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Deformation Pattern Shape Sensing for Visuotactile Endoscope

Deformation Pattern Shape Sensing for Visuotactile Endoscope

引用

2024 IEEE international conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Yanzhe Tian, Yuan Cui, Shaowei Wang, Yupeng Wang, Rui Wang, Shuo Beijing University of Science and Technology Beijing100083 China The University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9798350372601

The integration of visuotactile sensor technology with endoscopy enables the provision of tactile information for minimally invasive surgeries and other operations. This paper proposes a real-time sensing framework for contact deformation pattern shape, providing a foundation for precise perception in miniaturized visuotactile sensors. Specifically, we first construct a Deformation Pattern shape Descriptor (DPSD) and then track the key points in the descriptor using optical flow to obtain contact deformation shape information. Through extensive qualitative and quantitative experiments, our proposed algorithm achieves an average perception accuracy of around 83.81% for contact pattern shapes. It demonstrates consistent perception accuracy across various contact force magnitudes, directions, and scenarios, highlighting its robustness. Additionally, compared to traditional marker-level methods, it achieves a notable 46.5% improvement in displacement field perception accuracy. This research elevates tactile perception to the dimension of contact pattern shape sensing and has the potential for application in miniaturized visual tactile sensors. © 2024 IEEE.

关键词： Endoscopy

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Research and Application Analysis of Visual SLAM Algorithm Integrated with YOLOv5 in Dynamic Environments 4

Research and Application Analysis of Visual SLAM Algorithm I...

引用

4th IEEE international conference on Data science and Computer Application, ICDSCA 2024

作者： Yang, Zhuo School of Electrical and Electronic Engineering Hubei University of Technology Wuhan China

ISBN: (纸本)9798350368239

The paper presents a visual simultaneous localization and mapping (SLAM) system enhanced by integrating YOLOv5 for dynamic environments. Traditional visual SLAM systems often struggle with positioning accuracy and robustness when dynamic objects are present, as these systems typically rely on static feature points. The proposed method leverages YOLOv5 for object detection to identify and classify dynamic elements, such as people and vehicles, and eliminates their feature points, thereby reducing the influence of dynamic objects on the SLAM system. The integration is achieved by modifying the ORB-SLAM3 framework, specifically enhancing its tracking thread with YOLOv5's dynamic feature point elimination. Experimental validation on the TUM dataset demonstrates a significant improvement in attitude estimation accuracy, particularly in highly dynamic scenarios, with performance enhancements exceeding 90% compared to traditional methods. The results highlight the enhanced adaptability and robustness of the improved SLAM system in complex environments, addressing the challenges posed by dynamic objects and optimizing its utility for applications in indoor positioning, autonomous driving, and mobile robotics. ©2024 IEEE.

关键词： SLAM robotics

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Design of Cost-Effective Automated CPAP with LabView for Sleep Apnea Patient 2

Design of Cost-Effective Automated CPAP with LabView for Sle...

引用

2nd IEEE international conference on Recent advances in Information technology for Sustainable Development, ICRAIS 2024

作者： Prasanth, A. Ragavi, B. Kuntavai, T. Sudha, M. Devi Sowndarya, K.K. Vel Tech Rangarajan Dr. Sagunthala R and D Institute of Science and Technology Department of Computer Science and Engineering Chennai India Dr.N.G.P Institute of Technology Department of Biomedical Engineering Tamil Nadu India AdhiparaSakthi Engineering College Department of Electrical and Electronics Engineering Tamil Nadu Chengalpattu India Adhi College of Engineering and Technology Department of Electronics and Communication Engineering Tamil Nadu India DMI College of Engineering Department of Electronics and Communication Engineering Tamil Nadu Chennai India

ISBN: (纸本)9798350354461

Obstructive sleep apnea (OSA) has become more common in recent days due to overweight, obesity, stress, and depression. It is a serious disorder where the patient's breathing repeatedly stops and starts. It is linked to social, economic, and health consequences. Due to the complicated design of the existing work, a new design of a simplified Continuous Positive Airway Pressure (CPAP) device with LabVIEW software has been proposed. In lab view software, the different virtual components like the blower, relay, and respiratory sensor will be placed. First, the virtual patient is positioned in virtual LabVIEW to check whether the patient is affected by OSA or a normal level patient. The blower is mainly used to level the flow of air (i.e., inhale and exhale). Further, the relay is employed to provide a time delay function, and it is utilized to control high-voltage and current circuits. In LabVIEW, the breathing level and threshold level frequencies are fixed with the aid of a respiratory sensor. The key aim of this proposed work is to control OSA patients. If the patient suffers from OSA, the respiratory sensor can supply the air pressure to the OSA patients based on different respiratory rate ranges. © 2024 IEEE.

