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A robust control design of tissue microdissection systems

A robust control design of tissue microdissection systems

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International Conference on Mechatronics (ICM)

作者： Yung-Yue Chen Sheng-Chih Shen Jinn-Fa Wu Microsystem Technology Department Micro-Electro-Mechanical System Research Division Mechanical Industry Research Laboratories Industrial Technology and Research Institute Taiwan Cell Culture System Engineering Section Intelligent Robotics Technology Division Mechanical Industry Research Laboratories Industrial Technology and Research Institute Taiwan

By the promotions of the molecular bioanalysis techniques, the requirements of purity of tissues are also high. However, the desired purity of tissues usually cannot be achieved by human works because of man-made faults hence, one control design that is useful to the microdissections of tissues should be investigated. In this paper, a robust control law based on LMI technique is proposed for microdissections of tissues. The robust control law is specified to eliminate the effects of modeling uncertainties and external disturbances and achieves the desired missions. Besides, linear matrix inequality (LMI) technique is employed to treat this tissue microdissection problem. Finally, the tissue microdissection problem is transformed to a standard eigenvalue problem (EVP) and solved by a convex optimization method of the help of LMI toolbox in Matlab.

关键词： Robust control Mathematical model Diseases Uncertainty Humans Linear matrix inequalities Equations Electrical equipment industry Laboratories Power system modeling

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A Comparative Study on the Failure Detection Methods Using Time-Series Data Image Generation and CNN for Driving Module of Cobots

A Comparative Study on the Failure Detection Methods Using T...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Seung-Hwan Choi Jun-Kyu Park Dawn An Chang-Hyun Kim Gunseok Park Jongbum Park Tae-Keun Kim Byungjin Jung Suwoong Lee Advanced Mechatronics R&D Group Korea Institute of Industrial Technology Renewable Energy Solution Group Korea Electric Power Research Institute Intelligent Robotics Research Center Korea Electronics Technology Institute

The objective of this study was to propose the method to detect failure in the driving module of collaborative robots (cobots). We used three image generation algorithms and four convolutional neural network (CNN) models to detect failures and compared the performance of the models using the time-series vibration data acquired from the durability test of the driving module for cobots. We used recurrence plot, Gramian angular field, and spectrogram as image generation models and applied AlexNet, GoogleNet, ResNet, and DenseNet as CNN models. We generated images from time-series data, and using the images as input, we applied CNN models to detect failures. Subsequently, the detection accuracy for each image generation and CNN model was calculated and compared. The results of this study indicate that the spectrogram and ResNet models are relatively superior image generation and detection methods, respectively, compared to other methods.

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Part-based Grasp Planning for Familiar Objects

Part-based Grasp Planning for Familiar Objects

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IEEE-RAS International Conference on Humanoid Robots

作者： Nikolaus Vahrenkamp Leonard Westkamp Natsuki Yamanobe Eren E. Aksoy Tamim Asfour High Performance Humanoid Technologies Lab Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Germany Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Japan

ISBN: (纸本)9781509047192

In this work, we present a part-based grasp planning approach that is capable of generating grasps that are applicable to multiple familiar objects. We show how object models can be decomposed according to their shape and local volumetric information. The resulting object parts are labeled with semantic information and used for generating robotic grasping information. We investigate how the transfer of such grasping information to familiar objects can be achieved and how the transferability of grasps can be measured. We show that the grasp transferability measure provides valuable information about how successful planned grasps can be applied to novel object instances of the same object category. We evaluate the approach in simulation, by applying it to multiple object categories and determine how successful the planned grasps can be transferred to novel, but familiar objects. In addition, we present a use case on the humanoid robot ARMAR-III.

关键词： Grasping Planning Shape Semantics Robot sensing systems Training Grasp Manipulator sensing systems Semantics Functional training Portability Planning Shape semiotics

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3D object recognition using spin-images for a humanoid stereoscopic vision system

3D object recognition using spin-images for a humanoid stere...

