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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Drone-Based Predictive Structure Analysis: A Review

Drone-Based Predictive Structure Analysis: A Review

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2023 International Conference on Sustainable Emerging Innovations in engineering and Technology, ICSEIET 2023

作者： Patil, Trushant Nandan, Durgesh Sharma, Kanhaiya Parashar, Deepak Department of Robotics and Automation Pune India Department of Electronics and Telecommunication Engg. Pune India Department of Computer Science & Engineering Pune India Faculty of Engineering Pune India

ISBN: (纸本)9798350329186

Drone-based predictive structure analysis is a rapidly growing field that has the potential to revolutionize infrastructure and building inspection. In this review of the research, we give a general overview of how drones could increase the effectiveness and precision of structural analysis, particularly for keeping an eye on difficult-to-reach locations. The usage of drones for 3D mapping, inspection, and monitoring of diverse constructions, such as concrete buildings, bridges, tunnels, and dams. The investigations show that drone-based inspection can produce 3D models and high-resolution photos, allowing for remote monitoring and the early identification of possible problems. The findings show that drones may greatly boost infrastructure management's safety and effectiveness, making them an important tool for predictive structural research. © 2023 IEEE.

关键词： Drones

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GA-Based Optimization of Control Strategies for a 3R Nonplanar Robotic Manipulator 12

GA-Based Optimization of Control Strategies for a 3R Nonplan...

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12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Ahmadpanah, Parham Charehjoo, Taha Ghanbarzadeh, Armin Najafi, Esmaeil K.N. Toosi University of Technology Faculty of Mechanical Engineering Tehran Iran Saxion University of Applied Sciences Smart Mechatronics and Robotics reserach group Enschede Netherlands

ISBN: (纸本)9798331529734

robotics and control are key to automation and industry. In this work, the model of a 3R nonplanar manipulator is simulated in MATLAB. A sinusoidal trajectory was used for the robot's movement, while Gaussian noise was added to the system to simulate real-world application. The impact of the noise was handled using a moving average filter. The effect of four different control systems was evaluated, including Proportional-Integral-Derivative, Fuzzy Logic, Adaptive Neuro-Fuzzy Inference System, and Sliding Mode Control, on each joint torque. The parameters for each controller were tuned with a Genetic Algorithm. The results showed that the most accurate trajectory tracking was provided by Sliding Mode Control, especially when noise was present, while the Adaptive Neuro-Fuzzy Inference System proved to be very flexible. The study discusses the applicability of these controllers, their optimization, and their effect on manipulators under uncertainty. © 2024 IEEE.

关键词： Genetic algorithms

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Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

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Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

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A Comparative Analysis of Modular Design Methods: A Case Study of a Horizontal Flipping Workpiece Machine

A Comparative Analysis of Modular Design Methods: A Case Stu...

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2024 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2024

作者： Assawarungsri, T. Tunsakul, N. Janthong, N. Department of Mechanical Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangkok Thailand Department of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangkok Thailand

ISBN: (纸本)9798350386097

This study examines the efficiency of modular design methodologies by comparing traditional methods with advanced approaches, specifically Axiomatic Design and DSM Cladistics Analysis. Utilizing a horizontal flipping workpiece machine case study, the research evaluates the modularity index of various clustering techniques. The traditional methods, Design Structure Matrix (DSM) and Hierarchical Clustering, are assessed against the newer methodologies to determine their effectiveness in grouping components modularly. Results indicate that Axiomatic Design and DSM Cladistics Analysis significantly enhance modular design, offering superior performance and control ease. This comparative analysis highlights the potential of advanced methodologies to improve machinery design, suggesting a paradigm shift towards these innovative approaches for enhanced modularization in engineering practices. © 2024 IEEE.

关键词： Machine design

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A Hybrid Nut Sorting System: Utilizing Machine Vision and Augmented Information for Efficient Human-Robot Collaboration

A Hybrid Nut Sorting System: Utilizing Machine Vision and Au...

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Mechatronics, Control and robotics (ICMCR), International Conference on

作者： Kanisorn Sangchai Wongsakorn Adirekkittikun Kevin Vivatanaprasert Methasit Boonpun Wongpakorn Chokthitirath Nutdanai Thipyophat Robotics and Artificial Intelligence Faculty of Engineering International School of Engineering Chulalongkorn University Bangkok Thailand

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

Efficient sorting and classification of nuts is a critical task in various industries, yet current methods often rely on machine vision systems that inspect each nut individually, making the process time-consuming and inefficient. Additionally, most processes are fully automated, lacking the option for human monitoring or intervention. The novelty of this paper lies in the development of a hybrid nut sorting system that combines machine vision with augmented information to facilitate efficient human-robot collaboration. Unlike traditional fully automated systems that exclude human involvement, our approach integrates a projector-based visual aid to provide real-time, easily interpretable information for manual or semi-automated sorting. Additionally, the system incorporates a CoreXY robot path and mechanism, enabling collaboration between humans and robots. The detection system consistently identifies nuts of different sizes with reliable accuracy, particularly for simultaneous multi-object detection compared to singular detection methods. As a hybrid sorting system, our solution also allows humans to manually sort nuts at a faster rate than the machine while utilizing the system's assistance.

