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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jianbo Zhao Hao Chen Qingyao Tian Jian Chen Bingyu Yang Zihui Zhang Hongbin Liu Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre of AI and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences Hongkong China School of Engineering and Imaging Sciences King’s College London UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Bronchoscopy plays a significant role in the early diagnosis and treatment of lung diseases. This process demands physicians to maneuver the flexible endoscope for reaching distal lesions, particularly requiring substantial expertise when examining the airways of the upper lung lobe. With the development of artificial intelligence and robotics, reinforcement learning (RL) method has been applied to the manipulation of interventional surgical robots. However, unlike human physicians who utilize multimodal information, most of the current RL methods rely on a single modality, limiting their performance. In this paper, we propose BronchoCopilot, a multimodal RL agent designed to acquire manipulation skills for autonomous bronchoscopy. BronchoCopilot specifically integrates images from the bronchoscope camera and estimated robot poses, aiming for a higher success rate within challenging airway environment. We employ auxiliary reconstruction tasks to compress multimodal data and utilize attention mechanisms to achieve an efficient latent representation of this data, serving as input for the RL module. This framework adopts a stepwise training and fine-tuning approach to mitigate the challenges of training difficulty. Our evaluation in the realistic simulation environment reveals that BronchoCopilot, by effectively harnessing multimodal information, attains a success rate of approximately 90% in fifth generation airways with consistent movements. Additionally, it demonstrates a robust capacity to adapt to diverse cases.

关键词： Bronchoscopy Training Medical robotics Limiting Pulmonary diseases Lungs Robot vision systems Reinforcement learning Medical services Lesions

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Distributed Optimization by Network Flows with Spatio-Temporal Compression

arXiv

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arXiv 2024年

作者： Ren, Zihao Wang, Lei Yi, Xinlei Wang, Xi Yuan, Deming Yang, Tao Wu, Zhengguang Shi, Guodong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China College of Electronics and Information Engineering Tongji University China School of Electrical Engineering Telecommunications University of New South Wales Sydney Australia School of Automation Nanjing University of Science and Technology China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University China Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2006 Australia

Several data compressors have been proposed in distributed optimization frameworks of network systems to reduce communication overhead in large-scale applications. In this paper, we demonstrate that effective information compression may occur over time or space during sequences of node communications in distributed algorithms, leading to the concept of spatio-temporal compressors. This abstraction classifies existing compressors as spatio-temporal compressors, with their effectiveness described by constructive stability criteria from nonlinear system theory. Subsequently, we apply these spatio-temporal compressors to standard continuous-time consensus flows and distributed prime-dual flows, establishing conditions ensuring convergence. Additionally, we introduce a novel observer-based distributed primal-dual continuous flow integrated with spatio-temporal compressors, which provides broader convergence conditions. These continuous flows achieve exponential convergence to the global optimum when the objective function is strongly convex and can be discretized using Euler approximations. Finally, numerical simulations illustrate the versatility of the proposed spatio-temporal compressors and verify the convergence of algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Stability criteria

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Possibilities for the Use of Heliothermal Plants for the Generation of Green Hydrogen via Desalinated Water

Possibilities for the Use of Heliothermal Plants for the Gen...

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International Conference on science Technology engineering and Management (ICONSTEM)

作者： S.P. Kanniyappan Asmita Marathe B Kiran Kumar Sanjeev Kumar T. Sathish Joshuva Arockia Dhanraj Department of Civil Engineering R.M.K. Engineering College Kavaraipettai Tamil Nadu India Centre for Energy Studies School of Technology Savitribai Phule Pune University Pune Maharashtra India Department of Mechanical Engineering KoneruLakshmaiah Education Foundation Vaddeswaram Andhra Pradesh India Department of Civil Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India Department of Mechanical Engineering Saveetha School of Engineering SIMATS Chennai Tamil Nadu India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai Tamil Nadu India

