this research develops machine learning models, specifically LSTM and BERT, to detect explicit content in English-language music lyrics. the evaluation results show that while the LSTM model achieves an 88% accuracy with strong precision, recall, and F1-score, it still presents some False Negatives and False Positives. In contrast, the BERT model demonstrates superior performance with 94 % accuracy and high precision, recall, and F1-score values. these findings highlight the effectiveness of BERT in content detection, offering a significant advancement over existing methods and providing a robust solution for music platforms to safeguard younger users from harmful content, ensuring a safer and more responsible digital listening environment.
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