检索结果-内蒙古大学图书馆

International Conference of Computer and Informatics engineering (IC2IE)

作者： William Natasha Angeline Hansen Yosica Mariana Elioenai Sitepu Winda Astuti Melinda Siswanto Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Product Design Program Industrial Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Industrial Engineering Department BINUS Graduate Program Master of Industrial Engineering Bina Nusantara University Jakarta Indonesia Biotechnology Engineering Department Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798331505530

ISBN: (纸本)9798331505547

The development of detection kidney function system at the first prototype have problem with the dependence on the internet, which make not practical in the development of the system and the initial design was not ergonomic. In this work the development of the second step is done with the improvement of accuracy compared with other methods. In this work the new design of the embedded system is also applied and in term of algorithm, the system applied for woman patient. Three different types of machine learning techniques, namely K-nearest neighbors (KNN), Decision Tree and Random Forest are applied and compared. The AI-based kidney failure severity identification system with KNN algorithm had an average accuracy of 90% and 91% for training and testing accuracy, respectively. The design of the embedded system also renews with stylist, simple and practical.

关键词： Training Accuracy Machine learning algorithms Embedded systems Nearest neighbor methods Vectors Decision trees Kidney Random forests Testing

来源：评论

学校读者我要写书评

暂无评论

Improvement of Depth Mapping and Occlusion Removal Method Using Integral Imaging 23

Improvement of Depth Mapping and Occlusion Removal Method Us...

引用

23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Sakanoue, Haruka Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Department of Computer Science and Networks Fukuoka Iizuka820-8502 Japan School of ICT Robotics and Mechanical Engineering Iitc Hankyong National University Kyonggi-do Anseong17579 Korea Republic of

ISBN: (纸本)9788993215274

In this paper, we propose the depth mapping and occlusion removal method using integral imaging (InIm). InIm is a method to obtain 3D information by capturing and reconstructing an object from multiple viewpoints. InIm can remove occlusion using parallax obtained by photographing an object from multiple viewpoints. However, occlusion removal uses a unit matrix to calculate the number of overlaps, which results in an overall darkening of the image. To solve this problem, this paper aims to improve occlusion removal by using the matrix of the mask image to calculate the number of overlaps. InIm can provide depth mapping that shows the distance from an object as pixel values. However, when there is an occlusion in front of the object, it is difficult to provide depth mapping object due to the influence of the occlusion. To solve this problem, we propose a method of depth mapping and occlusion removal method using InIm. Our method is expected to make great progress in improving safety in the field of autonomous driving. © 2023 ICROS.

关键词： Mapping

来源：评论

学校读者我要写书评

暂无评论

Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation

Improved Contact Stability for Admittance Control of Industr...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kangwagye Samuel Kevin Haninger Sami Haddadin Sehoon Oh Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University Munich Munich Germany Department of Mechanical and Production Engineering Kyambogo University Kampala Uganda Department of Automation Fraunhofer IPK Berlin Germany Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Industrial robots have increased payload, repeatability, and reach compared to collaborative robots, however, they have a fixed position controller and low intrinsic admittance. This makes realizing safe contact challenging due to large contact force overshoots in contact transitions and contact instability when the environment and robot dynamics are coupled. To improve safe contact on industrial robots, we propose an admittance controller with inverse model compensation, designed and implemented outside the position controller. By including both the inner loop and outer loop dynamics in its design, the proposed method achieves expanded admittance in terms of increasing both gain and cutoff frequency of the desired admittance. Results from theoretical analyses and experiments on a commercial industrial robot show that the proposed method improves rendering of the desired admittance while maintaining contact stability. We further validate this by conducting actual assembly tasks of plug insertion with fine positioning, switch insertion onto the rail, and colliding the robot end effector with random objects and surfaces, as seen at https://***/8XfkdHEdWDs.

关键词： Service robots Contacts Dynamics Cutoff frequency Observers Industrial robots Stability analysis Admittance Thermal stability Payloads

来源：评论

学校读者我要写书评

暂无评论

Analyze and Predict Car Accidents Using Different Machine Learning Algorithms

Analyze and Predict Car Accidents Using Different Machine Le...

