检索结果-内蒙古大学图书馆

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

来源：评论

学校读者我要写书评

暂无评论

Instantaneous capture input for balancing the variable height inverted pendulum

arXiv

引用

arXiv 2021年

作者： Liu, Junwei Chen, Hua Wensing, Patrick M. Zhang, Wei Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Aerospace and Mechanical Engineering University of Notre Dame Notre DameIN46556 United States

Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inverted pendulum thanks to the concept of the instantaneous capture point (ICP), yet the constant center of mass height assumption limits the application. This paper explores balancing of the variable-height inverted pendulum (VHIP) model by introducing the instantaneous capture input (ICI), an extension of the ICP based on its key properties. Namely, the ICI can be computed as a function of the state, and when this function is used as the control policy, the ICI is rendered stationary and the system will eventually come to a stop. This characterization induces an analytical region of capturable states for the VHIP, which can be used to conceptually guide where to step. To further address state and control constraints during recovery, we present and theoretically analyze an explicit ICI-based controller with online optimal feedback gains. Simulations demonstrate the validity of our controller for capturability maintenance compared to an approach based on the divergent component of motion. Copyright © 2021, The Authors. All rights reserved.

关键词： Balancing

来源：评论

学校读者我要写书评

暂无评论

Corrections to “A Piecewise Monotonic Smooth Phase Variable for Speed-Adaption Control of Powered Knee-Ankle Prostheses”

引用

IEEE robotics and Automation Letters 2022年第4期7卷 11475-11475页

作者： Teng Ma Yuxuan Wang Xinxing Chen Chuheng Chen Zhimin Hou Haoyong Yu Chenglong Fu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Department of Biomedical Engineering National University of Singapore Singapore

Firstly, in the letter [1], there is a missing citation in Section II, part B, the first sentence. It should be “In a manner similar to [2], [3], speed estimation was achieved by a double-pendulum model.” In our previous version [1], speed estimation was based on the principles in [3]. We also referred to the interpretation and expression form of 6 and 7 in [2], but did not cite this reference in [1]. It should be noted that the 9 in [1] is not the same as 5 in [2]. Because our prosthesis can measure the kinematic information of the hip, knee, and ankle, we considered using the kinematics of the three joints to estimate the velocity, instead of only using the angle hip and knee as in [2], therefore we additionally introduced the ankle angle in 9 of [1]. This led to changes in the lower extremity model used in our calculations and changes in the formula for calculating the stride length.

关键词： Prosthetics Robot sensing systems Phase measurement Biomedical measurement Thigh Noise measurement Legged locomotion

来源：评论

学校读者我要写书评

暂无评论

Modeling and Analysis of the Dynamic Walking of a Biped Robot with Knees

Modeling and Analysis of the Dynamic Walking of a Biped Robo...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Essia Added Hassène Gritli Safya Belghith Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Tunis Tunisia Higher Institute of Information and Communication Technologies University of Carthage Tunis Tunisia

Modeling a biped robot with a complicated structure and descending an inclined plane is a challenge due to the complexity of its dynamic walking model. In this work, we develop the mathematical model of a kneed robot, with rigid segments and with punctual contact with the ground. We reformulate such complicated model as an impulsive hybrid nonlinear system. Moreover, using chiefly bifurcation diagrams, we study the influence of certain inertial and geometrical parameters on the passive gaits of the kneed bipedal robot. We show via simulations the exhibition of the Neimark-Sacker bifurcation emanated from the period-1 gaits, and hence the appearance of complex quasi-periodic gaits.

