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A Hybrid Vision/Force control Strategy for Handheld Robotic Devices Enhancing Probe-Based Confocal Laser Endomicroscopy

A Hybrid Vision/Force Control Strategy for Handheld Robotic ...

引用

2024 international conference on intelligent Robots and systems

作者： Choi, Ingu Kim, Eunchan Sungwook HL Mando SW Campus Seongnam 13488 South Korea LG Elect Seoul 04763 South Korea Korea Inst Sci & Technol Ctr Intelligent & Interact Robot Seoul 02792 South Korea

ISBN: (纸本)9798350377712;9798350377705

We introduce a novel hybrid vision/force control strategy for robotic devices designed to obtain clear and consistent images using probe-based confocal laser endomicroscopy (pCLE). Due to the variable nature of tissue characteristics encountered during pCLE imaging, the conventional approach of pre-setting forces or focus metrics for either force or vision control is often impractical and inadequate. To address this, our strategy employs a blur metric called the CR score to assess the level of blur in pCLE images, enabling the attainment of clear and focused images. At the onset of a pCLE scan, the system autonomously determines the target CR score for vision control, in tandem with a real-time peak detection algorithm. Concurrently, force control is applied judiciously to prevent excessive force on the tissue, adjusting to ensure minimal force is applied, thus preserving image focus. This innovative approach facilitates seamless transitions between vision and force control, depending on the imaging conditions, thereby ensuring the acquisition of consistent pCLE images with minimal force. Our method marks a notable improvement over conventional PID force control techniques. By dynamically adjusting target forces and minimizing force application during operation, we not only enhance the precision and quality of pCLE imaging but also eliminate the dependency on manual pre-settings.

关键词： Probes

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AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops 12

AGV State Monitoring Based on Global and First-person View F...

引用

12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Zhang, Sichao Liang, Wei Li, Gengyu Yuan, Xudong An, Haibo Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Science Beijing100049 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Science and Technology on Information Systems Engineering Laboratory The 28th Research Institute of Cetc Jiangsu Nanjing210007 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

AGV state monitoring is becoming increasingly important for production system safety in digital workshops. This paper develops a global and first-person view fusion to monitor the AGV (Automated Guided Vehicle) running state in the complex digital workshops. Based on the affine transformation model, the AGV running states, i.e., position, velocity and orientation are estimated by the global camera with the assistance of ArUco markers, which are pasted on the front side of the AGV. Besides, the first-person view camera is used to implement pedestrian detection and distance measurement based on the YOLOv3 model. It is noticeable that the pitch angle is considered for distance measurement, and an improved triangular model for distance measurement is proposed. The effectiveness of the proposed method has been verified in our built platform. © 2022 ieee.

关键词： Cameras

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Performance Evaluation of Heavy Commercial Road Vehicle Platoon Stability Under cyber Threats 18

Performance Evaluation of Heavy Commercial Road Vehicle Plat...

引用

18th ieee international conference on Vehicular Electronics and Safety, ICVES 2024

作者： Philip, Princy Devika, K.B. Subramanian, Shankar C. Indian Institute of Technology Madras Department of Engineering Design Chennai600036 India University of Exeter Faculty of Environment Science and Economy ExeterEX4 4QF United Kingdom

ISBN: (纸本)9798350387278

Platooning of Heavy Commercial Road Vehicles (HCRVs) would facilitate efficient freight transport while reducing fuel consumption and emission. Higher levels of safety and automation in HCRVs demand high-fidelity in communication and computing resources. HCRV platoons visualized as cyber Physical systems (CPSs) are susceptible to potential cyber attacks, posing risks to their safety and sustainability. This paper focuses on a systematic evaluation of the effects of a class of cyber threats on platoon stability. The major cyber threat perceptions were mathematically modeled into the velocity information communicated over Vehicle-to-Vehicle (V2V) network. The platoon performance with data uncertainties in the velocity of preceding vehicle is found to be equivalent to the nominal platoon behaviour, with faults manifesting as a deviation in the time headway being tracked by the follower vehicles. © 2024 ieee.

关键词： Commercial vehicles

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A Novel Framework for Structure Descriptors-Guided Hand-drawn Floor Plan Reconstruction

A Novel Framework for Structure Descriptors-Guided Hand-draw...

