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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

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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...

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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

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Gait Transition Between Standing and Falling Down for a Humanoid robot

Gait Transition Between Standing and Falling Down for a Huma...

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作者： Meng, Libo Ceccarelli, Marco Yu, Zhangguo Chen, Xuechao Huang, Qiang Beijing Institute of Technology Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Bejing Institute of Technology Beijing100081 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

In this paper, we introduce a gait transition method for a humanoid robot when the robot needs to recover after falling down. Muli-contact model is built to describe the complex interaction between the robot and environment. Valid stable region and balance control based on whole-body dynamic are used to guarantee the stability during the gait transition. Finally, simulations and experiments verify the proposed method. © 2019, Springer Nature Switzerland AG.

关键词： Anthropomorphic robots

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Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module

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Chinese Journal of Mechanical Engineering 2023年第4期36卷 294-310页

作者： Jinwei Guo Jianliang He Guoxing Zhang Yongsheng Zhao Yundou Xu School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang 212100China 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

Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable ***,the basic unit folding principle and expansion method is *** configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic ***,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling ***,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried *** on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in ***,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the *** proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and *** has a good application prospect in the aerospace field.

关键词： Pyramid unit Deployable mechanism Configuration synthesis Structural design Lightweight networking

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High Accurate Two-Dimensional Geo-Location System for Social Safety robot

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IFAC Proceedings Volumes 2008年第2期41卷 1675-1678页

作者： Sujin Kim Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Joonhyuk Kang Woong-Hee Shon Jeahwan Kim School of Engineering Information and Communications University Division of Applied Robot Technology Korea Institute of Industrial Technology Advanced u-PAN Research Team Electronics and Telecommunications Research Institute (ETRI)

In this paper, we propose an efficient two-dimensional geo-location system for social safety robot, where its location is obtained by direction of arrival (DOA) and time of arrival (TOA) of the radio signal. The proposed system requires two reference signals while the conventional systems generally deploy more than three reference signals. For estimating TOA and DOA information together, we employ a multiple signal classification (MUSIC) algorithm. The simulation results show that the proposed geo-location system achieves accuracy within 3 meters error in 2 kilo-meters coverage which is constraint for mobile social safety robot.

关键词： MUSIC TOA DOA Location

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Designing a human-robot interaction framework for home service robot

Designing a human-robot interaction framework for home servi...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Kang Woo Lee Hyoung-Rock Kim Wan Chul Yoon Young-Sik Yoon Dong-Soo Kwon Human Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea Industrial Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

This paper presents a human-robot interaction framework that outlines a general structure of future home service robots that are expected to assist humans in their home-based daily activities. We describe three interaction modules - multimodal, cognitive, and emotional interaction modules. Each module takes a different role in the process of human robot interaction. The purpose of multi-modal interaction is to make the interaction convenient for the human, the cognitive interaction is for cooperative sharing of tasks, and the emotional interaction is to maintain a close relationship. The general concept for the systematical software integration and the relationships among the three modules are described.

关键词： Service robots Cognitive robotics Human robot interaction Intelligent robots Artificial intelligence Psychology Mechanical engineering Industrial engineering Software systems Industrial relations

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Study on Control Strategy of the Vascular Interventional Surgical robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection Control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： robotic surgery

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Design of a Capsule robot System for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Synthesis and application of DNA-templated silver nanowires for ammonia gas sensing

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Materials Science and Engineering C 2009年第4期29卷 1191-1195页

作者： Zhao, Kai Chang, Qifei Chen, Xing Zhang, Buchang Liu, Jinhuai The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province Institute of Intelligent Machines Hefei 230031 China School of life science Anhui University Hefei 230039 China

The DNA-templated silver nanowires have been synthesized by a simple chemical reduction method in solution and used for gas detection of ammonia. Lactic acid as a stabilizer in reduction bath can effectively decrease the nonspecific deposition of metallic silver by slowing down the reaction. In the present experiments, the highly conductive DNA-templated silver nanowires consisting of grains improve the surface area/volume ratio, which can increase the adsorption of ammonia gas molecules. The results of gas sensing measurements indicate that these nanowires show a high selectivity to ammonia, a quick gas response (~ 10s) and a fast recovery (~ 7s). Moreover, the possible gas sensing mechanism has been discussed in this paper. Therefore, we found that the DNA-templated silver nanowires reported here might be a potential candidate of gas sensing materials for ammonia gas detection. Crown Copyright © 2008.

关键词： Ammonia

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Study on Autonomous Surgical Control System of The Vascular Interventional Surgical robot Based on Catheter Tip Location Tracking 20

Study on Autonomous Surgical Control System of The Vascular ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Feng, Zhimin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements. © 2023 IEEE.

关键词： Three term control systems

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