We present a concept to research the implementation of a self-aware control system for underwater cleaning robots. Multiple robots cooperate as a swarm to clean the hull of large container ships while in transit. We u...
详细信息
This paper presents a conceptual magnetically anchored and guided flexible endoscope for minimally invasive surgery (MIS). Leveraging both the magnetic coupling between the external and internal permanent magnets and ...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
This paper presents a conceptual magnetically anchored and guided flexible endoscope for minimally invasive surgery (MIS). Leveraging both the magnetic coupling between the external and internal permanent magnets and the bending of a flexible joint, the endoscope offers improved maneuverability and adaptability within confined surgical spaces. The visual servo control allows the endoscope to autonomously track surgical instruments during procedures, thereby reducing the risk of human error and operator fatigue. First, the design and working principles of the endoscope are introduced. Subsequently, the kinematic modeling of the endoscope is derived, and the control scheme is developed based on a quadratic programming (QP) framework by taking into account both magnetically anchoring constraints and physical constraints, where the joint velocities can be resolved given the desired task velocities in a one-step way. Simulative validations are conducted to verify the effectiveness of the visual servo control for the presented endoscope tracking a static/dynamic target with physical constraints considered.
The ultrasound robotic system (URS) is of tremendous importance for assisting sonographers to diagnose various diseases. Generally, the quality of ultrasound image which is evaluated through confidence map has a high ...
详细信息
ISBN:
(纸本)9798350364200;9798350364194
The ultrasound robotic system (URS) is of tremendous importance for assisting sonographers to diagnose various diseases. Generally, the quality of ultrasound image which is evaluated through confidence map has a high dependency on the experience of sonographers. In order to obtain high-quality ultrasound image under URS, we take confidence map into consideration of control frame and propose confidence-driven adaptive optimal impedance learning scheme. By introducing an appropriate performance function which blends both confidence value and contacting force, an iterative learning strategy is conducted to achieve favorable scanning performance. Finally, we show the experiment results on the human volunteer.
Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in a...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in analytical research concerning estimations. Therefore, we endeavor to further understand how various types of estimations influence the decision-making processes of policies. In this paper, we provide quantitative insight into the effectiveness of learned state estimations, employing saliency analysis to identify key estimation variables and optimize their combination for humanoid locomotion tasks. Evaluations assessing tracking precision and robustness are conducted on comparative groups of policies with varying estimation combinations in both simulated and real-world environments. Results validated that the proposed policy is capable of crossing the sim-to-real gap and demonstrating superior performance relative to alternative policy configurations.
The problem of forming standards and procedures for calculating indicators of the functioning of complex systems in conditions of uncertainty is solved. The methodology is based on the methodology of Bayesian intellig...
详细信息
作者：
Duan, ChengyaoYang, ZhiliuYunnan Univ
Sch Informat Sci & Engn Kunming 650500 Yunnan Peoples R China Yunnan Univ
Yunnan Key Lab Intelligent Syst & Comp Kunming 650500 Yunnan Peoples R China
Previous attempts to integrate Neural Radiance Fields (NeRF) into the Simultaneous Localization and Mapping (SLAM) framework either rely on the assumption of static scenes or require the ground truth camera poses, whi...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
Previous attempts to integrate Neural Radiance Fields (NeRF) into the Simultaneous Localization and Mapping (SLAM) framework either rely on the assumption of static scenes or require the ground truth camera poses, which impedes their application in real-world scenarios. This paper proposes a time-varying representation to track and reconstruct the dynamic scenes. Firstly, two processes, a tracking process and a mapping process, are maintained simultaneously in our framework. In the tracking process, all input images are uniformly sampled and then progressively trained in a self-supervised paradigm. In the mapping process, we leverage motion masks to distinguish dynamic objects from the static background, and sample more pixels from dynamic areas. Secondly, the parameter optimization for both processes is comprised of two stages: the first stage associates time with 3D positions to convert the deformation field to the canonical field. The second stage associates time with the embeddings of the canonical field to obtain colors and a Signed Distance Function (SDF). Lastly, we propose a novel keyframe selection strategy based on the overlapping rate. Our approach is evaluated on two synthetic datasets and one real-world dataset, and the experiments validate that our method achieves competitive results in both tracking and mapping when compared to existing state-of-the-art NeRF-based dynamic SLAM systems.
