检索结果-内蒙古大学图书馆

A prostate seed implantation robot system based on human-computer interactions: Augmented reality and voice control

Mathematical Biosciences and Engineering 2024年第5期21卷 5947-5971页

作者： Zhang, Xinran Zhang, Yongde Yang, Jianzhi Du, Haiyan Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Harbin150080 China Foshan Baikang Robot Technology Co. Ltd. Foshan528237 China

The technology of robot-assisted prostate seed implantation has developed rapidly. However, during the process, there are some problems to be solved, such as non-intuitive visualization effects and complicated robot control. To improve the intelligence and visualization of the operation process, a voice control technology of prostate seed implantation robot in augmented reality environment was proposed. Initially, the MRI image of the prostate was denoised and segmented. The three-dimensional model of prostate and its surrounding tissues was reconstructed by surface rendering technology. Combined with holographic application program, the augmented reality system of prostate seed implantation was built. An improved singular value decomposition three-dimensional registration algorithm based on iterative closest point was proposed, and the results of three-dimensional registration experiments verified that the algorithm could effectively improve the three-dimensional registration accuracy. A fusion algorithm based on spectral subtraction and BP neural network was proposed. The experimental results showed that the average delay of the fusion algorithm was 1.314 s, and the overall response time of the integrated system was 1.5 s. The fusion algorithm could effectively improve the reliability of the voice control system, and the integrated system could meet the responsiveness requirements of prostate seed implantation. © 2024 the Author(s).

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Research on Path Planning of Breast Ultrasound Examination robot

Research on Path Planning of Breast Ultrasound Examination R...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Xinran Du, Haiyan Zhang, Yongde Gao, Guoqiang Harbin University of Science and Technology Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin150080 China Foshan Baikang Robot Technology Co. Ltd. Foshan528237 China

ISBN: (纸本)9798350325706

Breast cancer is the cancer with the highest incidence among women. The detection of breast cancer has received increasing attention. As an excellent medical image of the breast, ultrasound has the advantages of real-time execution, high efficiency and convenient operation, which is beneficial to the examination of breast cancer. Scanning path planning is an important part of ultrasound-guided breast examination. robot-assisted ultrasonic scanning can reduce the labor intensity of doctors and standardize the scanning process. Good path planning ensures the efficiency of ultrasonic testing and the accuracy of testing results. The scanning path planning of robot-assisted breast ultrasound examination based on binocular vision is studied. The binocular camera was used to collect photos of the breast model. The binocular camera is calibrated and corrected. The depth information is obtained by stereo image matching, and the breast model is obtained. The ultrasonic scanning path is acquired by model information and path extraction. The experimental results show that the robot can complete breast ultrasound scanning according to the predetermined path, and the accuracy and efficiency of the scanning operation are improved. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Improved Double Deep Q Network Algorithm Based on Average Q-Value Estimation and Reward Redistribution for robot Path Planning

引用

Computers, Materials & Continua 2024年第11期81卷 2769-2790页

作者： Yameng Yin Lieping Zhang Xiaoxu Shi Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology Guilin University of TechnologyEducation Department of Guangxi Zhuang Autonomous RegionGuilin541006China Guangxi Key Laboratory of Special Engineering Equipment and Control Guilin University of Aerospace TechnologyGuilin541004China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing Education Department of Guangxi Zhuang Autonomous RegionHechi UniversityYizhou546300China

By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning of mobile ***,the traditional DDQN algorithm suffers from sparse rewards and inefficient utilization of high-quality *** those problems,an improved DDQN algorithm based on average Q-value estimation and reward redistribution was ***,to enhance the precision of the target Q-value,the average of multiple previously learned Q-values from the target Q network is used to replace the single Q-value from the current target Q ***,a reward redistribution mechanism is designed to overcome the sparse reward problem by adjusting the final reward of each action using the round reward from trajectory ***,a reward-prioritized experience selection method is introduced,which ranks experience samples according to reward values to ensure frequent utilization of high-quality ***,simulation experiments are conducted to verify the effectiveness of the proposed algorithm in fixed-position scenario and random *** experimental results show that compared to the traditional DDQN algorithm,the proposed algorithm achieves shorter average running time,higher average return and fewer average *** performance of the proposed algorithm is improved by 11.43%in the fixed scenario and 8.33%in random *** not only plans economic and safe paths but also significantly improves efficiency and generalization in path planning,making it suitable for widespread application in autonomous navigation and industrial automation.

