检索结果-内蒙古大学图书馆

2023 IEEE International Symposium on Robotic and Sensors Environments, ROSE 2023

作者： Rexha, Genta Pajaziti, Arbnor Bajrami, Xhevahir Kola, Jozef Capi, Genci Pongthanisorn, Goragod Polytechnic University of Tirana Department of Electronics and Telecommunications Tirana Albania Faculty of Mechanical Engineering Department of Mechatronics Prishtina Serbia Albanian University Department of Engineering Tirana Albania Hosei University Assistive Robotics Laboratory Tokyo Japan

ISBN: (纸本)9798350308044

In this study is presented a wheelchair with a control mechanism driven by the user's eye movements. The wheelchair's functionality is enabled through two stepper motors, a driver DMA860H, and an Arduino Uno microcontroller. The objective of the research is that the EEG signals are read and by means of these signals we perform certain tasks or control various processes. OpenBCI (Brain Computer Interface) board has been used to measure and record electrical activity produced by the brain and is compatible with standard EEG (Electroencephalogram) *** user's eye movements will be used to operate the stepper motors. The OpenBCI Cyton plus Daisy biosensing board samples the signals, which are then processed in Matlab before relaying the motions to Arduino Uno. The wheelchair can move left, right, backward, and forward, based on eye movements. © 2023 IEEE.

关键词： Wheelchairs

来源：评论

学校读者我要写书评

暂无评论

Feedforward Backpropagation Artificial Neural Network for Modeling the Forward Kinematics of a Robotic Manipulator

Feedforward Backpropagation Artificial Neural Network for Mo...

引用

2023 International Conference on Innovation and Intelligence for Informatics, Computing, and Technologies, 3ICT 2023

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassene Higher Institute of Information and Communication Technologies Tunis1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Guwahati781039 India National Engineering School of Tunis Tunis1002 Tunisia

ISBN: (纸本)9798350307771

Determining an end-effector position and orientation, known as forward kinematics (FK), is a crucial aspect of robotic manipulation. This research addresses the FK problem using a Feedforward Backpropagation Artificial Neural Network (FFBP-ANN) and examines the network's performance with different hyperparameters. The input of the FFBP-ANN is primarily formed using three different datasets: fixed-step values, random values, and sinusoidal-signal based values, for a 2-DOF robotic manipulator. The output of the FFBP-ANN is evaluated using FK formulation of the robot manipulator. Thereafter, the FFBP-ANN is trained utilizing the input-output training dataset using The Neural Network Toolbox for MATLAB. The network's potential is investigated by varying the critical hyperparameters, including the number of hidden neurons and the number of hidden layers. Moreover, the effectiveness of the proposed FFBP-ANN is investigated with three different training optimizers including the utilization of Levenberg-Marquardt, Bayesian Regularization, and Scaled Conjugate Gradient optimization algorithms. During training, by adjusting the network's weights and biases iteratively, the backpropagation technique allows the network to effectively learn and comprehend the relationship between joint positions and Cartesian coordinates. The comparative results offer valuable insights into the strengths and limitations of different ANN architectures when applied to solving FK problems. In this way, this study focuses on exploring the application of the FFBP-ANN in resolving FK challenges and assisting in the identification of appropriate network types for path-planning tasks. © 2023 IEEE.

关键词： End effectors

来源：评论

学校读者我要写书评

暂无评论

Design of a Multi-bending Flexible Manipulator for Gastrointestinal Surgery

Design of a Multi-bending Flexible Manipulator for Gastroint...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyojae Park Minho Hwang Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

Unlike the existing rigid surgical robots, flexible endoscopic robotic platforms have been actively researched owing to the advantages of high lesion accessibility and scar-free. However, there still exists difficult-to-access areas such as cardia and fundus in the gastrointestinal tract due to the limited Degrees of Freedom (DoFs) of the manipulator. In this study, we propose a multi-bending endoscopic manipulator to improve accessibility to the gastric region in any position and orientation. We perform mechanism design, kinematics, and cable-control analysis of the proposed manipulator. Finally, we verify the multi-bending motion in the simulated flexible pathway.