引用

International Conference on Information Management and Technology (ICIMTech)

作者： Farrell Putra Harimanto Chris Andrew Henry William Muhammad Zacky Asy'ari Samuel Albert Artanto Muhammad Nurul Puji Computer Engineering Department Automotive & Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

Traffic accidents can occur from various factors, ranging from the driver themselves to problems with the vehicle. Road and traffic accidents are the most significant factor of fatalities in the world. Most of the causes of accidents are the drivers themselves. Poor physical and mental conditions can significantly impact how to drive. The driving experience is also important; the longer the driver has been driving, the more professional he will be, and vice versa. Smart City solutions can predict the severity of accidents and give information to the authorities in order to reduce the number of fatalities. This paper investigates the factors that may lead to an accident on the road. By looking at data collected from traffic-related accidents and then visualizing it to make it easy to analyze; then, from this data, we will predict the causes of traffic accidents so they can be avoided. The best algorithm based on accuracy, MAE and RMSE is Random Forest Classifier with 0.8461, 0.1663 and 0.4376, respectively.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Hands-Free Interface using Breath for Robot-Assisted Operation

Hands-Free Interface using Breath for Robot-Assisted Operati...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Atsuhiro Imai Daigo Misaki Graduate School of Engineering Mechanical Engineering Program Kogakuin University Tokyo Japan Department of Mechanical System Engineering Faculty of Engineering Kogakuin University Tokyo Japan

In this paper, we propose a novel hands-free interface for robot-assisted operation. Surgeons use both hands during surgery, making difficult for them to operate the display. However, by using a modality other than the hands to operate the display, the surgeon can check the necessary information for the operation in real time. Therefore, we developed a system that recognizes breath from the temperature change on the mask surface. Then, we compared the proposed system with a directly recognized breath method. Consequently, the proposed method had the same performance as directly recognized breath method and minimized the risk of contamination. We believe that the application of our developed system will contribute to the improvement of safety and efficiency in the medical field.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Semi-Autonomous Data-Driven Shared Control Framework for Robotic Manipulation and Cutting of an Unknown Deformable Tissue

A Semi-Autonomous Data-Driven Shared Control Framework for R...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Nicholas A. Strohmeyer Ji Hwan Park Braden P. Murphy Farshid Alambeigi Department of Electrical and Computer Engineering The University of Texas at Austin Austin TX USA Walker Department of Mechanical Engineering Texas Robotics The University of Texas at Austin Austin TX USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, we propose a semi-autonomous scheme to synergistically share the complicated task of manipulation and cutting of an unknown deformable tissue (U-DT) between a remote surgeon and a surgical robot. Particularly, utilizing the da Vinci Research Kit (dVRK) platform, we have designed and successfully demonstrated a fully functional shared control scheme for an autonomous tensioning and tele-cutting of a U-DT. We have shown the system’s ability to cooperate with a remote surgeon by leveraging an online data-driven learning and adaptive control method coupled with a reduced-order trajectory planning module that depends on just two parameters. By performing 25 experiments on custom-designed silicon phantoms and defining a set of success/failure metrics, we have put forward findings that establish a causal relationship between these two important parameters and the success or failure of the performed experiments.

关键词： Measurement Personal protective equipment Trajectory planning Time series analysis Surgery Phantoms Silicon

来源：评论

学校读者我要写书评

暂无评论

In Situ Flexible Needle Adjustment Towards MRI-Guided Spinal Injections Based on Finite Element Simulation

In Situ Flexible Needle Adjustment Towards MRI-Guided Spinal...

引用

International Symposium on Medical robotics (ISMR)

作者： Yanzhou Wang Yangsheng Xu Ka-Wai Kwok Iulian Iordachita Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore Maryland USA Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates the possibility of roboti-cally performing in situ needle manipulations to correct the needle tip position in the setting of robot-assisted, MRI -guided spinal injections, where real time MRI images cannot be effectively used to guide the needle. Open-loop control of the needle tip is derived from finite element simulation, and the proposed method is tested with ex vivo animal muscle tissues and validated by cone beam computed tomography. Preliminary results have shown promise of performing needle tip correction in situ to improve needle insertion accuracy when real-time feedback is not readily available.

