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arXiv 2021年

作者： Lagomarsino, Marta Groenhuis, Vincent Casadio, Maura Welleweerd, Marcel K. Siepel, Françoise J. Stramigioli, Stefano Laboratory Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Drienerlolaan 5 Enschede7522NB Netherlands Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy

A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-guided biopsy is often preferred. The lack of real-time imaging information and the deformations of the breast make it challenging to bring the needle precisely towards the tumour detected in pre-interventional Magnetic Resonance (MR) images. The current manual MRI-guided biopsy workflow is inaccurate and would benefit from a technique that allows real-time tracking and localisation of the tumour lesion during needle insertion. This paper proposes a robotic setup and software architecture to assist the radiologist in targeting MR-detected suspicious tumours. The approach benefits from image fusion of preoperative images with intraoperative optical tracking of markers attached to the patient's skin. A hand-mounted biopsy device has been constructed with an actuated needle base to drive the tip toward the desired direction. The steering commands may be provided both by user input and by computer guidance. The workflow is validated through phantom experiments. On average, the suspicious breast lesion is targeted with a radius down to 2.3 mm. The results suggest that robotic systems taking into account breast deformations have the potentials to tackle this clinical challenge. Copyright © 2021, The Authors. All rights reserved.

关键词： Biopsy

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Summer School on Circular Economy for Sustainable Manufacturing: A Case Study and Lessons Learned

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Procedia CIRP 2024年 122卷 952-957页

作者： Helmi Ben Rejeb Eñaut Muxika Pezhman Ghadimi Univ. Grenoble Alpes CNRS Grenoble INP G-SCOP Grenoble France Mondragon University Electronics & Computer Science Department - Signal Theory & Communications Arrasate Spain Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland

The Circular Economy Action Plan is the main building block of the European Green Deal, Europe's new agenda for sustainable growth. Businesses need new technologies, new methods and new industrial organization either to create new businesses or to transform their products, processes and business models. They also need new talents to innovate, create businesses and new jobs, and transform society into a more sustainable one. Circular economy has grown significantly in recent years as a topic taught in engineering curricula. The purpose of this paper is to present the design, implementation and evaluation of a summer school program dedicated to the development, transformation and implementation of circular economy systems and new business models in manufacturing. The program was designed in collaboration with three university partners during a European project and relied on contributions from industrial companies, including start-ups and innovative companies. At the end, some lessons are drawn in order to show the main added value based on the evaluation of this summer school and to identify recommendations for the design and implementation of similar summer schools.

关键词： Circular economy summer school education sustainable manufacturing

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Multitime Scale Systems - The ND Approach

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IFAC Proceedings Volumes 1997年第21期30卷 519-524页

作者： Krzysztof Gałkowski Artur Gramacki Technical University of Zielona Góra Institute of Robotics and Software Engineering Podgórna Str. 50 65-246 Zielona Góra Poland Fax: 48 68 253944 Technical University of Zielona Góra Institute of Computer Engineering and Electronics Podgórna Str. 50 65-246 Zielona Góra Poland Fax: 48 68 253944

In this paper so-called multitime scale systems are described in terms of discrete repetitive processes which belong to the wide family of so-called 2D systems.

关键词： Multidimensional systems the Roesser model the Fornasini-Marchesini model discrete repetitive processes multitime scale systems

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Optimization Model of Housing Construction Project Scheduling Based on Optimized Ant Colony Algorithm

Optimization Model of Housing Construction Project Schedulin...

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International Conference on Smart Technologies For Smart Nation (SmartTechCon)

作者： Srinivasa Gowda G K K. Sambath Kumar G R Sanjay Krishna Madhan Mohan Kumar J. Rex N. Manikandan Department of Computer Science and Engineering ACS College of Engineering Bangalore Tamilnadu India Department of Electronics and Communication Engineering Vel Tech Rangarajan Dr.Sagunthala R&D Institute of Science and Technology Chennai India Department: Mechanical Engineering Koneru Lakshmaiah Education Foundation Green Fields Vaddeswaram Andhra Pradesh India Department of Robotics and Automation Easwari Engineering College Bharathi Salai Ramapuram Chennai Tamilnadu India Department of Civil Engineering Malla Reddy Engineering College Hyderabad Tamilnadu India Dept of Mechanical Engineering School of Engineering Mohan Babu University Tirupati Andhra Pradesh India

