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检索条件"机构=Mechatronics and Robotics"

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Automated Passive Tracking for MR-guided Endovascular Interventions

Automated Passive Tracking for MR-guided Endovascular Interv...

引用

IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Martin Reinok Giulio Dagnino Wyger Brink Robotics and Mechatronics Group Faculty of EEMCS University of Twente Enschede Netherlands Magnetic Detection and Imaging Group Technical Medical Centre University of Twente Enschede Netherlands

ISBN: (数字)9798350307993

ISBN: (纸本)9798350308006

Vascular and cardiac interventions often rely on X-ray fluoroscopy for real-time imaging guidance, which poses risks due to ionizing radiation exposure. MRI offers a safer alternative with superior soft tissue contrast and avoids using ionizing radiation, but its adoption for near real-time guidance so far has been limited by technical challenges. This paper presents a novel approach for real-time detection and tracking of an MR-visible guidewire with discrete markers during endovascular interventions, addressing key limitations. A series of experiments was designed to evaluate and optimize marker visibility in terms of contrast-and-noise for different sequences. A convolutional neural network (CNN) is trained to detect the marker artefacts using a physics-based marker model and evaluated experimentally in an aortic phantom. The physics-based model simulation is used to generate the dataset without the need for MRI imaging, or manually annotating dataset for training the CNN model. The output from the CNN model is integrated into a custom software interface that links the tracked markers to automatic MRI slice geometry alignment, enabling near real-time guidewire tracking. Experimental results evaluate the effectiveness of the proposed approach in detecting the guidewire under varying imaging conditions, showing promise in improving the safety, efficiency, and accuracy of MR-guided interventions.

关键词： Training Ionizing radiation Magnetic resonance imaging Phantoms Manuals Real-time systems Software

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Neural Network Regression Analysis of Magnetic Sensor Data for Spatial Magnet Positioning

Neural Network Regression Analysis of Magnetic Sensor Data f...

引用

Electrical, Electronic and Computing Engineering (IcETRAN), International Conference on

作者： Vladimir Sibinović Mirko Raković Department of Automatic Control Faculty of Electronic Engineering University of Niš Niš Serbia Chair of Mechatronics Robotics and Automation Faculty of Technical Science Novi Sad Serbia

ISBN: (数字)9798350386998

ISBN: (纸本)9798350387001

This paper deals with the magnet position estimation based on the measurements from multiple Hall sensors. Estimation of the position is obtained from trained artificial neural networks. Data are gathered using a custom sensor board that has eight three-axis Hall sensors on it, and correlation between magnetic field and position was determined to be able to estimate position in X and Y directions. First measurements were made to determine the optimal height of the magnet for later data gathering. The outcome of the research was evaluated by comparing the ground truth with the estimated values of the best-trained network to determine the error of estimation. Precise measurement of the position of the magnet is intended to be used for the development of a tactile sensor that estimates the contact force through the displacement of the magnet in the deformable layer.

关键词： Magnetic field measurement Systematics Magnetic sensors Layout Estimation Tactile sensors Artificial neural networks

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Independent Optimization for Robot Path Planning and Dynamic Obstacle Avoidance

Independent Optimization for Robot Path Planning and Dynamic...

引用

International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Terrance Hall Christopher Johnson Brighton Swales Charles Koduru M. Hassan Tanveer Dept. of Robotics and Mechatronics Engineering Kennesaw State University Marietta USA

ISBN: (纸本)9781665461986

Autonomous robots can be assigned with various tasks such as moving payload, analyzing terrain, and capturing data in an environment. For an Autonomous Mobile Robot (AMR) to execute such tasks the robot (Hussarion ROSbot) will require efficient algorithms and techniques to reference its current location. The robot is relative to surrounding obstacles in its predetermined path. The conducted research study explains the coordinated method used to successfully allow a robot to identify its position in the environment (Gazebo Simulation) and avoid obstructions with increasing velocity - contingent on nearby surroundings. The results show multiple robots individually tasked with distinct roles, while incorporating an obstacle avoidance function used to avoid both static and dynamic obstacles. Such results can be used in the applications of a high-capacity warehouse environments.

关键词： Three-dimensional displays Navigation Smart cities Robot kinematics Path planning Task analysis Collision avoidance

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Cloud-Integrated Navigation System for Scalable Autonomous Ground Robots

Cloud-Integrated Navigation System for Scalable Autonomous G...