关键词： Medical robotics Automation Surgery Kinematics Manipulators Control systems Gastrointestinal tract

来源：评论

学校读者我要写书评

暂无评论

Error Evaluation of the Fitting Algorithm for Selected Vertebral Surfaces 25

Error Evaluation of the Fitting Algorithm for Selected Verte...

引用

25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Lopukhov, Evgenii O. Prokhorenko, Leonid S. Vorotnikov, Andrei A. Poduraev, Yuri V. Grin, Andrey A. Levchenko, Oleg V. Technobiomed Research Insitute FSBEI HE "ROSUNIMED" OF MOH OF RUSSIA Dep. of Robotics and Mechatronics MSUT "STANKIN" Moscow Russia Technobiomed Research Insitute FSBEI HE "ROSUNIMED" OF MOH OF RUSSIA Moscow Russia Technobiomed Research Institute FSBEI HE "ROSUNIMED" OF MOH OF RUSSIA Dep. of Robotics and Mechatronics MSUT "STANKIN" Moscow Russia Technobiomed Research Insitute FSBEI HE "ROSUNIMED" OF MOH OF RUSSIA Dep. of Emergency Neurosurgery Sklifosovsky Research Institute Moscow Healthcare Department Moscow Russia Dep. of Neurosurgery and Neuro-Resuscitation FSBEI HE "ROSUNIMED" OF MOH OF RUSSIA Moscow Russia

ISBN: (纸本)9798350389234

Surgical navigation systems with medical robotics are the next stage of spine surgery technique, after manual surgical manipulations under the control of intraoperative X-rays. This combination ensures accuracy and safety during spinal fusion. Registration and navigation using computed tomography is the most complex navigation method. This method provides accuracy up to 1 mm and high reliability, which significantly reduces the number of errors when inserting pedicle screws into the vertebrae. We have developed a new method for navigating surgical instruments based on preoperative patient computed tomography data using a surgical navigation system and algorithm for fitting 3D models and patient vertebrae positions in the navigation system. This article aims to error-evaluate the results of the software implementation of the fitting algorithm for different selected surfaces on the vertebra with pre-created holes for a surgical probe. The algorithm of the experiment is as follows: measuring the points coordinates on the vertebra surfaces and recording data of the estimated parameters during the probe into the hole in the vertebra for 10-15 seconds. The resulting data was filtered using RANSAC and presented the mean with standard deviation. As a result of the study, we can conclude that the proposed method of fitting 3D vertebrae models with the planned trajectory of pedicle screw insertion and the measured coordinates of the patient’s vertebral surface points makes it possible to achieve a positional error of less than 0.6 mm and an angular registration error of less than 0.52°. © 2024 IEEE.

关键词： Medical robotics

来源：评论

学校读者我要写书评

暂无评论

Smart Manufacturing Integration of Heterogeneous Information Systems via OPC UA. A Case Study

Smart Manufacturing Integration of Heterogeneous Information...

引用

2024 International Conference Automatics and Informatics, ICAI 2024

作者： Vasilev, Plamen Boneva, Ani Ivanova, Veronika Tsvetanov, Tsetso University of Chemical Technology and Metallurgy Department of Industrial Automation Sofia Bulgaria Institute of Information and Communication Technologies Bulgarian Academy of Sciences Department of Communication and Computer Systems Sofia Bulgaria Institute of Robotics Bulgaria Academy of Sciences Department of Robotized and Mechatronics Intelligent Systems Sofia Bulgaria

ISBN: (纸本)9798350353907

Modern automation, digitalization, virtualization, and intelligent production impose new criteria and approaches to process management. The operation and performance of any system and device depend on how it is managed. The article describes Smart Manufacturing Integration of Heterogeneous Information Systems via OPC UA. The main goal is the development of heterogeneous information systems with real applications, with which reliable and up-to-date information can be exchanged between systems of different hierarchical levels. The goal was achieved with the following steps i) building the research infrastructure ii) analyzing the information compatibility and challenges in integrating systems from different hierarchical levels, and iii) implementing the integration by means of the OPC-UA standard communication protocol. The setup has been tested under laboratory conditions. The obtained results are shown. © 2024 IEEE.

关键词： Smart manufacturing

来源：评论

学校读者我要写书评

暂无评论

Modelling of Machining Time and its Uncertainty in Micro Electrical Discharge Machining Process Using RSM

Modelling of Machining Time and its Uncertainty in Micro Ele...

