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2024 International Conference Automatics and Informatics, ICAI 2024

作者： Vasilev, Plamen Boneva, Ani Ivanova, Veronika Tsvetanov, Tsetso University of Chemical Technology and Metallurgy Department of Industrial Automation Sofia Bulgaria Institute of Information and Communication Technologies Bulgarian Academy of Sciences Department of Communication and Computer Systems Sofia Bulgaria Institute of Robotics Bulgaria Academy of Sciences Department of Robotized and Mechatronics Intelligent Systems Sofia Bulgaria

ISBN: (纸本)9798350353907

Modern automation, digitalization, virtualization, and intelligent production impose new criteria and approaches to process management. The operation and performance of any system and device depend on how it is managed. The article describes Smart Manufacturing Integration of Heterogeneous Information Systems via OPC UA. The main goal is the development of heterogeneous information systems with real applications, with which reliable and up-to-date information can be exchanged between systems of different hierarchical levels. The goal was achieved with the following steps i) building the research infrastructure ii) analyzing the information compatibility and challenges in integrating systems from different hierarchical levels, and iii) implementing the integration by means of the OPC-UA standard communication protocol. The setup has been tested under laboratory conditions. The obtained results are shown. © 2024 IEEE.

关键词： Smart manufacturing

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A Sparrow Search Algorithm Based on Dynamic Selection of Evolutionary Directions

A Sparrow Search Algorithm Based on Dynamic Selection of Evo...

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2023 China automation Congress, CAC 2023

作者： Zeng, Zhou Jiang, Tianyu Zhang, Shulan Tan, Ping Wang, Yi Ding, Jin Shuohuang Railway Development Limited Liability Company Su Ning China School of Automation and Electrical Engineering Zhejiang University of Science and Technology Hang Zhou China Zhejiang Guozi Robotics Co. Ltd Hang Zhou China

ISBN: (纸本)9798350303759

The sparrow search algorithm (SSA) is a swarm intelligence algorithm with strong search ability and fast convergence, but it may converge early and fall into local extremes in evolution. To address these problems, an improved multi-strategy sparrow search algorithm based on multi-strategy (MSSSA) is proposed. Firstly, we propose the idea of evolutionary direction division based on the change of individual position for the safety state of the producers. Secondly, the improved upper confidence bound (UCB) and epsilon-greedy methods are fused to achieve better evolutionary direction selection for discoverers in different confidence interval ranges. Finally, the mechanism of normal distribution is analysed to construct a standard deviation function about the evolutionary algebra to realize the adaptive position update of the discoverer, and then improve the iteration capability. The results of benchmark experiments show that MSSSA has better mean, standard deviation and optimal solutions compared with other commonly used SSA algorithms. The improved SSA algorithm has better solution quality. © 2023 IEEE.

关键词： Normal distribution

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A Novel Microdefect Imaging System for High-Reflective Material Surfaces

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Zhiyong Lin, Song Xiao, Yafeng Fang, Hao Sun, Lining Soochow University School of Mechatronic Engineering Department of Automation Engineering Suzhou215000 China Soochow University Robotics and Microsystems Research Center Suzhou215000 China Institute of Robotics School of Mechatronic Engineering Harbin Institute of Technology Harbin150000 China

Highly reflective materials, owing to their reflective characteristics, pose challenges in imaging microdefects under conventional lighting, resulting in a substantial number of missed detections. This article presents an imaging method tailored for microdefects on the surfaces of such materials. An investigation into the imaging mechanisms of microdefects under varying illumination conditions is conducted, leading to the proposal of an edge-light scanning technique. Initially, this technique enhances the contrast of defect imaging optically, yielding a sequence of images with high-contrast defects. Subsequently, a contrast-weighted image synthesis algorithm is introduced to effectively mitigate the interference caused by bright and dark stripe backgrounds. Experimental evaluations of defect detection based on different algorithms demonstrate that the proposed imaging method is applicable to defects of various sizes and significantly improves the detection accuracy of microdefects. © 1963-2012 IEEE.

关键词： Imaging Surface morphology Optical surface waves Optical imaging Defect detection Feature extraction Lighting Image edge detection Steel Optical reflection

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Robotic Visual Inspection and Positioning Method for Flexible Wire Coating Operation 12

Robotic Visual Inspection and Positioning Method for Flexibl...