关键词： Blowers

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Optimization Design of Harmonic Drive Flexspline Fixture Based on Orthogonal Experiments 10

Optimization Design of Harmonic Drive Flexspline Fixture Bas...

引用

10th international conference on advances in Machinery, Material science and engineering Application, MMSE 2024

作者： Hu, Qiushi Li, HaoQiang Liu, Fujiang Wang, Guowei Mechanical Engineering Jiangsu University of Science and Technology Jiangsu Province Zhenjiang212000 China

ISBN: (纸本)9781643685465

As a thin-walled, highly deformable precision component, the flexspline is subjected to complex stresses during operation. The fixture is crucial for the manufacturing of the flexspline, requiring a rational structure to ensure manufacturing precision. In this study, a finite element model of a flexspline fixture was established to analyze the contact pressure and strain between the flexspline, expansion sleeve, and core shaft. By utilizing orthogonal experiments and simulations, the maximum contact pressure between the flexspline and the expansion sleeve Pfmax, the maximum contact pressure between the expansion sleeve and the core shaft Pemax, and the maximum strain ϵfmax of the flexspline were obtained under varying pulling force F, taper angle α, and the number of clamps S. Range analysis was conducted to investigate the impact of F, α, and S on Pfmax, Pemax, and ϵfmax. These findings provide valuable references for designing and optimizing harmonic drive flexspline fixtures. © 2024 The Authors.

关键词： Thin walled structures

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An Appraisal of Web-based Learning 15

An Appraisal of Web-based Learning

引用

15th international conference on advances in Computing, Control, and Telecommunication Technologies, ACT 2024

作者： Wadhwa, Manoj Shrivastava, Utpal Kumar, Suresh Department of Computer Science and Information Technology Koneru Lakshmaiah Education Foundation Guntur Andhra Pradesh Vaddeswaram522302 India Chitkara University School of Engineering and Technology Chitkara University Himachal Pradesh Solan174 103 India School of CSE & CA Geeta University Haryana Panipat132145 India

ISBN: (纸本)9798331300579

In this new era, education is being transformed with fully adoption of Information technology which is a measure of advancement. This has led to several ways in which learning can be effective and accessible. Web-based learning is one such learning process that provides accessible learning platform activities to learners through the World Wide Web and Internet availability. It is found that, Web-based learning is facing some challenges and security issues for implementation in learning environments. Hence, this study elaborates on web-based learning, its environmental scope while looking at its prospect, challenges, and security issues. The study also reveals various security solutions to existing problems in web-based learning. © Grenze Scientific Society, 2024.

关键词： Contrastive Learning

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Target Detection and Tracking of Survey Robots Using Multimodal Internet of Things Sensor data Fusion Using YOLOv5 2

Target Detection and Tracking of Survey Robots Using Multimo...

引用

2nd international conference on Distributed Computing and Optimization Techniques, ICDCOT 2024

作者： Ye, Chengjing Wu, Miaoyong Yang, Yefen Zhang, Ke Bu, Xinhua Huang, Miaomiao Guangdong Polytechnic of Science and Technology Faculty of Robotics Guangdong Zhuhai China Guangdong Polytechnic of Science and Technology Computer Engineering Technical College Guangdong Zhuhai China Faculty of Architectural Engineering Guangdong Polytechnic of Science and Technology Guangdong Zhuhai China

ISBN: (纸本)9798350382952

In recent years, due to the rapid development of computer vision technology, real-time detection and tracking of objects using computer vision has become a hot topic. Object detection mainly consists of two parts: object segmentation and object recognition, that is, object acquisition. Accurate detection of targets is the key to achieving high-precision and high-efficiency tracking. Based on the above discussion, this article explored the target detection and tracking of survey robots using the multimodal Internet of Things (IoT) sensor data fusion of YOLOv5, and compared and analyzed the performance of direct frame difference method, traditional ORB method, and the algorithm in this paper through experiments. The results indicated that the accuracy and recall of the robot image object detection algorithm proposed in this paper were both above 90%, and higher than other algorithms, indicating that the algorithm has extremely high accuracy in object detection. © 2024 IEEE.

关键词： Internet of things

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Investigating the Potential of Self-Supervised Learning in Adversarial Machine Learning

Investigating the Potential of Self-Supervised Learning in A...