ISBN: (数字)9798350365092

ISBN: (纸本)9798350365108

These days, the substance business utilizes hydrogen (H 2 ) principally to create methanol and smelling salts. However, hydrogen is expected to rapidly secure itself as a significant fuel that will fundamentally work on the nature of the climate. This study looks at the viability of involving sun powered energy in a one of a kind plan intended to deliver desalinated water and hydrogen at the same time while using illustrative box sun based gatherers (essential mover) in three sun oriented radiation draws near: low radiation, high light, and no radiation. This framework, expected for beach front districts, produces water that has been desalinated utilizing humidification and dehumidification procedures utilizing the waste intensity from the natural Rankine cycle that delivers the power. Hydrogen is produced using a low-temperature electrolyser powered by electricity and water, known as a proton exchange film electrolyser. The formation of hydrogen utilizing power and desalinated water acquired from before stages is one of the framework's principles. A parametric exploration in view of the impact of critical variables on creation rates and different efficiencies has been done fully intent on assessing the proficiency of this arrangement.

关键词： Water Storage management Water heating Solar energy Green hydrogen Waste heat Sun

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PV Generation Monitoring Using Calculated Power Flow from μPMUS

PV Generation Monitoring Using Calculated Power Flow from μ...

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Optimization Computing and Wireless Communication (ICOCWC), International Conference on

作者： K Hussain S. Kaliappan Arul Joseph Amalraj. M Parvesh Saini S. K. Nandha Kumar Joshuva Arockia Dhanraj Department of Electrical Engineering Sharad Institute of Technology College of Engineering Ichalkaranji India Division of Research and Development Lovely Professional University Jalandhar India Department of Chemistry Veltech Multitech Dr Rangarajan Dr Sakunthala Engineering College Chennai India Department of Electrical Engineering Graphic Era Deemed to be University Dehradun India Department of Electrical and Electronics Engineering PSNA College of Engineering & Technology Dindigul India Centre for Automation and Robotics Department of Mechatronics Engineering Hindustan Institute of Technology and Science Chennai India

The ability of PMUs to provide precise, synchronized readings of voltage, current and frequency has made them valuable for the observation of microgrids. In some microgrids, PMU s are utilized without a current transformer and only measure voltage phasor values. This research outlines a procedure to use μPMU (or micro-PMU) voltage readings to ascertain electric loads or photovoltaic (PV) production through gauging power flow (PF). The results of a study conducted at the Federal University of Paraná's Polytechnic School (UFPR) in Brazil demonstrated that utilizing the power flow calculated by a “virtual CT” approach, as measured by a standard power meter and with a higher time resolution from a microPMU, is a reliable and efficient method for recognizing events, monitoring PV generation, and non-intrusively monitoring load (NILM).

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Optimization of Flexible Bronchoscopy Shape Sensing Using Fiber Optic Sensors

Optimization of Flexible Bronchoscopy Shape Sensing Using Fi...

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IEEE International Conference on robotics and automation (ICRA)

作者： Xinran Liu Hao Chen Hongbin Liu School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Professor at Chinese Academy of Sciences Institute of Automation (CASIA) Executive Director for the Centre of AI and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences An Adjunct Reader and Director of the Haptic Mechatronics and Medical Robotics (HaMMeR) lab at the School of Biomedical Engineering and Imaging Sciences King’s College London (KCL) UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This work presents a novel shape evaluation and optimization approach for shape sensing, specifically targeting the constrained, irregular, and intricate spatial shapes of flexible bronchoscopes (FB) in human bronchial tree. The proposed evaluation criteria and optimization methods combine clinical significance related to bronchial anatomical structures and address issues related to singular points and discontinuities in traditional shape reconstruction models. Three-dimensional experiments were conducted within eight spatial complex configurations printed from a proportional bronchial model. The 3D experiment results demonstrate an average reduction of approximately 34.1% in shape reconstruction errors across all eight airway models compared to the traditional model, validating the effectiveness and feasibility.

关键词： Bronchoscopy Solid modeling Optical fiber sensors Three-dimensional displays Shape Atmospheric modeling Optimization methods

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Expeditious Diagnosis of Cerebral Aneurysm on MR Brain Angiogram Images Utilizing Soft Computing Techniques

Expeditious Diagnosis of Cerebral Aneurysm on MR Brain Angio...