引用

International Conference on mechatronics (ICOM)

作者： Mohammad Mainul Hasan Tanveer Saleh Ali Sophian Autonomous Systems and Robotics Research Unit (ASSRU) Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur Malaysia

ISBN: (数字)9798350349788

ISBN: (纸本)9798350349795

In modern manufacturing processes, precision and efficiency are paramount, particularly in a stochastic method such as Micro Electrical Discharge Machining (μEDM). With its ability to fabricate intricate geometries in hard and difficult-to-machine materials, μEDM has become indispensable in various industries. However, optimising machining time while ensuring reliability and accuracy remains a significant challenge that often relies on the intuition and experience of machinists. In response, this paper presents a comprehensive study on the modelling of machining time (MT) and also its associated uncertainty characterised by the standard deviation (SD) in the μEDM process using Response Surface Methodology (RSM). The study utilises experimental data generated through the I -optimal design of experiment technique (DOE) to develop quadratic equations for the MT Mean and SD MT models. The input factors for the models include capacitance, voltage, feed rate, tool speed, tool diameter, workpiece thickness, and workpiece materials defined by thermal conductivity, melting point, and electrical resistivity. The adequacy of both models was assessed based on ANOV A and fit statistics, demonstrating their effectiveness. Additionally, the mean percentage accuracies of the MT Mean and SD MT models are evaluated as 74.5% and 58% for the train set and 86.8% and 82.1 % for the test set, respectively. By leveraging RSM techniques, this research aims to provide insights into the complex relationships between machining parameters and the resulting machining time and uncertainty, facilitating enhanced process μEDM control and performance optimisatio n.

关键词： Training Adaptation models Uncertainty Accuracy Estimation Machining Predictive models

来源：评论

学校读者我要写书评

暂无评论

Collaborative Multi-Rover Crater Exploration: Concept and Results from the ARCHES Analog Mission

Collaborative Multi-Rover Crater Exploration: Concept and Re...

引用

IEEE Conference on Aerospace

作者： Lukas Burkhard Ryo Sakagami Kristin Lakatos Heinrich Gmeiner Peter Lehner Josef Reill Marcus G. Müller Maximilian Durner Armin Wedler Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Heinrich Gmeiner System Design and Consultant Waldthurn Germany

Access to extreme terrain, like caves or craters, is a key challenge for future planetary exploration robots. Many experimental robotic systems either use innovative locomotion concepts or elaborate mission designs to explore more challenging terrain. However, this requires a highly-specialized task-specific robot design, limiting the scope of the robot’s general application. We investigate an alternative approach, by enabling an existing team of rover systems to crater exploration as an additional opportunistic mission task. The rovers collaborate in a tethered abseiling operation, enhancing the locomotion capabilities of one member of the robotic team. We use our two planetary rover prototypes for crater exploration within the scope of a general multi-purpose multi-robot Moon analog mission. In this paper, we first outline the design of and the modifications to our rover systems and describe the general partial-autonomous setup of the experiment, including the robot collaboration for hooking the tether and the abseiling into the crater. Second, we showcase the feasibility of this concept during a Moon analog campaign on the volcano Mt. Etna, Italy, in 2022. At the site, the rovers successfully access the Cisternazza crater, a crater of approximately 150 m in width and 30 m in depth, featuring steep flanks of partially compacted and partially loose volcanic soil. The experiment showed the feasibility of collaborative manipulation for tethering the two rovers. It additionally demonstrated enhanced rover locomotion capabilities due to the winch, enabling safe crater exploration. We finally discuss the lessons learned from this experiment and the remaining implementation steps to achieve full locally autonomous crater exploration.