关键词： Visualization Accuracy Machine vision Human-robot interaction Collaboration Size measurement Path planning Classification algorithms Reliability Sorting

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A Hybrid Nut Sorting System: Utilizing Machine Vision and Augmented Information for Efficient Human-Robot Collaboration 3

A Hybrid Nut Sorting System: Utilizing Machine Vision and Au...

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3rd International Conference on Mechatronics, Control and robotics, ICMCR 2025

作者： Sangchai, Kanisorn Adirekkittikun, Wongsakorn Vivatanaprasert, Kevin Boonpun, Methasit Chokthitirath, Wongpakorn Thipyophat, Nutdanai International School of Engineering Chulalongkorn University Robotics and Artificial Intelligence Faculty of Engineering Bangkok Thailand

ISBN: (纸本)9798331544546

关键词： Collaborative robots

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DeepCat: A Deep Learning Approach to Understand Your Cat's Body Language 11

DeepCat: A Deep Learning Approach to Understand Your Cat's B...

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11th International Japan-Africa Conference on Electronics, Communications, and Computations, JAC-ECC 2023

作者： Fawzy, Arwa Hassan, Ahmed Gad, Ahmed Zaky, Ahmed B. El-Hussieny, Haitham Alexandria Egypt program Alexandria Egypt Benha University Faculty of Engineering at Shoubra Electrical Engineering Department Egypt Egypt-Japan University of Science and Technology Department of Mechatronics and Robotics Engineering Alexandria Egypt

ISBN: (纸本)9798350369328

Pet owners experience difficulty in understanding their pets' body language and its implications for animal welfare, given that animals cannot utilize human speech to communicate their emotions and health conditions. However, previous experiments for analyzing cat behavior have demonstrated that cats are precisely expressive. DeepCat, a deep-learning approach developed in this study, translates cats' body language signals, enabling owners to discern their feline companions' intended messages and emotional states. Our DeepCat model was trained on a dataset comprising 10,000 cat images, implementing automatic labeling to track key features, including the tail, eyes, and mouth. Presented as a Flutter application, DeepCat can function everywhere, allowing owners to easily monitor their cats and make informed decisions in situations that require caution. This paper discusses the potential benefits and limitations of DeepCat and provides suggestions for future research in this domain. © 2023 IEEE.

关键词： Emotion Recognition

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Optimization of Cylindrical Blades for Wind Turbine Based on Magnus Effect

Optimization of Cylindrical Blades for Wind Turbine Based on...

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2023 International Conference on Electromechanical and Energy Systems, SIELMEN 2023

作者： Lukin, Aleksandr Demidova, Galina Lukichev, Dmitry Poliakov, Nikolai Anuchin, Alecksey ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Moscow Power Engineering Institute Electric Drives Department Moscow Russia

ISBN: (纸本)9798350315240

Wind turbines based on the Magnus effect open new prospects in terms of energy generation for areas with low average wind speeds. The main feature of these turbines is rotating cylinders which are used to create lift instead of blades. Due to this unconventional design, different parameters of the cylinder, such as mass and moment of inertia, can greatly affect the dynamic characteristics of such energy systems. The goal of this paper was to present an approach to structural optimization of a cylinder flange of the experimental Magnus effect-based wind turbine. The proposed approach, presented as an algorithm, allows us to determine input data for the preferred structural optimization software and achieve lightweight, low-inertia parts. Control simulation has shown that optimized parts ensure a high enough factor of safety while also significantly reducing the moment of inertia. © 2023 IEEE.

关键词： Finite element method

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An LMPA-Based Magnetically-Actuated Growing Robot for Medical Applications

An LMPA-Based Magnetically-Actuated Growing Robot for Medica...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Venkatasubramanian Kalpathy Venkiteswaran Jurrien Bos Dimple Dannana Ali Sadeghi Department of Biomechanical Engineering University of Twente En-schede The Netherlands Faculty of Engineering Technology Surgical Robotics Laboratory University of Twente Faculty of Engineering Technology Soft Robotics Lab University of Twente

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Growing robots are a subset of continuum robots with the main distinctive feature the fact that material is added from the tip instead of from the base. Currently, growing robots rely primarily on material deposition through filament printing or eversion using pneumatic circuits which may be too bulky or unsafe for applications inside the human body. In this paper, a proof of concept for a novel growing robot mechanism is presented. A variable stiffness tube (VST) based on low melting point alloy (LMPA) is developed to act as the growing element and the direction of robot growth can be guided using magnetic fields. A prototype is built to test the concept and is evaluated through experiments. Effects of Joule heating on the temperature within the VST are studied, as well as the stiffness variation of the VST when the LMPA transitions from solid to metal phase. The magnetic interaction is modeled and a system of external system of magnets is developed to achieve wireless guidance of the robot head. The growing mechanism of the robot via magnetic actuation is demonstrated through benchtop experiments where it is guided through straight and curved paths.

关键词： Wireless communication Printing Metals Prototypes Medical services Pneumatic systems Solids Magnetic heads Magnets Robots

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