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International Conference on Inventive Computation Technologies (ICICT)

作者： Anjaneya L. H K. Maheswari N. Revathi Siva. K. P Manzoore Elahi M. Soudagar Joshuva Arockia Dhanraj Department of Electrical and Electronics Engineering Bapuji Institute of Engineering and Technology Davangere Karnataka India Department of Computer Science and Engineering CMR Technical Campus Kandlakoya Hyderabad Telangana India Department of Electronics and Communication Engineering Panimalar Engineering College Chennai Tamil Nadu India Department of Computer Science and Business Systems Sri Eshwar College of Engineering Coimbatore Tamil Nadu India Department of VLSI Microelectronics Saveetha School of Engineering Saveetha Institute of Medical and Techinical Sciences Chennai Tamil Nadu India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Padur Chennai Tamil Nadu India

ISBN: (数字)9798350359299

ISBN: (纸本)9798350359305

It is always a challenging task for radiologists to detect Cerebral Aneurysms (CA). Unenhanced magnetic resonance angiography (MRA) has become a popular screening tool because of its non-invasiveness, lack of contrast, and ionizing radiation. Because of its screening role, MRA requires a high recognition rate. This paper presents Machine Learning (ML) methods for detecting CA in MRA data. MRA scans of normal and aneurysms are collected and evaluated. This research study is divided into two sections: segmentation and classification. First, K-Means Clustering (KMC) is used for aneurysm segmentation from MR images. Second, image classification is done. For that, the appropriate features are retrieved using feature extraction and selection. Then Gray Level Run Length Matrix (GLRLM) is used for feature extraction and the Genetic Algorithm (GA) for feature selection. The GLRLM and GA features are provided independently to the ML models for training and testing. The ML models used in the research work are Artificial Neural Networks (ANN) and Modified Fuzzy C-Means (MFCM). The metrics are employed to evaluate the GLRM and GA features with ANN and MFCM. The combination of GA features with ANN produces the best results when compared to other combinations. The GA with ANN obtains an outstanding 98.33% accuracy, 100% specificity and precision, 96.67% sensitivity, and 98.31% F1 score.

关键词： Training Image segmentation Sensitivity Artificial neural networks Aneurysm Feature extraction Reliability

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Preliminary Design of Robotic System for Closing Incision by Rotating Bandage Method*

Preliminary Design of Robotic System for Closing Incision by...

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WRC Symposium on Advanced robotics and automation (WRC SARA)

作者： Anqi Chen Xudong Ma Yixin Sun Wenyong Liu Junchen Wang Changsheng Li Yida David Hu Bai-Quan Su Medical Robotics Laboratory School of Automation Beijing University of Posts and Telecommunications Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Harvard Medical School Brigham and Women’s Hospital Boston MA USA

Wound treatment is routine work in hospital and bandaging of wound happens numerous even in a hospital scale. However, manual bandaging is accompanied with potential infection and it is tedious and manpower-wasting besides. This paper proposed a customized bandaging mechatronic system for avoiding bacteria from hand contact. The design of the propose bandaging system is developed and the working procedure of the by the system is given step by step. To the best knowledge of the authors, the customized mechatronic system is the first bandaging robotic system for bandaging purpose. After loading a customize bandage package, the proposed system lays a solid foundation for automatous bandaging method without human intervention during bandaging.

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Clamping Holder of Replaceable Tools for Medical Robot*

Clamping Holder of Replaceable Tools for Medical Robot*

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WRC Symposium on Advanced robotics and automation (WRC SARA)

作者： Yinjia Zhang Qian Yang Dengbo Zhang Xudong Ma Jie Tang Yuanzheng Hou Yida David Hu Junchen Wang Changsheng Li Shaolong Kuang Wenyong Liu Bai-Quan Su Medical Robotics Laboratory School of Intellgent Engineering and Automation Beijing University of Posts and Telecommunications Beijing China Department of Neurosurgery Xuanwu Hospital Capital Medical University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA School of Mechanical Engineering and Automation Beihang University Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Health Science and Environmental Engineering Shenzhen University of Technology Shenzhen China Key Laboratory for Biomechaniscs and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

The replacement of surgical tools is one of the basic operations in performing surgery. However, this step is time-consuming in operational processes, and elevates the associated risks. Reason: The revision enhances clarity and employs more formal language suitable for an academic context. At present, medical robots still need manual operation to replace surgical tools. In order to enable the robot to change surgical tools, this study designed a clamping tool holder for changing surgical tools. The clamping tool holder is driven by a 6-degree of freedom robotic arm. In this paper, CAD model of the clamping tool holder is presented, the motion of the clamping tool holder analysis and pick up the tools of simulation operation. Finally, the prototype experiment verified that the clamping tool holder can hold and release surgical tools without manual assistance. The structure can realize the effect of saving manpower and improving operation efficiency.