关键词：

来源：评论

学校读者我要写书评

暂无评论

MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration

arXiv

引用

arXiv 2025年

作者： Wang, Fanxin Cheng, Yikun Tao, Chuyuan Department of Mechatronics and Robotics Xi’an Jiaotong-Liverpool University China Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign United States

In trajectory optimization, Model Predictive Path Integral (MPPI) control is a sampling-based Model Predictive Control (MPC) framework that generates optimal inputs by efficiently simulating numerous trajectories. In practice, however, MPPI often struggles to guarantee safety assurance and balance efficient sampling in open spaces with the need for more extensive exploration under tight constraints. To address this challenge, we incorporate discrete barrier states (DBaS) into MPPI and propose a novel MPPI-DBaS algorithm that ensures system safety and enables adaptive exploration across diverse scenarios. We evaluate our method in simulation experiments where the vehicle navigates through closely placed obstacles. The results demonstrate that the proposed algorithm significantly outperforms standard MPPI, achieving a higher success rate and lower tracking errors. © 2025, CC BY.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Shape-adaptive stiffness variable soft gripper using porous structure

引用

Journal of Institute of Control, robotics and Systems 2021年第3期27卷 238-246页

作者： Lee, Jae-Young Cho, Seong J. Seo, Yong-Sin Park, Chan-Hun Park, Dong-Il Kim, Byeung-In Kim, Hwi-Su Song, Sung-Hyuk Department of Robotics & Mechatronics Korea Institute of Machinery & Materials Daejeon Korea Republic of School of Mechanical Engineering Chungnam National University Daejeon Korea Republic of

Robotic grippers are essential components used in robots to perform certain tasks. Effective gripping capabilities are important for industrial and service robots. However, the parallel-type gripper, which is one of the most widely used robotic grippers, has limitations in terms of the objects that it can handle as well as applying the correct handling force, especially when handling fragile objects. Hence, a soft gripper fabricated using soft materials is proposed as a new alternative, with the advantage of preventing injuries when human-robot interaction is required. However, the limited holding force and uncontrollable movement of a soft gripper, due to its softness, could limit its use in real-life conditions. Therefore, in this article, we propose a shape-adaptive tip using a variable stiffness mechanism. To decrease the initial stiffness of the gripper tip, the reticulated polyurethane foam structure was embedded in the tip as the soft supporting layer to support the external force. The flexible mesh structure was applied as the jamming layer to change the stiffness of the tip. The prototype of the gripping system was tested, and the gripper could transfer the grape effectively without damage using the jamming mechanism. © ICROS 2021.

关键词： Grippers

来源：评论

学校读者我要写书评

暂无评论

mechatronics in Solar-Thermal Evaporators: Technical Innovations from Asia to Enhance the Industry in Peru

Mechatronics in Solar-Thermal Evaporators: Technical Innovat...

引用

Smart Technologies, Communication and robotics (STCR)

作者： Adrian Nacarino Ricardo Palomares Jose Cornejo Mariela Vargas Josue Alata Rey Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Ricardo Palma University Lima Peru Universidad Tecnologica del Peru Lima Peru

ISBN: (数字)9798350357530

ISBN: (纸本)9798350357547

According to the World Health Organization (WHO), Healthcare-Associated Infections (HAIs) contribute significantly to global death rates. Likewise, the European Centre for Disease Prevention and Control (ECDC) estimated that each year, approximately 3.2 million individuals acquire HAIs, leading to around 37,000 fatalities. This underscores the need for efficient sterilization methods. In response, China has developed sustainable solar thermal autoclave technologies that utilize renewable energy, reducing operational costs and CO₂ emissions. This study conducted a literature review on solar-thermal evaporators technologies developed over the past decade, analyzing patents and prototypes in terms of energy efficiency, achieved temperature, and potential medical applications. Additionally, Peruvian regions with high solar radiation were identified using data from the Global Solar Atlas. The evaluated models include autoclaves with graphene membranes, bioinspired structures, and steam generators with copper tubes. These technologies achieved efficiencies of up to 87.43% and temperatures exceeding 132 °C. Finally, five hospitals in regions with high solar radiation (Arequipa, Moquegua, Tacna, Puno, and Ayacucho) were proposed for the implementation of these solutions, enhancing the sustainability of the healthcare system. The incorporation of solar autoclaves in Peru could optimize energy resources and reduce costs, fostering a more sustainable healthcare system. Further research should conduct studies on solar radiation in specific hospitals and adapt Chinese technologies to local needs, promoting investment and the development of innovative medical solutions in the region.

关键词： Renewable energy sources Technological innovation Costs Hospitals Service robots Prevention and mitigation Prototypes Solar radiation Sustainable development Systematic literature review

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：