关键词： Double Deep Q Network path planning average Q-value estimation reward redistribution mechanism reward-prioritized experience selection method

来源：评论

学校读者我要写书评

暂无评论

Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms

引用

Chinese Journal of Mechanical Engineering 2024年第3期37卷 62-82页

作者： Xuejian Ma Zhenghe Xu Yundou Xu Yu Wang Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining ***,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design *** is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design *** the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration ***,a specific method is proposed to calculate these stiffness ***,the various types of structural and driving stiffness for each branch are assessed and their specific values ***,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire ***,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method *** obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms.

关键词： Parallel mechanism Stiffness Over-constrained Three degrees of freedom

来源：评论

学校读者我要写书评

暂无评论

Development of a Wearable Upper Limb Rehabilitation robot Based on Reinforced Soft Pneumatic Actuators

引用

Chinese Journal of Mechanical Engineering 2022年第4期35卷 182-190页

作者： Xinbo Chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

关键词： Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot Motion analysis

来源：评论

学校读者我要写书评

暂无评论

A lightweight aluminum profile surface defect detection algorithm based on the improved YOLOv8 algorithm 24

A lightweight aluminum profile surface defect detection algo...

引用

2024 International Conference on Machine Learning, Pattern Recognition and Automation Engineering, MLPRAE 2024

作者： Wang, Luyang Zhang, Gongxue Wang, Weijun Huang, Zucheng Wang, Jian Robot and Intelligent Equipment Center Guangzhou Institute of Advanced Technology China College of Mechanical and Electrical Engineering Shaanxi University of Science and Technology China

ISBN: (纸本)9798400709876

Due to imperfect manufacturing processes and external factors, aluminum profiles can exhibit various surface defects, which significantly affect their service life. To address the issues of low accuracy and high computational load in current aluminum profile surface defect detection methods, this paper proposes a high-precision and lightweight aluminum profile surface defect detection model, YOLOv8-ARL. The model first replaces some Conv modules in the backbone and neck with an Adown down-sampling module, which reduces the number of parameters while retaining more image information. Next, a lightweight module, RGCSPELAN (RepGhostCSPELAN), is introduced to replace the C2f module in the network, enhancing gradient flow information while improving computational resource utilization. Finally, a lightweight detection head is constructed using the concept of shared convolution, replacing the BN (Batch Normalization) layers in the Conv modules to ensure that lightweight design does not compromise accuracy. The improved YOLOv8-ARL algorithm achieves an average mean precision (mAP50%) of 88.6% on the APDDD aluminum profile dataset, a 2.2% increase over the original YOLOv8s model, with a parameter count of 4.55M, reduced by 59% compared to the original model, and a computational load reduced by 48%. The detection time per image is 2.2ms. Experimental results demonstrate that the improved YOLOv8-ARL model maintains excellent detection accuracy and speed while being lightweight. © 2024 Owner/Author.

关键词： Image enhancement

来源：评论

学校读者我要写书评

暂无评论

Development of a Smart IoT Safety Platform for Preventing Accidents in High-Risk Industrial Sites 24

Development of a Smart IoT Safety Platform for Preventing Ac...