关键词： Legged locomotion Knee Analytical models Bifurcation Nonlinear dynamical systems Complexity theory Mathematical model

来源：评论

学校读者我要写书评

暂无评论

The neuromuscular control for lower limb exoskeleton- a 50-year perspective

引用

Journal of Biomechanics 2023年第1期158卷 111738-111738页

作者： Chen, Yu-Ning Wu, Yi-Ning Yang, Bing-Shiang Department of Mechanical Engineering National Yang Ming Chiao Tung University Taiwan Biomechanics and Medical Application Laboratory National Yang Ming Chiao Tung University Division of Neurosurgery Department of Surgery National Taiwan University Hospital Hsin-Chu Branch Taiwan Department of Physical Therapy and Kinesiology University of Massachusetts Lowell MA United States The New England Robotics Validation and Experimentation Center University of Massachusetts Lowell MA United States Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute Taiwan Taiwanese Society of Biomechanics Taiwan

Historically, impaired lower limb function has resulted in heavy health burden and large economic loss in society. Although experts from various fields have put large amounts of effort into overcoming this challenge, there is still not a single standard treatment that can completely restore the lost limb function. During the past half century, with the advancing understanding of human biomechanics and engineering technologies, exoskeletons have achieved certain degrees of success in assisting and rehabilitating patients with loss of limb function, and therefore has been spotlighted in both the medical and engineering fields. In this article, we review the development milestones of lower limb exoskeletons as well as the neuromuscular interactions between the device and wearer throughout the past 50 years. Fifty years ago, the lower-limb exoskeletons just started to be devised. We review several prototypes and present their designs in terms of structure, sensor and control systems. Subsequently, we introduce the development milestones of modern lower limb exoskeletons and discuss the pros and cons of these differentiated devices. In addition, we summarize current important neuromuscular control systems and sensors;and discuss current evidence demonstrating how the exoskeletons may affect neuromuscular control of wearers. In conclusion, based on our review, we point out the possible future direction of combining multiple current technologies to build lower limb exoskeletons that can serve multiple aims. © 2023 Elsevier Ltd

关键词： Control systems

来源：评论

学校读者我要写书评

暂无评论

Heatmap-based vanishing point boosts lane detection

arXiv

引用

arXiv 2020年

作者： Liu, Yin-Bo Zeng, Ming Meng, Qing-Hao Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University China

Vision-based lane detection (LD) is a key part of autonomous driving technology, and it is also a challenging problem. As one of the important constraints of scene composition, vanishing point (VP) may provide a useful clue for lane detection. In this paper, we proposed a new multi-task fusion network architecture for high-precision lane detection. Firstly, the ERFNet was used as the backbone to extract the hierarchical features of the road image. Then, the lanes were detected using image segmentation. Finally, combining the output of lane detection and the hierarchical features extracted by the backbone, the lane VP was predicted using heatmap regression. The proposed fusion strategy was tested using the public CULane dataset. The experimental results suggest that the lane detection accuracy of our method outperforms those of state-of-the-art (SOTA) *** Codes 68T45 (Primary) 68T07 (Secondary) Copyright © 2020, The Authors. All rights reserved.

关键词： Network architecture

来源：评论

学校读者我要写书评

暂无评论

A multi-resolution frontier-based planner for autonomous 3D exploration

arXiv

引用

arXiv 2020年

作者： Batinović, Ana Petrović, Tamara Ivanovic, Antun Petric, Frano Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier - a boundary between the explored and unknown part of the environment - and consists of the algorithm for detecting frontier points, followed by clustering of frontier points and selecting the best frontier point to be explored. Compared to existing frontier-based approaches, the planner is more scalable, i.e. it requires less time for the same data set size while ensuring similar exploration time. Performance is achieved by not relying on data obtained directly from the 3D sensor, but on data obtained by a mapping algorithm. In order to cluster the frontier points, we use the properties of the Octree environment representation, which allows easy analysis with different resolutions. The planner is tested in the simulation environment and in an outdoor test area with a UAV equipped with a lidar sensor. The results show the advantages of the approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Conformal mapping

来源：评论

学校读者我要写书评

暂无评论

Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy

Synchronous Motion Generation of Multiple Continuum Robots B...

