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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Qinkai Chen Haozhe Feng Xinjian Fan Lining Sun Zhan Yang Hui Xie School of Mechanical and Electrical Engineering Soochow University Suzhou China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Yikuang Harbin China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

As the characteristics of low invasiveness, good controllability and deformability, ferrofluid robots have enormous potential for technological applications in the medical field. With the volume of ferromagnetic fluid robots increases, a motion control strategy coupled with magnetic moment and gradient force is usually adopted which makes it impossible for the robot to perform complex movements and limits the application of the ferrofluid robot. By designing a control system that decouples magnetic torque and magnetic gradient force, joint control of the locomotion and direction of a ferrofluid robot has been achieved. The results indicate that the miniature ferrofluid robot (MFR) has achieved directional controllable trajectory motion and ultimately achieved autonomous path selection. These extended functions can further promote the medical application of micro robots in closed and complex environments such as human blood vessels.

关键词： Ferrofluid Targeted drug delivery Torque Three-dimensional displays Force Blood vessels Trajectory Motion control Robots Tumors

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Transforming Collaboration: A Vision for Human-Aware Robots to Enhance Worker Safety and Boost Production Efficiency

Transforming Collaboration: A Vision for Human-Aware Robots ...

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Mediterranean Electrotechnical Conference (MELECON)

作者： Mohammad Zarei Andrey Solovov Vishal Gautam Bruno Ferreira Gustavo Assunção Antonio Marin-Hernandez Paulo Menezes Electrical and Computer Engineering Department University of Coimbra Coimbra Portugal Institute of Systems and Robotics University of Coimbra Coimbra Portugal Universidad Veracruzana Xalapa Mexico

ISBN: (数字)9798350387025

ISBN: (纸本)9798350387032

Human-robot interaction is becoming a necessary part of the industry to achieve higher efficiency, productivity, and comfort. However, to ensure human safety, the awareness of human workers has to be under supervision. In this research, we defined a new function to estimate awareness through eye contact between the worker and the robot. This mechanism exploits a proposed robust and real-time eye contact classifier based on SeNet-50, that outperforms previous proposals based on ResNet-18.

关键词： Productivity Industries Service robots Human-robot interaction Collaboration Real-time systems Safety

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GISR: Geometric Initialization and Silhouette-based Refinement for Single-View Robot Pose and Configuration Estimation

arXiv

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arXiv 2024年

作者： Bilić, Ivan Marić, Filip Bonsignorio, Fabio Petrović, Ivan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Autonomous Systems and Mobile Robotics Croatia University of Toronto Institute for Aerospace Studies Space and Terrestrial Autonomous Robotic Systems Laboratory Canada

In autonomous robotics, measurement of the robot’s internal state and perception of its environment, including interaction with other agents such as collaborative robots, are essential. Estimating the pose of the robot arm from a single view has the potential to replace classical eye-to-hand calibration approaches and is particularly attractive for online estimation and dynamic environments. In addition to its pose, recovering the robot configuration provides a complete spatial understanding of the observed robot that can be used to anticipate the actions of other agents in advanced robotics use cases. Furthermore, this additional redundancy enables the planning and execution of recovery protocols in case of sensor failures or external disturbances. We introduce GISR - a deep configuration and robot-to-camera pose estimation method that prioritizes execution in real-time. GISR consists of two modules: (i) a geometric initialization module that efficiently computes an approximate robot pose and configuration, and (ii) a deep iterative silhouette-based refinement module that arrives at a final solution in just a few iterations. We evaluate GISR on publicly available data and show that it outperforms existing methods of the same class in terms of both speed and accuracy, and can compete with approaches that rely on ground-truth proprioception and recover only the pose. Our code is available at https://***/iwhitey/GISR-robot. © 2024, CC BY.

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Polarization-controlled dual resonant lattice Kerker effects

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Nano Research 2023年第2期16卷 3195-3200页

作者： Lei Xiong Xueqian Zhao Xiang Du Shuai Chen Yuanfu Lu Hongwei Ding Guangyuan Li School of Information Science and Engineering Yunnan UniversityKunming 650500China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China School of Computer Electronic and InformationGuangxi UniversityNanning 530004China College of Physics and Electronic Technology Anhui Normal UniversityWuhu 241000China Tianjin H-Chip Technology Group Corporation Tianjin 300467China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China

The generalized Kerker effects have attracted increasing interests in recent years due to their abilities to manipulate the far-field properties of ***,the dual-polarized generalized Kerker effect enabling different tailoring of orthogonally-polarized electromagnetic waves has not yet been ***,we demonstrate polarization-controlled dual resonant lattice Kerker effects in periodic silicon *** varying the incident angle,the electric dipole and magnetic dipole surface lattice resonances can spectrally overlap,causing zero reflectance and unitary transmittance,i.e.,the resonant lattice Kerker *** incident angle for achieving this effect can be tuned differently for s-and p-polarizations over large regions by varying the nanodisk size or the lattice *** proposed dual-polarized resonant lattice Kerker effects open up avenues for polarization-controlled manipulation of the phase and wavefront of light with metasurfaces.

