In this paper, we introduce a versatile data-driven approach for servo-controlling the highly deformable robotic endoscope equipped with Draw Tower Gratings (DTGs). The advancement of perception and decision-making te...
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ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
In this paper, we introduce a versatile data-driven approach for servo-controlling the highly deformable robotic endoscope equipped with Draw Tower Gratings (DTGs). The advancement of perception and decision-making technologies is pivotal for enabling flexible robots to execute automatic procedures. However, modeling these robots presents a significant challenge due to their large deformations and susceptibility to environmental disturbances. To address this issue, we propose a robust adaptive control framework that leverages DTG-based proprioceptive shape feedback. This automatic paradigm can online estimate the unknown deformation model of the flexible robot based on function approximation (FA), while also accounting for unknown perturbations without prior identification. By employing the proposed FA-based adaptive algorithm, we can ensure the convergence of the shape control error. Experimental results validating a highly deformable flexible robot embedded with DTG sensors showcase the efficiency of the proposed control strategy in unknown scenarios.
In the realm of autonomous mobile robots, safe navigation through unpaved outdoor environments remains a challenging task. Due to the high-dimensional nature of sensor data, extracting relevant information becomes a c...
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Nowadays,quality improvement and increased accessibility to patient data,at a reasonable cost,are highly challenging tasks in healthcare *** of Things(IoT)and Cloud Computing(CC)architectures are utilized in the devel...
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Nowadays,quality improvement and increased accessibility to patient data,at a reasonable cost,are highly challenging tasks in healthcare *** of Things(IoT)and Cloud Computing(CC)architectures are utilized in the development of smart healthcare *** entities can support real-time applications by exploiting massive volumes of data,produced by wearable sensor *** advent of evolutionary computation algorithms andDeep Learning(DL)models has gained significant attention in healthcare diagnosis,especially in decision making *** cancer is the deadliest disease which affects people across the *** skin lesion classification model has a highly important application due to its fine-grained variability in the presence of skin *** current research article presents a new skin lesion diagnosis model i.e.,Deep Learning with Evolutionary Algorithm based Image Segmentation(DL-EAIS)for IoT and cloud-based smart healthcare ***,the dermoscopic images are captured using IoT devices,which are then transmitted to cloud servers for further ***,Backtracking Search optimization Algorithm(BSA)with Entropy-Based Thresholding(EBT)i.e.,BSA-EBT technique is applied in image *** by,Shallow Convolutional Neural Network(SCNN)model is utilized as a feature *** addition,Deep-Kernel Extreme LearningMachine(D-KELM)model is employed as a classification model to determine the class labels of dermoscopic *** extensive set of simulations was conducted to validate the performance of the presented method using benchmark *** experimental outcome infers that the proposed model demonstrated optimal performance over the compared techniques under diverse measures.
The process of ionizing normal saline induced by femtosecond laser is studied from the perspective of gas production rate and *** the repetition rate is less than 1000 Hz,each laser pulse independently generates ioniz...
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The process of ionizing normal saline induced by femtosecond laser is studied from the perspective of gas production rate and *** the repetition rate is less than 1000 Hz,each laser pulse independently generates ionization *** the same time,we discovered the inhibitory effect of meglumini diatrizoici on the ionization process and explained the reasons for this ***,the gas composition proved that the primary gas production mechanism of the femtosecond laser is the decomposition of water molecular,and the composition of the solution after the reaction proved the decomposition effect of the laser on meglumine.
Laser-based micromachining is often applied to the fabrication of piezoceramic microactuators. In fact, the manual generation of a G-code file for the micromachining of such microactuators is very hard work. In this w...
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This paper introduces an approach for vibration-based damage detection based on matrix updating aided by the Whale Optimization Algorithm (WOA). The methodology uses the Data-driven Stochastic Subspace Identification ...
This paper introduces an approach for vibration-based damage detection based on matrix updating aided by the Whale Optimization Algorithm (WOA). The methodology uses the Data-driven Stochastic Subspace Identification (SSI-DATA) technique to determine the modal parameters, which are compared with those obtained from both healthy and damaged conditions of the structure. The methodology’s efficacy is assessed through three distinct steps: numerical simulations, experimental data, and real-world data from a bridge. Initially, numerical analyses are conducted on a cantilever beam, a 10-bar truss, and a Warren truss subjected to environmental vibrations with varying damage cases and noise levels. Subsequently, experimental validations are performed on a test system and in the Z24 Bridge. Results from the computational simulations demonstrate the method’s promise to identify, locate, and quantify single and multiple damage cases, even amidst signal noise, variations in the first vibration mode as minimal as 0.015%, and complex structures with 54 elements. Moreover, the matrix updating method utilizing WOA showcased superior accuracy compared to existing techniques in the literature. In addition, the Z24 Bridge example validated the capability of the presented damage detection method to localize structural damage solely based on natural frequencies.
Robots often have to perform manipulation tasks in close proximity to people (Fig 1). As such, it is desirable to use a robot arm that has limited joint torques so as to not injure the nearby person. Unfortunately, th...
Robots often have to perform manipulation tasks in close proximity to people (Fig 1). As such, it is desirable to use a robot arm that has limited joint torques so as to not injure the nearby person. Unfortunately, these limited torques then limit the payload capability of the arm. By using contact with the environment, robots can expand their reachable workspace that, otherwise, would be inaccessible due to exceeding actuator torque limits. We adapt our recently developed INSAT algorithm [1] to tackle the problem of torque-limited whole arm manipulation planning through contact. INSAT requires no prior over contact mode sequence and no initial template or seed for trajectory optimization. INSAT achieves this by interleaving graph search to explore the manipulator joint configuration space with incremental trajectory optimizations seeded by neighborhood solutions to find a dynamically feasible trajectory through contact. We demonstrate our results on a variety of manipulators and scenarios in simulation. We also experimentally show our planner exploiting robot-environment contact for the pick and place of a payload using a Kinova Gen3 robot. In comparison to the same trajectory running in free space, we experimentally show that the utilization of bracing contacts reduces the overall torque required to execute the trajectory.
The extensive incorporation of machine vision into the fields of robotics and automation in a variety of different ways. The various uses of machine vision and the revolutionary impact it has on the capabilities of ro...
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ISBN:
(数字)9798350365092
ISBN:
(纸本)9798350365108
The extensive incorporation of machine vision into the fields of robotics and automation in a variety of different ways. The various uses of machine vision and the revolutionary impact it has on the capabilities of robotic systems. This investigation is fueled by improvements in imaging technology and artificial intelligence. In the abstract, major features such as object detection, navigation, and human-robot interaction are discussed in depth. The abstract also demonstrates how machine vision algorithms contribute to enhanced precision, efficiency, and adaptability in automation processes. The purpose of thisis to shed light on the role that machine vision plays in revolutionising industrial automation, collaborative robotics, and autonomous systems by conducting an examination of real-world implementations and case studies. This all-encompassing investigation not only highlights the current status of machine vision applications but also forecasts the future trajectory of this technology, thereby establishing it as a foundational component for the development of robotics and automation in a variety of fields.
mechanical alloying of bimetallic materials by ball milling produces particulate products where, aside from internal structure, the size and shape of particles is of importance for various applications. This article i...
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Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where th...
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