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2006 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Olivier Stasse Sylvain Dupitier Kazuhito Yokoi AIST IS-CNRS STIC Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

This paper presents a 3D object recognition method based on spin-images for a humanoid robot having a stereoscopic vision system. Spin-images have been proposed to search CAD models database, and use 3D range informations. In this context, the use of a vision system is taken into account through a multi-resolution approach. A method for quickly computing multi-resolution and interpolating spin-images is proposed. The results on simulation and on real data are given, and show the effectiveness of this method

关键词： Object recognition Machine vision Humanoid robots intelligent robots Service robots Computational modeling Robot vision systems intelligent systems Databases Solid modeling

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Dynamic tactile restoration by time domain nonlinear filtering without forward modeling

Dynamic tactile restoration by time domain nonlinear filteri...

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2004 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

作者： Seong-Sik Yoon Seung-kook Yun Sungchul Kang Hyoukreol Choi Yoji Yamada Intelligent Systems Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan Intelligent Robotics Research Center Korea Institute of Science and Technology Seoul South Korea School of Mechanical Engineering Sungkyunkwan University Suwon South Korea

When we use a tactile sensor, sensing mechanism and restoration of texture from electric sensing signals are important issues. The objectives of this research are to design a new texture sensing system and to develop a new signal processing algorithm which can restore various texture. The new texture sensing system is designed to get texture with high resolution and wide velocity range, which uses a PVDF sensor and has fixing components for several types of objects in precise condition. Next, a new signal processing algorithm is developed to restore texture. In the previous researches, forward model is needed and then it is inverted by using some regularized inversion formula in frequency domain, where there exist problems such as amplification of noise due to ill-posedness, modeling uncertainty due to orientation and position of PVDF films and silicon rubber, and difficulty to add nonlinear terms into model in frequency domain. While, in this paper, we model directly the relation containing transient-state from measured signals to texture by using model structure of multi-input multi-output nonlinear autoregressive moving average and a time domain least squares estimation. The direct modeling can be done by the use of F/T sensor which is not used in the previous researches. Finally the several texture is experimentally reconstructed from sensing signals using the developed signal processing algorithm.

关键词： Filtering Autoregressive processes Signal restoration Signal processing algorithms Frequency domain analysis Nonlinear dynamical systems Tactile sensors Signal design Algorithm design and analysis Signal resolution

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Improving ZMP-based control model using system identification techniques

Improving ZMP-based control model using system identificatio...

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IEEE-RAS International Conference on Humanoid Robots

作者： Wael Suleiman Fumio Kanehiro Kanako Miura Eiichi Yoshida CNRS-AIST (Joint Robotics Laboratory) UMI3218/CRT Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

ISBN: (纸本)9781424445875

The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable motion using a planned Zero Moment Point (ZMP) trajectory. In this paper, we aim at proposing to improve the reliability of this model using system identification techniques. To achieve this goal, we propose an identification method which is the result of the comprehensive application of system identification to dynamic systems. Moreover, we propose a controlling algorithm for the identified model in oder to track a desired trajectory of ZMP. The efficiency of the method is shown using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C.

关键词： Control system synthesis System identification Humanoid robots intelligent robots Trajectory Nonlinear control systems Kinematics Legged locomotion Ground support Shape

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Self-improving empathy learning

Self-improving empathy learning

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5th International Conference on Information technology and Applications, ICITA 2008

作者： Legaspi, Roberto Kurihara, Satoshi Fukui, Ken-Ichi Moriyama, Koichi Numao, Masayuki Program Ministry of Education Culture Sports Science and Technology Japan Division of Intelligent Systems Science Institute of Scientific and Industrial Research Osaka University 8-1 Mihogaoka Ibaraki Osaka 567-0047 Japan Graduate School of Information Science and Technology Osaka University 1-5 Yamadaoka Suita Osaka 565-0871 Japan