关键词： Kerker effect surface lattice resonances dual-polarized silicon metasurface

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Dual Quaternion Control of UAVs with Cable-suspended Load

Dual Quaternion Control of UAVs with Cable-suspended Load

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuxia Yuan Markus Ryll Autonomous Aerial Systems School of Engineering and Design Technical University of Munich Ottobrunn Germany Munich Institute of Robotics and Machine Intelligence (MIRMI) and Autonomous Aerial Systems School of Engineering and Design Technical University of Munich Ottobrunn Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified representation of the UAV and its suspended load’s dynamics and kinematics is achieved, facilitating the realization of load lifting and trajectory tracking. The simulation results have tested the proposed strategy’s accuracy, efficiency, and robustness. This study makes a substantial contribution to present this novel control strategy that harnesses the benefits of dual quaternions for cargo UAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.

关键词： Technological innovation Uncertainty Trajectory tracking Quaternions Simulation Kinematics Autonomous aerial vehicles

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Geometric Slosh-Free Tracking for Robotic Manipulators

Geometric Slosh-Free Tracking for Robotic Manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jon Arrizabalaga Lukas Pries Riddhiman Laha Runkang Li Sami Haddadin Markus Ryll Autonomous Aerial Systems School of Engineering and Design Technical University of Munich Germany Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific or dependant on a singularity-prone pendulum model, we present a real-time slosh-free tracking technique. This method solely requires the reference trajectory and the robot’s kinematic constraints to output kinematically feasible joint space commands. The crucial element underlying this approach consists on mimicking the end-effector’s motion through a virtual quadrotor, which is inherently slosh-free and differentially flat, thereby allowing us to calculate a slosh-free reference orientation. Through the utilization of a cascaded proportional-derivative (PD) controller, this slosh-free reference is transformed into task space acceleration commands, which, following the resolution of a Quadratic Program (QP) based on Resolved Acceleration Control (RAC), are translated into a feasible joint configuration. The validity of the proposed approach is demonstrated by simulated and real-world experiments on a 7 DoF Franka Emika Panda robot.

关键词： Liquids Tracking Transportation Kinematics Aerospace electronics Real-time systems Trajectory

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A Study on Automatic Segmentation of Red Blood Cells in Digital Holographic Microscopy

A Study on Automatic Segmentation of Red Blood Cells in Digi...

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International Technical Conference o Circuits/systems, Computers and Communications (ITC-CSCC)

作者： Riki Numata Hyun-Woo Kim Myungjin Cho Min-Chul Lee Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Fukuoka Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka IITC School of ICT Robotics and Mechanical Engineering Hankyoung National University Anseong Kyonggi-do Republic of Korea

ISBN: (数字)9798350379051

ISBN: (纸本)9798350379068

Digital holographic microscopy (DHM) can provide three-dimensional information. For this reason, this technology has been applied to various fields such as malaria diagnosis using red blood cell (RBC)s and automatic cancer diagnosis using living cells. In research on automatic diagnosis using deep learning, the quality of training data is very important to improve performance. Therefore, we propose an accurate cell segmentation technology for automatic diagnostic assistance of DHM in this paper. The proposed method uses a segmentation algorithm, Segment Anything, and an image recognition algorithm, Xception. In this paper, to evaluate the proposed method, we use five images containing multiple RBCs and calculate the detection rate and false detection rate. This method can reduce the cost of data acquisition and obtain accurate data by automatically acquiring RBCs from images containing multiple RBCs, making it suitable for the automatic diagnosis of DHM using deep learning.

关键词： Deep learning Image segmentation Accuracy Image recognition Red blood cells Microscopy Training data

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A Safe Control Architecture Based on Robust Model Predictive Control for Autonomous Driving

A Safe Control Architecture Based on Robust Model Predictive...