In this work, an upgraded exoskeleton design is presented with enhanced trajectory tracking and mechanical transparency. Compared to the first version, the design features a 3-DoF actuated shoulder joint and a mechani...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
In this work, an upgraded exoskeleton design is presented with enhanced trajectory tracking and mechanical transparency. Compared to the first version, the design features a 3-DoF actuated shoulder joint and a mechanism to regulate the pretension of Bowden cables. Force/torque sensors are installed to directly measure the interaction forces between the human arm and the exoskeleton at the connecting points. Three control strategies were evaluated to follow a desired trajectory;A PD controller, a PD controller with friction observer, and an adaptive controller based on Radial Basis Function (RBF). These strategies also form the basis for an admittance control, aimed at improving the exoskeleton's mechanical transparency during interaction with the human arm. Simulations and experimental results demonstrate that the PD control, supported by friction estimation via a momentum observer, achieves superior tracking performance. Moreover, the system's mechanical transparency is enhanced using the admittance RBF-based controller, showing marginally superior results.
Since task offloading can reduce energy consumption and execution latency in edge computing, it becomes increasingly attractive in the areas of heterogeneous network edge computing and high-reliability-low-latency com...
详细信息
ISBN:
(纸本)9798350375084;9798350375077
Since task offloading can reduce energy consumption and execution latency in edge computing, it becomes increasingly attractive in the areas of heterogeneous network edge computing and high-reliability-low-latency communications due to its high energy-efficiency and low execution-latency. Recently, by exploiting powerful adaptive capabilities, reinforcement learning has been successfully applied in task offloading. However, the dynamic changes in computation, storage, and network resources in edge computing lead to the time-varying nature of computing environment. Fortunately, deep reinforcement learning (DRL) has excellent potential for time-varying task offloading in edge computing. In this article, we provide a novel task offloading method based on DRL in edge computing with the computational model architecture of edge computing and DRL solutions for task offloading. We also identify some potential applications of DRL in task offloading and present several key techniques to improve offloading decision performance with fusing computing, storage, and network resources. The future research directions and challenges have been discussed at the end of this article.
Robotic-assisted upper limb rehabilitation has gained significant attention in recent years due to its potential to enhance the recovery process for individuals with motor impairments resulting from neurological condi...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
Robotic-assisted upper limb rehabilitation has gained significant attention in recent years due to its potential to enhance the recovery process for individuals with motor impairments resulting from neurological conditions and injuries. The main rehabilitation treatments rely on the repetitive execution of a movement of the upper-limb, guided by a therapist to prevent incorrect movements and to provide the necessary support. Many of the exercises performed by therapists can be modeled as a movement in SE(3) space (position and orientation). This movement itself is one-dimensional, as it can be modeled by a one-dimensional curve. To solve a similar problem, some approaches have been proposed in human-robot interaction (HRI) following virtual guides, but are either limited to specific types of curves (e.g. without orientation) or rely on linear control methods with non-intuitive parameters. To address these limitations and enable the use of these methods in physical rehabilitation, this paper extends Cartesian impedance control to splines, which we term path impedance control. It capitalizes on the intrinsic path geometry of end-effector robotic rehabilitation systems. The primary objective of this control algorithm is to emulate the sensation of maneuvering a physical object along a wire, akin to conventional exercise machines;and, in conjunction, provide an intuitive parametrization of rehabilitation exercises. We build on existing virtual guide control strategies using non-linear control and Lie Groups to generalize the control law to any one-parameter SE(3) curve.
This article explores the transformative potential of quantum computing in the manufacturing sector. With its ability to harness the principles of quantum mechanics, quantum computing offers unprecedented capabilities...
详细信息
暂无评论