引用

2024 international conference on intelligent Robots and systems

作者： Zhang, Zhentong Li, Juan Li, Xinde Hu, ChuanFei Dunkin, Fir Hang, Shaokun Southeast Univ Sch Cyber Sci & Engn Nanjing 211102 Peoples R China Samsung Elect China R&D Nanjing 210018 Peoples R China Nanjing Ctr Appl Math Nanjing 211135 Peoples R China Southeast Univ Sch Automat Nanjing 210012 Peoples R China Southeast Univ Shenzhen Res Inst Shenzhen 518063 Peoples R China

ISBN: (纸本)9798350377712;9798350377705

In the absence of a pre-built indoor map, robot navigation suffers from the limitations of sensors and environments, resulting in decreased efficiency in performing ad-hoc tasks. Given that blueprints are difficult to obtain, an intuitive method is to provide robots with prior knowledge via hand-drawn floor plans. However, due to the inability of robots to directly comprehend hand-drawn styles, the applicability of this method is limited. In this paper, we present a novel framework for hand-drawn floor plan reconstruction that can recognize abstract hand-drawn elements and standardize the reconstruction of hand-drawn floor plans, thereby providing robots with valuable global map information. Specifically, we design a new series of structure descriptors as reconstruction components and employ a deep learning-based model for recognition. Then the standardized results are obtained through the proposed floor plan reconstruction algorithm. To verify the effectiveness of the framework, we conduct experiments on electronic and paper hand-drawn floor plans. Compared with other state-of-the-art methods, our proposed method achieves superior reconstruction results. This work expands the application scenarios for indoor robots, enabling them to quickly comprehend the semantics of complex scenes, thereby enhancing the competitiveness in downstream tasks.

关键词： Floors

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Research on adaptive crawling of underwater hexapod robot on complex seabed 12

Research on adaptive crawling of underwater hexapod robot on...

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12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Sun, Yingzhe Zhang, Qifeng Yao, Qingfeng Zhang, Aiqun State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Key Laboratory of Marine Robotics Liaoning Province Shenyang1572000 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this paper, the research on underwater adaptive walking planning of underwater hexapod robot is carried out aiming at the research goal of safe and stable seabed climbing behavior of underwater hexapod robot. Aiming at the unknown complex terrain on the seabed, an innovative method based on five-point gait is proposed to perceive the unknown terrain through the position of the foot tip. On the one hand, five-point gait can meet the high stability of underwater hexapod robot, on the other hand, it can avoid the problem of asynchronous landing of legs under other gait. The method of evaluating unknown terrain by foot position can reduce the number of sensors carried by the body on the one hand, and reduce the complexity of the overall planning method on the other hand. Finally, the paper will verify the correctness of the theory through the simulation method, and provide theoretical support for the underwater hexapod robot to crawl on the seabed. © 2022 ieee.

关键词： Robot programming

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SoK: Autonomic Computing Based Mehods for ICS/SCADA and IIoT Security

SoK: Autonomic Computing Based Mehods for ICS/SCADA and IIoT...

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2024 ieee international conference on cyber Security and Resilience, CSR 2024

作者： Rouff, Christopher Tekeoglu, Ali Johns Hopkins University Applied Physics Laboratory & Jhu Whiting School of Engineering United States Leidos Innovations Center United States Johns Hopkins University Whiting School of Engineering United States

ISBN: (纸本)9798350375367

Industrial control systems (ICS) stand out as a prime target for global attackers due to their critical role in many nation's infrastructure. The autonomy and proactive nature of autonomic systems make them inherently preventive, acting as a barrier against potential threats. Autonomic Computing (AC) as a term was coined in the early 2000s, inspired by the human nervous system, which aims to keep the growing complexity of managing Information technology (IT) assets under control by designing systems to be less human dependent. Traditionally, Operational technology (OT) has been isolated and self-contained, however the last decade has witnessed the convergence of IT and OT networks. Operational technology networks and assets have different requirements and priorities in terms of safety and security. Application of Autonomic Computing to OT/ICS systems has not been explored in detail in the literature. This Systematization of Knowledge (SoK) survey provides insight into this specific field, identifies and discusses previous work, and discusses potential future research opportunities on how Autonomic Computing methods could be applied to secure ICS/SCADA networks. © 2024 ieee.

关键词： cyber Physical System

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Design of Programmable Droplet Manipulation Platform Based on Magnetic control 12

Design of Programmable Droplet Manipulation Platform Based o...

引用

12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Zhang, Xianmiao Liu, Jie Liu, Jiying Wang, Yuzhe Zhang, Mian Xiang, Hongbiao School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Hong Kong Baptist University United International College Division of Culture and Creativity Beijing Normal University Guangdong Zhuhai519087 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Droplet actuation simplifies the handling of various reagents or samples and can be applied to a wide range of fields, including chemistry, biology, biomedical, and others. This paper presents a programmable droplet control system based on a magnetoelastic membrane and electromagnetic pillar array. Different magnetic blocks with different magnetization directions were designed on the silicone rubber membrane, and the magnetoelastic membrane deformed under the magnetic field generated by the array of electromagnetic pillars. By combining the gravitational forces of the droplet and the deformation of the magnetic membranes, the motion of the droplet can be controlled. Furthermore, the surface of membranes was ablated with a laser machine to impart superhydrophobic properties. The simulation results show that with the different magnetic fields, the droplet can move lengthwise, widthwise, and diagonally in the horizontal plane, and multiple droplets can be merged and mixed. In contrast to the traditional droplet control method, the droplet programmable movement control system utilizing superhydrophobic magnetoelastic membranes and an electromagnetic pillar array has better stationarity, flexibility and does not affect the basic properties of the droplets. © 2022 ieee.

