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8th International Conference on information, Control, and Communication Technologies, ICCT 2024

作者： Roslavtsev, Maksim Eryomin, Alexander Safin, Ramil Magid, Evgeni Moscow Russia Institute of Information Technology and Intelligent Systems Kazan Russia

ISBN: (纸本)9798331517564

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. © 2024 IEEE.

关键词： Robot programming

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Research on Hand-Eye Calibration Method Based on Monocular Vision and Accuracy Chain Analysis 16

Research on Hand-Eye Calibration Method Based on Monocular V...

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16th IEEE International Conference on Electronic Measurement and Instruments, ICEMI 2023

作者： Liang, Zheng Li, Tianjian Huang, Min Hu, Huan Wang, Wensheng Institute of Intelligent Robotics Beijing Information Science and Technology University China

ISBN: (纸本)9798350327144

Machine vision has numerous uses and is currently at the forefront of research in this field. In this paper, for monocular vision systems, we mainly compare the monocular camera hand-eye calibration results and errors of two vision software platforms, and analyze the possible causes of errors to provide an idea for obtaining accurate hand-eye calibration results. And this paper derives the accuracy chain of hand-eye calibration from the whole process of hand-eye calibration, and analyzes the causes of errors in the hand-eye calibration results from each link in the accuracy chain. The results show that the accuracy of the hand-eye calibration results of Halcon software platform is higher than that of OpenCV calibration results, and the error from the robot arm can be reduced by using the relative coordinate system of the robot arm considering the direction of the hand-eye calibration accuracy chain analysis. © 2023 IEEE.

关键词： Errors

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Unified Modelling Language Application for Laparoscopic Instrument Design

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International Journal Bioautomation 2024年第3期28卷 117-132页

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

Laparoscopic surgery is a very popular medical intervention for the diagnosis and treatment of some abdominal problems and diseases. Compared with open surgery, laparoscopic procedures reduce patient trauma and recovery time. Still, at the same time, the surgeon’s dexterity is reduced as a result of the operation specificity and instrument construction. Correct behaviour of every device and instrument during its activities is an important condition for the proper operation of the whole system. The main purpose of this work is to model the operating behaviour of an instrument-organ interaction in an environment which is similar to the real one. The ultimate target of this study is focused on the development of a functionally operating model of a laparoscopic executive instrument for robots with improved engineering characteristics. To achieve the goals, the following main tasks are decided: i) Unified Modelling Language is applied to demonstrate the operating behaviour of a device in real-time. UseCase diagram and 3 Activity diagrams have been developed;ii) an original model of an instrument with 4 degrees of freedom for robot-assisted surgery is designed. In contrast to EndoWrist technology created by Intuitive Surgical Incorporation, USA for DaVinci instruments (with 3 orthogonal rotations), we offered other construction decisions. The designed instrument provides a kinematic structure with a combination of perpendicular and parallel rotations ((Formula presented)) which avoids additional rolls and allows obtaining the optimal working area of this instrument. This study is a continuation of previous work in the surgical robotics area. © (2024), (institute of Biophysics and Biomedical Engineering). All rights reserved.

关键词： Unified Modeling Language

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Study of the 6.x nm short wavelength radiation spectra of laser-produced erbium plasmas for BEUV lithography

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Plasma Science and technology 2023年第6期25卷 41-51页

作者：吴涛王倩陈柳安陆培祥 Hubei Key Laboratory of Optical Information and Pattern Recognition School of Optical Information and Energy EngineeringWuhan Institute of TechnologyWuhan 430205People's Republic of China Guangdong Intelligent Robotics Institute Dongguan 523808People's Republic of China

Beyond extreme ultraviolet(BEUV)radiation with a wavelength of 6.x nm for lithography is responsible for reducing the source wavelength to enable continued miniaturization of semiconductor *** this work,the Required BEUV light at 6.x nm wavelength was generated in dense and hot Nd:YAG laser-produced Er *** spectral contributions from the 4p–4d and 4d–4f transitions of singly,doubly and triply excited states of Er XXIV–Er XXXII in the BEUV band were calculated using Cowan and the Flexible Atomic *** was also found that the radiative transitions between multiply excited states dominate the narrow wavelength window around 6.x *** the assumption of collisional radiative equilibrium of the laser-produced Er plasmas,the relative ion abundance in the experiment was *** the Boltzmann quantum state energy level distribution and Gram–Charlier fitting function of unresolved transition arrays(UTAs),the synthetic spectrum around 6.x nm was finally obtained and compared with the experimental *** spatio-temporal distributions of electron density and electron temperature were calculated based on radiation hydrodynamic simulation in order to identify the contributions of various ionic states to the UTAs arising from the Er plasmas near 6.x nm.