ISBN: (纸本)9780980326727

Studies have emphasized that empathy is a learnable skill that can be developed through learning from experience. Applying this in the context of human-system interaction, an empathic system is one that automatically acquires an initial knowledge of empathy that is permitted to be incomplete, hence inaccurate and imperfect, but improves this knowledge each time it learns from its interactions with the user until its empathy knowledge matures over time. This paper posits a self-improving empathy learning for user-centric systems. Due to the nature of the problem that centers on incremental experiential learning, this problem becomes a machine learning application. We highlight the need for machine learning techniques that can address the challenge of an empathic system self-improving its empathy model efficiently online from incomplete knowledge through the intelligent use of its experiences. We suggest that the community position itself to investigate empathic reasoning in the context of a self-learning system with machine learning at the core of its AI.

关键词： Computer aided instruction

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Generating Dynamically Stable Walking Patterns for Humanoid Robots Using Quadratic System Model

Generating Dynamically Stable Walking Patterns for Humanoid ...

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2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： Wael Suleiman Fumio Kanehiro Kanako Miura Eiichi Yoshida CNRS-AIST JRL (Joint Robotics Laboratory) UMI3218/CRT Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable walking motion. Many studies have been carried out to improve the reliability of this model. One of the proposed models is the quadratic system model, which has been validated by conducting real experiments on the humanoid robot. In this paper, we propose several controlling algorithms for the quadratic system. Some of these algorithms are devoted for on-line and off-line walking pattern generation algorithms for the humanoid robot. Dynamically stable walking patterns have been generated in order to validate these algorithms. The stability and feasibility of walking patterns have been confirmed using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C.

关键词： Humanoid robot ZMP control Optimization Nonlinear system control

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Decentralized controller design in flexure-linked gantry by H2 guaranteed cost optimization approach 18

Decentralized controller design in flexure-linked gantry by ...

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18th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Teo, Chek Sing Tay, Arthur Al Mamun, Abdullah Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315201 China

ISBN: (纸本)9780995775121

Dual-drive H-gantry is widely used in many industrial processes that require high-speed and high-precision Cartesian motion. Unlike the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is possible. However, the flexure-linked design may induce the resonant modes of the gantry because of high frequency control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the available ones while optimizing the decentralized feedback controller parameters under model uncertainties. In this way, good tracking performance is achieved without costly system re-design. In this work, we formulate the mechatronic design problem as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, and the global optimum is obtained by means of an outer-linearization-based algorithm. Experiments are conducted and the results successfully validate the effectiveness of the proposed design approach. © 2018 CURRAN-CONFERENCE. All rights reserved.

关键词： Convex optimization Dual-drive H-gantry Flexure Mechatronic design Optimal control Parallel mechanism

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Verification of Passive Power-Assist Device Using Humanoid Robot: Effect on Bending and Twisting Motion

Verification of Passive Power-Assist Device Using Humanoid R...

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IEEE-RAS International Conference on Humanoid Robots

作者： Yumeko Imamura Takayuki Tanaka Ko Ayusawa Eiichi Yoshida CNRS-AIST Joint Robotics Laboratory UMI3218/CRT Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Graduate School of Information Science and Technology Hokkaido University

ISBN: (纸本)9781479968862

A passive power-assist supporter, called Smart Suit Lite, aims at reducing the lumbar load utilizing the tension of elastic belts. Its design method is based on a digital human model and motion measurements. This paper presents basic experiments using humanoid robot HRP-4 for verifying the design model of the suit. In the experiment, the joint torques of the robot and the elastic force of Smart Suit Lite were measured. We found that the decrease of the chest pitch torque during slow forward bending motion on the sagittal plane was consistent with simulation results. In addition, the effects for three-dimensional motion including chest pitching and yawing also indicated a similar tendency to the simulation. Because we performed quantitative evaluation of the effects by each part of the suit, these results are considered to provide useful information to the optimization of Smart Suit Lite.

关键词： Humanoid robots twisting motion Bending Design models Verification three dimensional motion Quantitative Evaluation design approach Torque simulating Robot Thorax Boxes tension

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