Construction management is a standardized means of project management. The construction project takes a long time and has many links, and the construction workers involved are complicated. Poor quality buildings will not only affect the construction enterprises’ brand, but also threaten the safety of people's lives and property. In this paper, an optimization model of housing construction project scheduling based on ant colony algorithm (ACA) is put forward. By studying the relationship among various sub-projects in the construction system of building projects, the management of building projects can be better realized. The results show that compared with the other two algorithms, the optimized ACA has certain advantages in recall and accuracy. There are many contents involved in the building construction process, and there are many uncontrollable factors in the building process, which greatly impact the project's construction quality. The construction industry can use this technology to strengthen the building construction management, solve the problems existing in the construction management, and improve the construction quality

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Robotic Learning of Haptic Skills from Expert Demonstration for Contact-Rich Manufacturing Tasks

Robotic Learning of Haptic Skills from Expert Demonstration ...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Sara Hamdan Yusuf Aydin Erhan Oztop Cagatay Basdogan Robotics and Mechatronics Laboratory and the KUIS-AI Center Koc University Istanbul Turkey Department of Electrical and Electronics Engineering MEF University Istanbul Turkey Department of Computer Science Ozyegin University Istanbul Turkey SISReC/OTRI Osaka University Japan

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

We propose a learning from demonstration (LfD) approach that utilizes an interaction (admittance) controller and two force sensors for the robot to learn the force applied by an expert from demonstrations in contact-rich tasks such as robotic polishing. Our goal is to equip the robot with the haptic expertise of an expert by using a machine learning (ML) approach while providing the flexibility for the user to intervene in the task at any point when necessary by using an interaction controller. The utilization of two force sensors, a pivotal concept in this study, allows us to gather environmental data crucial for effectively training our system to accommodate workpieces with diverse material and surface properties and maintain the contact of polisher with their surfaces. In the demonstration phase of our approach where an expert guiding the robot to perform a polishing task, we record the force applied by the human (F h ) and the interaction force (F int ) via two separate force sensors for the polishing trajectory followed by the expert to extract information about the environment (F env =F h −F int ). An admittance controller, which takes the interaction force as the input is used to output a reference velocity to be tracked by the internal motion controller (PID) of the robot to regulate the interactions between the polisher and the surface of a workpiece. A multilayer perceptron (MLP) model was trained to learn the human force profile based on the inputs of Cartesian position and velocity of the polisher, environmental force (F env ), and friction coefficient between the polisher and the surface to the model. During the deployment phase, in which the robot executes the task autonomously, the human force estimated by our system $\left({{{\hat F}_h}}\right)$ is utilized to balance the reaction forces coming from the environment and calculate the force $\left({{{\hat F}_h} - {F_{env}}}\right)$ needs to be inputted to the admittance controller to gene

关键词： Surface cleaning Force Robot sensing systems Real-time systems Haptic interfaces Trajectory Manufacturing Force sensors Admittance Robots

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ISSC: Interactive Semantic Shared Control for Haptic Teleoperation

ISSC: Interactive Semantic Shared Control for Haptic Teleope...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dong Yang Xiao Xu Mengchen Xiong Edwin Babaians Zican Wang Fanle Meng Eckehard Steinbach Department of Computer Engineering School of Computation Information and Technology Chair of Media Technology (LMT) and Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich (TUM) Germany Information Science Academy of China Electronics Technology Group Corporation

We propose a novel interactive semantic shared control framework that exploits an active high-level communication loop between the human operator and the robot for time-efficient teleoperation. In shared control approaches, accurate prediction of the operator’s intention is crucial to enable the robot to provide meaningful assistance. Incorrect intention prediction (e.g., target objects to be interacted with) increases the task duration due to conflicts between human behaviors and robot guidance. Unlike existing methods, our approach not only passively observes and predicts the human operator’s input in the haptic control loop, but also actively communicates with the human operator in an additional semantic loop in the form of a speech user interface to optimize the effectiveness of assistance. We evaluate our ISSC framework for a pegin-hole teleoperation task. The experimental results show that the proposed framework significantly outperforms teleoperation without assistance and conventional shared control paradigms regarding task execution efficiency and user control quality, and reduces task completion time by up to 26.68% and 39.00%, respectively.