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2022 American Control Conference, ACC 2022

作者： Nezami, Maryam Nguyen, Ngoc Thinh Mannel, Georg Abbas, Hossam Seddik Schildbach, Georg University of Lübeck Institute for Electrical Engineering in Medicine Lübeck Germany University of Lübeck Institute for Robotics and Cognitive Systems Lübeck Germany Fraunhofer Imte Fraunhofer Research Institution for Individualized and CellBased Medical Engineering Lübeck Germany

ISBN: (数字)9781665451963

ISBN: (纸本)9781665451963

This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC. Both the Supervisor and the Controller are tube MPCs (TMPCs). The Supervisor MPC provides a safety certificate for an operating controller and a backup control input in every step. After an unsafe action by the operating controller is predicted, the Controller MPC takes over the system. In this paper, a method for the computation of a terminal set is proposed, which is robust against changes in the road curvature and forces the vehicle to reach a safe reference. Moreover, two important proofs are provided in this paper. First, it is shown that the backup control input is safe to be applied to the system to lead the vehicle to a safe state. Next, the recursive feasibility of the RSCA is proven. By simulating some obstacle avoidance scenarios, the effectiveness of the proposed RSCA is confirmed. © 2022 American Automatic Control Council.

关键词： Controllers

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Zero-Shot Kidney Stone Segmentation Based on Segmentation Anything Model for Robotic-Assisted Endoscope Navigation 16th

Zero-Shot Kidney Stone Segmentation Based on Segmentation A...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Meng, Hui Chen, Lingkai Zhu, Shiqiang Fei, Chentao Zhang, Yong Zheng, Miaojuan Han, Jianda Song, Wei School of Intelligent Science and Technology Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences 1 Sub-lane Xiangshan Hangzhou310024 China Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Hangzhou ElephantChain Network Technology Co. Ltd. Hangzhou China Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech University Hangzhou310018 China College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9789819964888

Biomedical robotics has had a significant impact on flexible ureteroscopy (FURS) for the management of nephrolithiasis. The biomedical robots provide a suitable and safe platform for FURS. However, operating the robots expertly still represents a challenge for surgeons. Vision-based navigation is an effective means to simplify the operations of robots by surgeons, which has great potential to improve surgical efficiency. To achieve vision-based navigation, the localization of kidney stones in endoscopic images is the first step. In this paper, we propose a stone segmentation method (SSM) based on zero-shot learning, which consists of segmentation anything model (SAM), an image preprocessing module, and a mask postprocessing module. The SAM segments all objects in endoscopic images, which lack semantic information. The preprocessing module is designed to suppress interference of reflective area in endoscopic images, and the mask postprocessing module is used to filter noise masks. The experimental results on our collected endoscopic images indicate that our method achieves close accuracy on stone segmentation compared with supervised U-Net and VGG_U-Net, which significantly outperforms the Ostu and the SAM. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Endoscopy

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How to Price Fresh Data with Strategic Users 21

How to Price Fresh Data with Strategic Users

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21st International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks, WiOpt 2023

作者： He, Junyi Zhang, Meng Ma, Qian Huang, Jianwei School of Science and Engineering The Chinese University of HongKong Guangdong Shenzhen China Zhejiang University University of Illinois Urbana-Champaign Institute Zhejiang University Haining314400 China School of Intelligent Systems Engineering Sun Yat-sen University Guangdong Shenzhen518107 China School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society The Chinese University of HongKong Shenzhen518172 China

ISBN: (纸本)9783903176553

The interests in obtaining fresh data in real-time applications have facilitated fresh data markets. However, existing works on designing fresh data markets have ignored strategic users. Being strategic means that users can optimally time their data purchases, which affects markets’ profit. In this paper, we study a fresh data market, where strategic users with heterogeneous data valuations stochastically arrive over time. The strategic users decide the time of data purchase, considering the evolution of data freshness and prices, while the platform decides the data pricing policy over time to maximize its profit. We first consider a dynamic pricing policy, where the platform offers a price menu to each arrival user. The analysis is technically challenging, as heterogeneous users face different integer programming problems in optimizing their data purchase time, making direct optimization of data prices infeasible. To tackle the challenge, we adopt a mechanism design approach. We show that the direct mechanism design problem relax the original problem and obtain the optimal pricing policy analytically. Next, to reduce the implementation complexity, we study a single pricing policy, where the price is fixed over time. We derive the optimal single price analytically in a two-period refreshing model. Perhaps surprisingly, although strategic users have more purchasing options than non-strategic users, users who behave strategically may be worse off. Simulation results show that, although a platform refreshes the data less frequently in the presence of strategic users than facing myopic users, it can earn up to 5 times higher profit. © 2023 IFIP.

关键词： Profitability

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