引用

2024 international conference on advances in Computing Research on science engineering and technology, ACROSET 2024

作者： Thanigaivelu, P.S. Dash, Priyanka Sravan Kumar, G. Viveka, S. Nidadavolu, Vijayasri Gautham, V. Srmist - Ktr Campus Department of Computing Technologies Kattankulathur India Swami Vivekanand Institute of Technology Department of It Hyderabad India Cvr College of Engineering Department of Cse Hyderabad India Srm Institute of Science and Technology Department of Computer Technology Chennai India Mlr Institute of Technology Department of Csit Hyderabad India Rajalakshmi Engineering College Department of Ece Chennai India

ISBN: (纸本)9798350388800

Machine learning has enabled innovative usage in numerous fields. These systems are vulnerable to hostile assaults. Small intentional alterations to misclassify data constitute a maj or security risk. We examine three solutions: 'Self-Supervised Adversarial Defence', 'Adversarial Mixup' and 'Secure and Self-Supervised Learning.' These strategies safeguard and protect machine learning models from other computers. We start our study with the theory underlying these approaches and how they are employed in machine learning. A detailed experimental evaluation utilizing a real-world dataset with difficult adversarial situations is shown. These approaches are tested using accuracy, precision, memory, F1 score, and ROC AUC. Results are certain. All indicators suggest that new methods outperform old ones. 'Self-Supervised Adversarial defence' is the most exact and precise, but 'Adversarial Mixup' and 'Secure and Self-Supervised Learning' are also useful, especially for memory. The ROC AUC values also demonstrate that the recommended approaches can distinguish positive and negative classes, which is crucial in binary classification problems. Finally, our work indicates that these strategies can make machine learning models safer and more resilient in harmful conditions. This study reveals how adversarial perturbations and self-supervised learning might solve the crucial challenge of adversarial assaults. These strategies can make machine learning systems safer, which might impact hacking, healthcare, and self-driving systems. © 2024 IEEE.

关键词： Adversarial machine learning

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Design and Experimental Validation of a Microgripping Force Detection Mechanism 8

Design and Experimental Validation of a Microgripping Force ...

引用

8th international conference on Control, robotics and Cybernetics, CRC 2023

作者： Si, Guoning Zhao, Zhixin Zhang, Zhuo Zhang, Xuping University of Shanghai for Science and Technology School of Health Science and Engineering Shanghai China Xi'An University of Posts & Telecommunications School of Modern Posts Xi'an China Aarhus University The Department of Mechanical and Production Engineering Aarhus Denmark

ISBN: (纸本)9798350330588

This paper presents a force sensor designed for the microgripper. The novel force sensor structure incorporates a strain gauge attached to a compliant beam segment to measure the forces exerted at the microgripper tip accurately. The working principle of a micro clamping force sensor was studied. The sensor's output signal was collected through experimental design, and the applicability of the sensor was validated. The data collected by the sensor is stable, and the linear correlation coefficient between the output voltage of the force sensor and the micro-gripping force is 0.99879. The experimental results verify the feasibility of the proposed micro clamping force sensor. © 2024 IEEE.

关键词： Strain gages

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A Design Thinking Approach of Metaheuristic Empowerment for Energy-Efficient and Optimized Routing protocol in IoT-Enabled Wireless Sensor Networks 3

A Design Thinking Approach of Metaheuristic Empowerment for ...

引用

3rd international conference on Smart Technologies, Communication and robotics, STCR 2023

作者： Princy, D. Kalaivani, D. Vijayaraghavan, T. Dr. S N S Rajalakshmi College of Arts and Science Department of Computer Science Coimbatore India Dr. S N S Rajalakshmi College of Arts and Science Department of Computer Technology Coimbatore India Sns College of Technology Computer Science and Engineering Coimbatore India

ISBN: (纸本)9798350370867

This research focuses on energy-efficient routing in WSNs within IoT contexts, comparing established protocols like SEP, HEED, TEEN with the proposed SEP-ACO protocol. By strategically selecting cluster heads based on residual energy, these protocols optimize energy usage, enhancing data collection and transmission. Experimental evaluations highlight SEP-ACO's superior performance, showcasing improved packet delivery ratios and reduced energy consumption compared to existing approaches. This work emphasizes the significance of energy-efficient routing for extending WSNs' operational lifetime in emerging IoT-enabled environments, contributing to IoT and sensor technology advancements. © 2023 IEEE.

关键词： Energy dissipation

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Compound Control Method of ADRC and FTUSMC for Quadrotor UAV Attitude System 2

Compound Control Method of ADRC and FTUSMC for Quadrotor UAV...

引用

2nd international conference on robotics, Artificial Intelligence and Intelligent Control, RAIIC 2023

作者： Yang, Yifan Fu, Jian Gao, Hongyu Zhang, Yuming Nanjing University of Science and Technology School of Energy and Power Engineering Nanjing China

ISBN: (纸本)9798350328004

To address the problem that the quadrotor UAV is affected by multiple sources of disturbances such as external environmental disturbances, internal parameter perturbation and unmodelled dynamics during actual flight, an attitude controller with a combination of Active disturbance rejection control and fast terminal unidirectional sliding mode is proposed. The Lyapunov stability theorem is used to prove that the designed attitude controller meets the stability requirements, and the proposed attitude controller is simulated in MATLAB/Simulink software. Simulation results show that the attitude controller has good robustness and disturbance resistance. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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