关键词： laser-produced plasmas unresolved transition array collisional radiative equilibrium

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Distributed Momentum-Based Frank-Wolfe Algorithm for Stochastic Optimization

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 685-699页

作者： Jie Hou Xianlin Zeng Gang Wang Jian Sun Jie Chen National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China School of Electronic and Information Engineering Tongji UniversityShanghai 200082and also with the National Key Laboratory of Autonomous Intelligent Unmanned Systemsthe School of AutomationBeijing Institute of TechnologyBeijing 100081China IEEE

This paper considers distributed stochastic optimization,in which a number of agents cooperate to optimize a global objective function through local computations and information exchanges with neighbors over a *** optimization problems are usually tackled by variants of projected stochastic gradient ***,projecting a point onto a feasible set is often *** Frank-Wolfe(FW)method has well-documented merits in handling convex constraints,but existing stochastic FW algorithms are basically developed for centralized *** this context,the present work puts forth a distributed stochastic Frank-Wolfe solver,by judiciously combining Nesterov's momentum and gradient tracking techniques for stochastic convex and nonconvex optimization over *** is shown that the convergence rate of the proposed algorithm is O(k^(-1/2))for convex optimization,and O(1/log_(2)(k))for nonconvex *** efficacy of the algorithm is demonstrated by numerical simulations against a number of competing alternatives.

关键词： Distributed optimization Frank-Wolfe(FW)algorithms momentum-based method stochastic optimization

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Modification of Skeletal Character Animation Using Inverse Kinematics Controllers

Modification of Skeletal Character Animation Using Inverse K...

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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Gazizov, Rim Shubin, Aleksey Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russia

ISBN: (纸本)9798350395044

The article discusses in detail the use of inverse and forward kinematics to modify skeletal character animation, with a focus on adapting existing 3D objects to specific project requirements. It highlights the limitations of existing assets and animations when integrating them into new projects. Two main approaches are presented, using the skeleton 'wrapping' technique and animation retargeting to solve the problems of modifying existing animations. A practical solution is proposed to achieve the required motion animations without the need to implement a riggin and animation step from scratch. Thus, the proposed methods optimize the animation process to prepare the animation to the required quality and the development efficiency is improved. © 2024 IEEE.

关键词： Animation

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Skeletal Animation of Three-Dimensional Models Using Nanite technology

Skeletal Animation of Three-Dimensional Models Using Nanite ...

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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Sahibgareeva, Dilyara Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russia

ISBN: (纸本)9798350395044

Nanite technology is a cutting-edge innovation that revolutionizes detail rendering by enabling pixel-level and real-time processing of vast amounts of geometry. The paper delves into the advantages of Nanite in enhancing the creation of highly intricate and lifelike 3D models. It also explores how this technology transforms the conventional methods of developing 3D models while highlighting certain limitations, such as the absence of support for skeletal animation. Moreover, the study proposes a potential solution to address this limitation, presenting a well-rounded perspective on both the capabilities and constraints of Nanite technology. The research further discusses the promising prospects for advancing studies in this field, indicating a direction for future development and exploration. © 2024 IEEE.

关键词： Animation

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Evaluation and Optimization of Vehicle Cabin Ergonomics Using Virtual Reality

Evaluation and Optimization of Vehicle Cabin Ergonomics Usin...