关键词： Solid modeling Analytical models Medical robotics Prototypes Surgery Formal languages Manuals

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Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Syste...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Hemjyoti Das Bjørn Kåre Sæbø Kristin Y. Pettersen Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute (ACIN) Technical University of Vienna TU Wien Vienna Austria Department of Engineering Cybernetics Centre for Autonomous Marine Operations and Systems (NTNU AMOS) NTNU Norwegian University of Science and Technology Trondheim Norway German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

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Effect of TiO2 nanoparticles and hydrogen on the combustion, performance, and emissions of madhuca biodiesel in a diesel engine

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International Journal of Hydrogen Energy 2025年 143卷 635-649页

作者： Madhan Kumar, A. Senthil Nathan, K. Manickam, Selvaraj Gupta, Deepak Vikneswaran, M. Dhamodaran, Gopinath Seetharaman, Sathyanarayanan Thiagarajan, S. Al-Ansari, Mysoon M. Department of Mechanical Engineering Saveetha Engineering College Saveetha Nagar Thandalam Chennai India Department of Mechanical Engineering E.G.S. Pillay Engineering College Tamilnadu Nagapattinam611002 India Department of Automation and Robotics IMPACT College of Engineering and Applied Sciences Bangalore India Department of Mechanical Engineering Graphic Era Hill University Uttarakhand Dehradun248002 India Department of Mechanical Engineering Graphic Era Deemed to Be University Uttarakhand Dehradun248002 India Department of Mechanical Engineering Faculty of Engineering and Technology SRM Institute of Science and Technology Ramapuram Tamilnadu Chennai600089 India Department of Mechanical Engineering Easwari Engineering College Tamilnadu Chennai India Department of Chemistry College of Science King Saud University P.O. Box. 2455 Riyadh11451 Saudi Arabia Centre for Sustainable Energy Technologies Easwari Engineering College Tamilnadu Chennai India Centre of Research SRM TRP Engineering College TiruchirapalliTamilnadu India

This study investigates the combustion, performance, and emission characteristics of a diesel engine fueled with neat diesel, M20 (a blend of 20 % Madhuca oil and 80 % diesel), and M20 augmented with Titanium dioxide (TiO2) nanoparticles (50 ppm and 100 ppm), under dual-fuel conditions with a constant hydrogen flow rate of 10 LPM. The research aims to address the challenges of biodiesel adoption by leveraging TiO2 nanoparticles and hydrogen to optimize fuel efficiency and emissions. The results reveal that the M20 blend enhanced with 100 ppm TiO2 nanoparticles achieved a peak improvement in brake thermal efficiency (BTE) by 6.76 %, while simultaneously reducing brake-specific fuel consumption (BSFC) by 4.46 %, compared to the M20 blend. Also, emission analysis demonstrated significant reductions in hydrocarbon (HC) and carbon monoxide (CO) emissions, achieving decreases of 2.63 % and 8.53 %, respectively, with the same blend. The inclusion of hydrogen as a secondary fuel with M20 and 100 ppm TiO2 showed 24.23 % improved BTE and 8.32 % reduced BSFC, along with significant emissions reductions: 13.16 % HC, 19.02 % CO, and 4.04 % smoke opacity. However, nitrogen oxide (NOx) emissions increased by 12.67 % due to elevated in-cylinder temperatures with the M20 blend. These findings underscore the potential of Madhuca oil-based biodiesel, when enhanced with nanoparticles and hydrogen, to serve as a sustainable alternative to conventional diesel. By balancing improved performance and reduced environmental impact, this study offers valuable insights into achieving cleaner and more efficient combustion in diesel engines, contributing to the advancement of biofuel applications and emission compliance strategies. © 2025

关键词： Diesel engines

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