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Faulty diagnostics model for wind power plant application using AI

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Measurement: Sensors 2023年 25卷

作者： Sudhakar, Puladasu Kamble, Nitin K. K, Geetha Turukmane, Anil V. Perli, Suresh Babu P, Jayaraman Department of Electrical and Electronics Engineering Sree Visvesvaraya Institute of Technology and Science Telangana Mahabubnagar509204 India Department of Robotics and Automation D. Y. Patil College of Engineering Pradhikaran Akurdi Pune411044 India Department of Computing Technologies School of Computing SRM Institute of Science and Technology Chengalpattu District Kattankulathur603203 India Department of Computer Science & Engineering VIT- AP University AmaravatiVijaywada India Department of Electrical Engineering NIT Warangal Telangana WARANGAL506004 India Department of Mechanical Engineering Prathyusha Engineering College Aranvoyalkuppam Tiruvallur Tamil Nadu Chennai602025 India

Researchers desperately ought to build an efficient turbine problem detection & simulation environment given the quick increase in wind energy capacity and the steadily rising operational cost duration of wind generators. The two aspects of fault identification & fault prediction are employed to describe the primary problem features of wind generators. We examine and synthesize the studies on fault detection techniques that rely on vibrating, electrical impulse evaluation, and pattern matching to address the challenging difficulties of defect detection. During the same period, we highlight the computationally efficient, constraints, and potential directions of distinct approaches. We review recent study developments & suggest a defect forecasting model that utilizes a physical breakdown prototype with data analysis theory fused depending on the mechanics and electronic subsystem degradation features of wind energy. In this study, we employ the Internet of Things (IoT) on Deep Learning (DL) architecture to forecast and identify wind energy generation issues. The testing findings demonstrate the method's ability to diagnose faults logically and forecast their types. © 2022 The Authors

关键词： Pattern matching

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Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS Noetic

Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Maksim Roslavtsev Alexander Eryomin Ramil Safin Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

Modern map-dependent algorithms for mobile robot navigation typically overload a CPU and memory with a gradually increasing amount of environmental data. In contrast, Bug family local path planning algorithms operate without mapping and have significantly lower hardware requirements. Bug algorithms use real-time measurements from visual and touch sensors to make immediate decisions on direction of the robot’s motion. This paper presents an implementation of Rev1 and Rev2 Bug algorithms for the Robot Operating System (ROS) Noetic framework with a virtual model of the TurtleBot3 Burger robot. Given algorithms are validated in Gazebo simulation using various convex and maze environments. The results demonstrate superiority of Rev1 method over Rev2 in trajectory length in convex maps. However, Rev2 finds shorter paths in maze type environments.

关键词： Visualization Navigation Operating systems computer bugs Tactile sensors Real-time systems Trajectory Motion measurement Robots Testing

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Implementation and Validation of the CautiousBug Algorithm in ROS Noetic

Implementation and Validation of the CautiousBug Algorithm i...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Roman Mishenin Alexander Eryomin Tatyana Tsoy Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can be implemented on relatively simple hardware. A C++ software application was created to simulate a behavior of the CautiousBug algorithm in various environments within the Gazebo simulator. This application allows for an analysis of key metrics, including accumulated yaw, distance traversed and algorithm's runtime. We conducted a set of virtual experiments in the Gazebo to evaluate the CautiousBug performance.

关键词： Runtime Navigation Software architecture Working environment noise Operating systems Software algorithms Software Robustness Path planning Robots

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Design issues for real-time remote robotic science operations support tools: Observations from the field 14th

Design issues for real-time remote robotic science operation...

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14th International Conference on Space Operations, SpaceOps 2016

作者： Kim, Hyunjung Park, Young-Woo Baker, Electa A. Adams, Julie A. Fong, Terrence W. Electronics and Telecommunications Research Institute SWContent Laboratory 218 Gajeong-ro Yuseong-guDaejeon34129 Korea Republic of Ulsan National Institute of Science and Technology Dept. of Industrial Design 50 UNIST-gil 901-10 Engineering Bldg 1. Eonyang-eup UlsanUljugun44919 Korea Republic of Vanderbilt University Dept. of Electrical Engineering and Computer Science VU Station B #351824 NashvilleTN37235 United States NASA Ames Research Center Intelligent Robotics Group MS 269-3 Moffett FieldCA94035 United States

ISBN: (数字)9781624104268

ISBN: (纸本)9781624104268

Real-time remote robotic science operations will be a key part of future planetary exploration missions because the use of robots can reduce operational costs and increase scientific returns. To better understand real-time remote robotic science operations, and to provide practical guidance for improving the design of operations support tools, we conducted in-field observations of a team of 14 scientists remotely operating a planetary rover during a five-day prospecting mission. On the basis of our results, we identify the characteristics of real-time remote robotic science operations. In addition, we discuss the identified challenges, opportunities, and guidelines associated with improving the design of support tools. We expect that our findings will inform future research on robotic operations support tools and future study of additional use cases, including numerous terrestrial field science deployments and a planned 2020 NASA lunar rover mission. © 2016 American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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