关键词： Medical robotics Magnetic resonance imaging Computational modeling Computed tomography Muscles Needles Real-time systems

来源：评论

学校读者我要写书评

暂无评论

A Unified Framework for Robots that Influence Humans over Long-Term Interaction

arXiv

引用

arXiv 2025年

作者： Sagheb, Shahabedin Parekh, Sagar Pandya, Ravi Mun, Ye-Ji Driggs-Campbell, Katherine Bajcsy, Andrea Losey, Dylan P. Virginia Tech Department of Mechanical Engineering United States Carnegie Melon University Robotics Institute United States University of Illinois Urbana-Champaign Department of Electrical and Computer Engineering United States

Robot actions influence the decisions of nearby humans. Here influence refers to intentional change: robots influence humans when they shift the human’s behavior in a way that helps the robot complete its task. Imagine an autonomous car trying to merge;by proactively nudging into the human’s lane, the robot causes human drivers to yield and provide space. Influence is often necessary for seamless interaction. However, if influence is left unregulated and uncontrolled, robots will negatively impact the humans around them (e.g., autonomous cars that repeatedly merge in front of humans may cause human drivers to become more aggressive). Prior works have begun to address this problem by creating a variety of control algorithms that seek to influence humans. Although these methods are effective in the short-term, they fail to maintain influence over time as the human adapts to the robot’s behaviors. In this paper we therefore present an optimization framework that enables robots to purposely regulate their influence over humans across both short-term and long-term interactions. Here the robot maintains its influence by reasoning over a dynamic human model which captures how the robot’s current choices will impact the human’s future behavior. Our resulting framework serves to unify current approaches: we demonstrate that state-of-the-art methods are simplifications of our underlying formalism. Our framework also provides a principled way to generate influential policies: in the best case the robot exactly solves our framework to find optimal, influential behavior. But when solving this optimization problem becomes impractical, designers can introduce their own simplifications to reach tractable approximations. We experimentally compare our unified framework to state-of-the-art baselines and ablations, and demonstrate across simulations and user studies that this framework is able to successfully influence humans over repeated interactions. See videos of our experiments he

关键词： Human robot interaction

来源：评论

学校读者我要写书评

暂无评论

A Low-Order Model of Dolphin Swimming Dynamics: Fluke Flexibility and Energetics

A Low-Order Model of Dolphin Swimming Dynamics: Fluke Flexib...

引用

Control Technology and Applications (CCTA),

作者： Enric Xargay Gabriel Antoniak Kira Barton K. Alex Shorter Department of Mechanical Engineering University of Michigan Ann Arbor MI USA Departments of Mechanical Engineering and Robotics University of Michigan Ann Arbor MI USA

This work presents a first-principles, low-order model of the sagittal-plane swimming dynamics of a bottlenose dolphin. The model captures key features of cetacean swimming, namely lift-based propulsion, unsteady hydrodynamics, fluke flexibility, and body posture. The model is used to estimate steady-state swimming kinematics and kinetics at a range of speeds, which are then compared to published estimates from swimming animals.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Strain-based Modeling of Rod-driven Soft Continuum Robots with Co-located Embedded Sensors

Strain-based Modeling of Rod-driven Soft Continuum Robots wi...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Peiyi Wang Daniel Feliu-Talegon Sheng Guo Federico Renda Cecilia Laschi Department of Mechanical Engineering National University of Singapore Singapore Singapore Department of Mechanical and Nuclear Engineering Khalifa University of Science and Technology Abu Dhabi UAE Robotics Research Center Beijing Jiaotong University Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Rod-driven soft robots (RDSR) with a well-balanced performance in terms of perception, precision, and intelligence have a great potential for application. Mathematical description and predicted sensing of deformable soft bodies are crucial to achieve controllable and intelligent behaviors of these robots. In this work, we propose a kinetostatic model for RDSR embedded with co-located sensors based on the Geometric Variable Strain (GVS) approach where local deformations, actuation lengths and external interactions are included. This approach allows us to estimate the shape of RDSR and predict the strain variation of soft bodies under internal and external interactions. Simulations and experimental results show that tip position errors are not greater than 1.8% with respect to the whole body length under different loads (0, 100, 200, 300 gf). The maximum error of predicted sensor length change is up to 2 mm and its percentage relative to the actual length does not exceed 4%. The results demonstrate the accuracy and effectiveness of the proposed model.

关键词： Deformable models Accuracy Shape Deformation Soft robotics Robot sensing systems Capacitive sensors Intelligent sensors Strain Load modeling

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：