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12th International Conference on CYBER technology in automation, Control, and Intelligent Systems, CYBER 2022

作者： Rao, Chenglong Song, Yifeng Wang, Hongguang Wang, Junpeng Jing, Fengren Shenyang University of Chemical Technology Shenyang110142 China 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

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Overhead bare wire is not protected by insulating sheaths, and is prone to safety accidents. It is of great practical significance to use coating robots to insulate bare wires. During the robotic coating operation, the flexible wire is much deformed due to the robot gravity, this paper proposes a robot vision inspection and positioning method for flexible wire coating operation. The offset distance of the calibration plate is defined in the image space to characterize the change in the robot's working posture, and the target position tracking control law based on the PID method is designed. Since the target in the flexible wire environment will change with the flexible wire, the technical means of hand-eye calibration and camera calibration are used to locate and track the dynamically changing target in real-time. The experimental results show that the method can effectively inspect and locate the target, and adapt to the semi-structural environment. © 2022 IEEE.

关键词： Inspection

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Enabling Distal Rotation in a Robotically Steerable Guidewire: An Initial Approach

Enabling Distal Rotation in a Robotically Steerable Guidewir...

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International Symposium on Medical robotics (ISMR)

作者： Revanth Konda Sharan R. Ravigopal Jaydev P. Desai Wallace H. Colter Department of Biomedical Engineering Medical Robotics and Automation (RoboMed) Laboratory Georgia Institute of Technology Atlanta GA USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

Endovascular interventions encompassing highly tortuous vessels would benefit from robotically steerable guidewires, which exhibit high dexterity. Existing studies on tendon-driven robotically steerable guidewires mainly employ rotation motion of the guidewire from the proximal end in an attempt to vary the bending plane of the steerable tip. While this strategy has contributed towards enhanced steerability of the guidewire, rotation from the proximal end of the guidewire often causes issues such as snapping due to non-uniform propagation of the rotation motion. This paper introduces the design of a guidewire capable of achieving rotation motion at the distal end by utilizing a mechanism, which converts linear motion into rotation motion. The proposed robot consists of two tubes: the inner tube with a notched section capable of bending, and an outer tube with a helical guide. The two tubes are coupled together such that the linear motion of the outer tube facilitates the rotation motion of the inner tube. We present the design of the robot and experimentally investigate the effects of the design parameters on the robot behavior. Modeling of the kinematic behavior of the system to estimate the rotation and bending of the robot is presented and validated. The derived models performed satisfactorily: The bending model exhibited an RMSE-value of $2.77 ~\mathrm{m}^{-1}$ curvature, which corresponds to 8.66 % of the maximum output curvature, for the inner tube rotation angle of 150°. For the outer tube consisting of a helical guide with a pitch angle of 80°, the rotation model exhibited an RMSE-value of 9.19° inner tube rotation angle, which corresponds to 4.38 % of the maximum inner tube rotation angle.

关键词： Medical robotics Kinematics Bending Robots

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YOLO v5, v7 and v8: A Performance Comparison for Tobacco Detection in Field

YOLO v5, v7 and v8: A Performance Comparison for Tobacco Det...

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Digital Futures and Transformative Technologies (ICoDT2), International Conference on

作者： Zaid Mahboob Ayesha Zeb Umar S. Khan College of EME National University of Science and Technology Islamabad Pakistan National Center of Robotics and Automation Pakistan

Accurate tobacco plant detection is crucial for effective agricultural management strategies. Due to the challenges posed by high plant variability, adverse lighting conditions, and occlusions, existing machine learning algorithms and convolutional neural networks (CNNs) have struggled to achieve satisfactory detection accuracy under real-world scenarios. This paper employs YOLOv8, a state-of-the-art object detection algorithm, to reliably detect tobacco plants. A comprehensive evaluation and benchmark of 12 state-of-the-art YOLO object detection algorithms including the YOLOv8, is established for tobacco detection. YOLOv8 demonstrates remarkable test accuracy of 96.4compared to YOLOv5 and YOLOv7. Performance comparisons with YOLOv5 and YOLOv7, two ancestor algorithms, using test images further solidify YOLOv8’s superior detection capabilities for tobacco plants. YOLOv8’s real-time object detection ability renders it an ideal solution for mobile and embedded devices, opening new possibilities for on-the-go agricultural management.