引用

2024 7th International Conference on robot Systems and Applications, ICRSA 2024

作者： Yoon, Jiyoung Kim, Cheolhwan Park, Yongteak Korea Polytechnics Yeongcheon Robot Campus Korea Republic of Institute of Advanced Convergence Technology Kyungpook National University Daegu Korea Republic of The Department of Robot IT the Robot Campus of Korea Polytechnics Robot Campus-ro 1 Gyeongsangbuk-do Yeongcheon38839 Korea Republic of

ISBN: (纸本)9798400717031

In the modern industrial society, activities across various industrial sectors play a crucial role in driving economic growth and technological advancement. However, these activities inevitably involve risks to the safety and health of workers. Accidents and injuries at industrial sites not only threaten the lives and well-being of workers but also lead to decreased productivity, legal issues, and financial losses for companies. Among different industries, construction and manufacturing sectors account for the highest proportion of industrial accidents. These accidents often occur due to workers’ carelessness and lack of awareness. This paper proposes a smart IoT safety platform to prevent safety accidents in construction and manufacturing sites. The smart IoT safety platform consists of IoT devices, network devices, and a control server. The IoT devices are designed to monitor various types of safety incidents, such as worker monitoring, entrapment accidents, gas leaks, collapses, and falls, using wearable or site-installed devices equipped with sensors like laser, IMU, gas, and cameras. The network devices include BLE Mesh installed on IoT devices and a LoRa Mesh network to transmit data to the control server. The control server collects and monitors data from the site and includes control functions to prevent safety accidents. The development of the smart IoT safety platform aims to create a safer work environment by preventing accidents and establishing a safety culture across the industry. This integration of advanced IoT technology in safety management is expected to significantly contribute to reducing industrial accidents and enhancing overall workplace safety. © 2024 Copyright held by the owner/author(s).

关键词： Losses

来源：评论

学校读者我要写书评

暂无评论

GCN Rewarded Reinforcement Learning for Action Segmentation 24

GCN Rewarded Reinforcement Learning for Action Segmentation

引用

4th International Joint Conference on robotics and Artificial Intelligence, JCRAI 2024

作者： Wang, Liangliang Liu, Jiayao Hu, Xujun Huo, Guanglei Wuhan University of Technology Wuhan China Beijing Jiaotong University Beijing China Institute of Advanced Manufacturing Technology Fujian Key Laboratory of Intelligent Operation and Maintenance Robot Technology Quanzhou China

ISBN: (纸本)9798400710100

Action recognition is a very basic topic for human-robot visual interaction. To enable action recognition for real-world applications, at the core is the problem of action segmentation, which aims to segment action slices from long videos. Existing action segmentation approaches rely heavily on hand-crafted techniques, which are limited on accuracy due to the spatio-temporal complexity of actions across videos. To this end, we formulate action segmentation as a Markov decision process rewarded by observing the action recognition results, and build a reinforcement learning framework to adjust the segmenting procedure iteratively according to the rewards. In particular, to perceive the segmented actions for reinforcement learning, we propose a temporal graph convolutional network (GCN) by representing the context relationships of neighboring action slices, whose states are initialized by considering the consistency of actions, and updated by computing their temporal similarity fusing the tIoU and center distance. Convolutional neural network (CNN) backbone features are used as the nodes of GCN, and the edges of GCN are calculated utilizing the context relationships for spatially and temporally representation. By designing an observation and objective module within the reinforcement learning framework based on GCN representations, we finish the network training for. Finally, we conduct extensive experiments on two public datasets, and by comparisons with some state-of-the-art results, our method is demonstrated. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Convolutional neural networks

来源：评论

学校读者我要写书评

暂无评论

Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

引用

Defence technology（防务技术） 2023年第6期24卷 399-413页

作者： Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel *** this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the *** analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one *** and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation *** on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB *** addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole *** mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

关键词： Scissors mechanism Deployable antenna Screw theory Kinematic analysis Dynamic analysis

来源：评论

学校读者我要写书评

暂无评论

Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

引用

Chinese Journal of Mechanical Engineering 2023年第1期36卷 292-304页

作者： Jinwei Guo Yongsheng Zhao Bo Chen Guoxing Zhang Yundou Xu Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao066004China

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains *** the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is *** equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb *** relationship between the constraint wrench magnitudes and the external force,limb stiffness is *** equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility ***,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is *** with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is ***,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is *** research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

关键词： Active overconstrained Passive overconstrained Passive-input overconstrained Equivalent stiffness Force distribution

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：