关键词： Silicones

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Adaptation of STPA-sec: A Case Study in the Socio-Technical control Inputs Taxonomies for Health Information cyber Security 9th

Adaptation of STPA-sec: A Case Study in the Socio-Technical ...

引用

9th international Congress on Information and Communication technology (ICICT)

作者： Kaberuka, Joseph Univ Glasgow Sch Comp Sci Glasgow Lanark Scotland

ISBN: (纸本)9789819735617;9789819735624

In the aftermath of ransomware incidents in UK and US hospitals, healthcare cyber security strategies have faced criticism for lagging behind those of other industries, thereby making the healthcare sector more vulnerable to cyber-attacks. Security standards and regulations designed to support healthcare security generally recognize cyber security in healthcare as a complex socio-technical problem. Implementing technical countermeasures relies on the collaboration and commitment of various stakeholders. The systems Thinking approach (STAMP) has found applications across diverse socio-technical domain and its extension, STPA-sec, is tailored for cyber security analysis. STPA-sec has proven effective in addressing the sociotechnical challenges of cyber security. However, when applied in the area of limited resources, the efficacy of the methodology came at a cost (Kaberuka and Johnson in: 2020 international conference on cyber security and protection of digital services (cyber security). ieee, 2020). In fact, in regions with a scarcity of trained analysts and reliance on traditional cyber security methods, there is a need for detailed information to facilitate appropriate interventions. Hence, this paper argues that in an environment characterized by a shortage of socio-technical trained analysts, coupled with a substantial public demand and sociotechnical threats, there is a pressing need to offer adequate support. We observed several limitations in relation to security extension of the method. We propose an improvement with extended control inputs taxonomies that are pertinent to this context. Future work is needed to evaluate whether the extended technique becomes effective in the area with advanced trained analysts.

关键词： Health care cyber security STPA-sec Health information systems

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Research on Motion control of Wheel-Legged Robot Based on ASMC and LQR

Research on Motion Control of Wheel-Legged Robot Based on AS...

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2024 ieee international conference on control Science and systems Engineering, ICCSSE 2024

作者： Ding, Yong Wang, Yong Wang, Yi Wu, Ke University of Science and Technology of China Department of Automation Hefei China

ISBN: (纸本)9798331517199

Wheel-legged robots combine the high-speed movement of wheeled robots with the superior obstacle-navigation abilities of legged robots. To enhance the robot's resilience against disturbances and improve its ability to overcome obstacles, we developed a control scheme that decouples the control into two parts: posture control and balance control. First, the robot's dynamics were modeled using the Euler-Lagrange method. To manage external disturbances, an Adaptive Sliding Mode controller (ASMC) was designed to handle posture control. For balance control, a Linear Quadratic Regulator (LQR) was implemented to solve the Riccati equation in real-time, generating the necessary control torques to stabilize the robot. By combining these two control strategies, we present a framework that significantly improves the robot's mobility. Furthermore, tests conducted on a physical prototype demonstrated the effectiveness of the algorithm and the robot's disturbance rejection capability. The results confirm that the control scheme, which integrates ASMC and LQR, allows the wheel-legged robot to execute complex maneuvers and traverse uneven terrain with ease. © 2024 ieee.

关键词： Disturbance rejection

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Modelling and control of a Trailer Sprayer for Precision Spraying

Modelling and Control of a Trailer Sprayer for Precision Spr...

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international conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Baltazar, Andre Santos, Filipe N. Moreira, Antonio Paulo Soares, Salviano Pinto Reis, M. J. C. S. Cunha, Jose Boaventura INESC TEC Inst Syst & Comp Engn Technol & Sci CRIIS Ctr Robot Ind & Intelligent Syst Porto Portugal UTAD Univ Tras Os Montes & Alto Douro ECT Sch Sci & Technol Vila Real Portugal Univ Porto FEUP Fac Engn P-4200465 Porto Portugal Inst Elect & Informat Engn Aveiro IEETA Aveiro Portugal Intelligent Syst Associate Lab LASI Porto Portugal

ISBN: (纸本)9798350352351;9798350352344

Precision spraying in agriculture is crucial for optimizing the application of pesticides while minimizing environmental impact. Despite significant advancements in control models for spraying systems, predictive control algorithms were not used. This paper addresses this gap by proposing a real-time control framework that integrates predictive control strategies to ensure consistent pressure output in a trailer sprayer. Based on information from various sensors, the framework anticipates and adapts to dynamic environmental conditions, enhancing accuracy and sustainability in spraying practices. A methodology is developed to define a proportional valve model. Based on this valve model, the predictive control model optimizes valve movements to minimize errors between predicted and reference pressures, thereby improving spraying efficiency. This study demonstrates the viability of predictive control in improving precision spraying systems applicable to autonomous robots, encouraging future advances in agricultural spraying technologies.

关键词： precision spraying proportional flow valve model predictive control robotics in agriculture

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