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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Shubin, Aleksey Zykov, Evgeniy Nadvrshina, Cristina Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russia

ISBN: (纸本)9798350395044

The article discusses the idea of developing a cabin design complex using virtual reality technology to optimize production, improve ergonomics and comfort of the vehicle. It is planned to create a modifiable 'on-the-fly' hardware-software complex for cabin conceptualization, consisting of a set of real cabin elements, a virtual reality helmet for rendering the environment, road and cabin design for the test subject, as well as a special operator program for controlling the driver's condition and changing the configuration of the cabin. The creation of an on-the-fly modifiable hardware and software system will reduce the cost of recreating the model of each new cabin. Various methods of taking information from the human body, such as ECG and EEG, eye movement, level of sleepiness, international standards, and others are proposed. Reviewing and selecting the most relevant metrics will allow for a more accurate determination of driver fatigue levels, and therefore the selection of better vehicle ergonomics. © 2024 IEEE.

关键词： Ergonomics

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Interactive Health Care Robot to Measure Vital Signs

Interactive Health Care Robot to Measure Vital Signs

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Saegusa, Ryo Ohno, Kensuke Okonogi, Rikuto Kanagawa Institute of Technology Department of Information Systems Atsugi Japan Kanagawa Institute of Technology Department of Robotics and Mechatronics Atsugi Japan

ISBN: (纸本)9781665410205

In order to maintain the health of aged people living in care facilities, care staffs need to check the vital conditions of the residents frequently. For the facility staffs, however, taking vital signals of residents is one of the time-consuming tasks, and the operation is strongly expected to be supported by modern robot technologies. In this study, we propose an interactive health care robot that measures vital signals of residents. In this interactive vital measurement, the health care robot gently approaches a resident and operates its arm to reach the resident's hand. The robot then interactively requests the resident to grab the haptic vital handle. The novelty of our method is in the design of human-robot interaction. On the surface of the haptic vital handle, the vital sensors and pressure sensors are arrayed in order to detect physical gripping. The vital signals of the blood oxygen saturation and heart rate are recorded only when the robot is detecting pressure patterns and confident of the hand gripping. This mechanism allows the open contact measuring without clipping resident's fingers. We performed experiments to measure vital and pressure signals from healthy adults and evaluated the reliability of the measurement in the different configurations of the body postures denoted as the stance, on-chair, on-wheelchair, and on-bed. © 2024 IEEE.

关键词： Human robot interaction

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Optimization of Center of Gravity Position and Anti-Wave Plate Angle of Amphibious Unmanned Vehicle Based on Orthogonal Experimental Method

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Computer Modeling in Engineering & Sciences 2024年第5期139卷 2027-2041页

作者： Deyong Shang Xi Zhang Fengqi Liang Chunde Zhai Hang Yang Yanqi Niu School of Mechanical Electronic&Information EngineeringChina University of Mining and Technology(Beijing)Beijing100083China Institute of Intelligent Mining&Robotics China University of Mining and Technology(Beijing)Beijing100083China

When the amphibious vehicle navigates in water,the angle of the anti-wave plate and the position of the center of gravity greatly influence the navigation *** the relevant research on reducing the navigation resistance of amphibious vehicles by adjusting the angle of the anti-wave plate,there is a lack of scientific selection of parameters and reasonable research of simulation results by using mathematical methods,and the influence of the center of gravity position on navigation characteristics is not considered at the same *** study the influence of the combinations of the angle of the anti-wave plate and the position of the center of gravity on the resistance reduction characteristics,a numerical calculation model of the amphibious unmanned vehicle was established by using the theory of computational fluid dynamics,and the experimental data verified the correctness of the numerical *** on this numerical model,the navigation characteristics of the amphibious unmanned vehicle were studied when the center of gravity was located at different positions,and the orthogonal experimental design method was used to optimize the parameters of the angle of the anti-wave plate and the position of the center of *** results show that through the parameter optimization analysis based on the orthogonal experimental method,the combination of the optimal angle of the anti-wave plate and the position of the center of gravity is *** the numerical simulation result of resistance is consistent with the predicted optimal *** with the maximum navigational resistance,the parameter optimization reduces the navigational resistance of the amphibious unmanned vehicle by 24%.

关键词： Amphibious unmanned vehicle orthogonal experimental design anti-wave plate center of gravity resistance characteristic

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