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GPU Accelerated Color Correction and Frame Warping for Real-time Video Stitching

arXiv

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arXiv 2023年

作者： Yang, Lu Kong, Zhenglun Li, Ting Bai, Xinyi Lin, Zhiye Cheng, Hong Center for Robotics University of Electronic Science and Technology of China Chengdu China Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China

Traditional image stitching focuses on a single panorama frame without considering the spatial-temporal consistency in videos. The straightforward image stitching approach will cause temporal flcking and color inconstancy when it is applied to the video stitching task. Besides, inaccurate camera parameters will cause artifacts in the image warping. In this paper, we propose a real-time system to stitch multiple video sequences into a panoramic video, which is based on GPU accelerated color correction and frame warping without accurate camera parameters. We extend the traditional 2D-Matrix (2D-M) color correction approach and a present spatio-temporal 3D-Matrix (3D-M) color correction method for the overlap local regions with online color balancing using a piecewise function on global frames. Furthermore, we use pairwise homography matrices given by coarse camera calibration for global warping followed by accurate local warping based on the optical flow. Experimental results show that our system can generate high-quality panorama videos in real time. Copyright © 2023, The Authors. All rights reserved.

关键词： Real time systems

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Tendon-Driven Continuum Robot Stiffness with Pretension Effect

Tendon-Driven Continuum Robot Stiffness with Pretension Effe...

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Annual Conference of Industrial Electronics Society

作者： Zhenting Du Weibang Bai ShanghaiTech Automation and Robotics (STAR) Center School of Information Science and Technology ShanghaiTech University Shanghai China

The stiffness analysis of tendon-driven continuum robots is highly demanded in human-robot interaction applications. Although pretension is a common approach to enhance the stiffness of these robots with tendon-displacement-controlled strategies, investigating and analyzing the relationship between stiffness and pretension is challenging. To address this, we proposed a novel Cosserat rod-based model for tendon-driven continuum robots, which takes into account both tendon displacement and tendon elasticity constraints. Through simulation tests, we established the relationship between stiffness analysis and the pretension effect based on the proposed methods.

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Hamel Equations and Quasivelocities for Nonholonomic Systems with Inequality Constraints

Hamel Equations and Quasivelocities for Nonholonomic Systems...

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IEEE Conference on Decision and Control

作者： Alexandre Anahory Simoes Leonardo Colombo School of Science and Technology IE University Spain Centre for Automation and Robotics (CSIC-UPM) Madrid Spain

In this paper we derive Hamel equations for the motion of nonholonomic systems subject to inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting a wall and the Chaplygin sleigh with ...

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Towards Shape Estimation of Meso-Scale Continuum Robots Using Direct Laser Written Piezoresistive Strain Sensors

Towards Shape Estimation of Meso-Scale Continuum Robots Usin...

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International Symposium on Medical robotics (ISMR)

作者： Amber K. Rothe Nidhi Malhotra C. Cloud Barré Jaydev P. Desai Wallace H. Coulter Department of Biomedical Engineering Medical Robotics and Automation (RoboMed) Laboratory Georgia Institute of Technology Atlanta GA USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

Minimally invasive surgery is a promising application for continuum robots. The flexibility of continuum robotic surgical tools has the potential to minimize patient trauma. However, the flexibility makes shape estimation for continuum robots challenging. Several methods for shape estimation of continuum robots have been proposed, including imaging, optical sensing, magnetic sensing, and resistive sensing. The resistive sensing method involves incorporating a piezoresistive material into the robot which changes its resistance in response to strain. From the strain in the sensor, the shape of the robot can be estimated. In this paper, we utilize the direct laser writing (DLW) method to create piezoresistive carbonized traces on a polyimide (PI) substrate. DLW has been used in the past to create low-cost, flexible strain sensors in a single-step process, using the same machinery that is often used to fabricate continuum robots for surgical applications. We integrated DLW strain sensors onto three separate meso-scale continuum robotic joints. The sensors detected the strain on the robot with gauge factors ranging from 0.437 to 2.78. In another experiment, the resistances in the strain sensors were used to estimate the deflection angles of the joints, achieving 2.77° to 5.21° RMSE.

关键词： Shape Lasers Estimation Writing Robot sensing systems Capacitive sensors Continuum robots Piezoresistance Substrates Strain

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