引用

IEEE International Conference on robotics and Biomimetics

作者： Ning Tan Ruikun Hu Yuyang Wu Xinyu Zhang Fenglei Ni Zhenglong Sun School of Computer Science and Engineering Sun Yat-sen University Guangzhou PR China State Key Laboratory of Robotics and Systems (HIT) Harbin PR China Engineering Research Center of Software/Hardware Co-Design Technology and Application Ministry of Education (East China Normal University) Shanghai PR China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9781665405362

In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-free closed-loop framework. The proposed approach is heading to address cooperative task execution for multiple continuum robots. The model-free feedback control guarantees the high portability for a wide range of continuum robots. Simulation studies are conducted on two kinds of tasks, which are cooperative task execution with two robots and simultaneously tracking control with three robots. Besides, the superiority of proposed approach is validated through comparisons with other methods. Simulation results prove the high accuracy and efficiency of this model-free feedback control scheme.

关键词： Jacobian matrices Adaptation models Tracking Simulation Conferences Convex functions Feedback control

来源：评论

学校读者我要写书评

暂无评论

LMI-Based Position Control of Underactuated Robotic systems via an Affine PD Controller: Case Study

LMI-Based Position Control of Underactuated Robotic Systems ...

引用

Information Technologies & Smart Industrial systems (ITSIS), IEEE

作者： Sahar Jenhani Hassène Gritli Giuseppe Carbone Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia RISC Lab (LR16ES07) Higher Institute of Information and Communication Technologies University of Carthage Borj Cedria Tunis Tunisia Department of Mechanical Energy and Management Engineering University of Calabria Rende (Cs) Italy

In this work, our goal is control the position of underactuated robotic Lagrangian systems through an affine-type PD controller and by adopting the inertia wheel inverted pendulum as an application example. In order to model the condition on feedback gains of the controller for stability, we take the dynamical model that describes the gap between the linearized model and the nonlinear dynamics. Moreover, we assume that this difference satisfies some condition. Furthermore, by virtue of the LMI techniques, we develop the stability conditions. Finally, we provide some results to reveal the efficiency of the proposed controller design.

关键词： Service robots Friction Wheels Position control Stability analysis Nonlinear dynamical systems Linear matrix inequalities

来源：评论

学校读者我要写书评

暂无评论

Structural Optimization of Photoacoustic Transducer with Pdms/Csnps Nanocomposite for Laser-Induced Nonlinear Surface Wave and its Application in Fatigue Crack Detection

SSRN

引用

SSRN 2023年

作者： Yao, Zhijun Li, Yehai Lv, Gaolong Chen, Dan Yang, Jian Guo, Shifeng Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic Shenzhen518055 China Department of Mechanical Materials and Manufacturing Engineering University of Nottingham Ningbo China Ningbo315100 China

Laser ultrasonics is a promising non-contact inspection technique but faces the challenges of low signal-to-noise ratio and low amplitude under the non-destructive thermoelastic regime. In this paper, an ultrasonic surface wave modulation method based on laser ultrasonics and photoacoustic transducer (PAT) is proposed and combined with nonlinear wave mixing technique to achieve non-contact detection of fatigue crack. The PAT comprised of candle soot nanoparticles and polydimethylsiloxane (PDMS) as well as a line-arrayed laser source modulated by a slit mask are firstly introduced to generate narrowband surface wave with high intensity and SNR under the thermoelastic regime. The thicknesses of the PDMS layers of PAT are thereafter optimized by analytical, numerical and experimental investigations to acquire narrowband surface wave with pure fundamental frequency component. Two modulated ultrasonic surface waves with frequencies of 2.1 MHz and 2.9 MHz are excited on a fatigued aluminum plate to generate nonlinear mixed components, and the ultrasonic responses over the fatigue crack regions are acquired by using a scanning laser Doppler vibrometer. The localization of fatigue crack with microscale is eventually acquired by mapping the nonlinear parameter of the mixed components, which proves it a reliable and nondestructive technique to inspect the fatigue crack. © 2023, The Authors. All rights reserved.

关键词： Transducers

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：