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International Conference on mechatronics and Machine Vision in Practice (M2VIP)

作者： Ulan Sharipov Sultan Kasenov Muslim Alaran Almira Askhatova Yessimkhan Orynbay Prashant Jamwal Elect. and Comp Engineering Nazarbayev University Astana Kazakhstan Computer Science Nazarbayev University Astana Kazakhstan Robotics and Mechatronics Nazarbayev University Astana Kazakhstan

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

In the rapidly evolving domain of mobile robots, ensuring both efficient and scalable navigation is of the greatest importance. To effectively address the challenges of real-time navigation this paper presents an innovative approach that includes the synergistic integration of cloud computing and navigation algorithms within a complex framework. The methodology presented in this paper integrates the Dynamic Window Approach (DWA) for real-time obstacle avoidance and the A* algorithm for global planning in indoor environments. The proposed system in conjunction with cloud computing is capable of processing and analyzing vast amounts of environmental data, providing robust and scalable navigation capabilities. Our solution ensures that autonomous delivery robots can navigate complex, dynamic, and socially dense urban environments with unprecedented efficiency and safety.

关键词： Cloud computing Navigation Heuristic algorithms Urban areas Wheels Motors Real-time systems Planning Mobile robots Autonomous robots

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mechatronics Bio-Design of Hip Prosthesis using Mechanic of Materials Analysis and Finite Element Method: A Proof of Concept

Mechatronics Bio-Design of Hip Prosthesis using Mechanic of ...

引用

Recent Trends in Computer Science and Technology (ICRTCST), International Conference on

作者： David Allcca Adrian Nacarino Bryan Sanchez Robert Castro Anderson La-Rosa Jose Cornejo Ricardo Palomares Mariela Vargas Professional School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Instituto de Investigaciones en Ciencias Biomedicas Universidad Ricardo Palma Lima Peru Research Group of Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru

ISBN: (数字)9798350351378

ISBN: (纸本)9798350351385

By the year 2030, there is expected an increase in hip arthroplasties between 43% and 70% compared to 2014. For this reason, a novel investigation was conducted in 2023 under the supervision of the Professional School of Mechatronic Engineering at Ricardo Palma University, focusing on a proof of concept for the design of a hip prosthesis using mechanics of materials analysis and finite element method. The mechanical design of the implant indicated that to withstand a weight load of Q=2300 N and achieve resulting displacements (URES) less than 0.008 mm, the minimum safety factor required is 3.93, as a result of the finite element analysis (FEA). The electronic design, consisting of an Arduino Mega 2560, two potentiometers, two MG996R servo motors, a MPU6050 accelerometer, and an OLED display, resulted in a voltage consumption of 5V separately for the control board and the others sensors and actuators. SolidWorks was used for stress studies, URES, and safety factor analysis in this design. Von Mises stress analysis revealed a maximum of 87.8 MPa at the stem-joint junction, while URES analysis determined a maximum displacement of 0.008 mm. In conclusion, favorable results were achieved. For future research, it is proposed to consider other geometries for the cross-section, optimizing the design, and conducting experimental studies of the loads.

关键词： mechatronics Potentiometers Finite element analysis Safety Sensors Voltage control Servomotors

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3D Semantic Mapping based on RGB-D Camera and LiDAR Sensor in Beach Environment

3D Semantic Mapping based on RGB-D Camera and LiDAR Sensor i...

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robotics, Engineering, Science, and Technology (RESTCON), International Conference on

作者： Chi Jie Tan Shintaro Ogawa Takamasa Hayashi Titan Janthori Ayumu Tominaga Eiji Hayashi Department of Creative Informatics Kyushu Institute of Technology Fukuoka Japan Department of Creative Engineering Robotics and Mechatronics National Institute of Technology Kitakyushu College Kitakyushu Japan

The increasing amount of sea garbage proving to be a huge problem not only for marine life but also causing a tremendous number of troubles to humans living along the coastlines. Especially Japan, that is surrounded by the ocean which has a long coastline that spans thousands of kilometers, and this provides ample opportunities for marine debris to accumulate. This paper proposes a 3D mapping system utilizing the semantic information from the RGBD sensor extracted from a specifically trained state-of-art deep learning neural network to merge with the spatial information from the LiDAR sensor using Max Fusion Technique. This paper also aims to contribute to the implementation of deep learning and autonomous driving in beach cleaning-related robots and spark interest and raise awareness of the public in beach clean-up activities. It is also shown that the proposed system can achieve a mean accuracy of 98% approximately with the uniquely trained deep learning model.

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Diagnosis of Localized Bearing Defects using Texture Analysis of Vibration Envelope Signals and Machine Learning

Diagnosis of Localized Bearing Defects using Texture Analysi...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Nguyen, Cong Dai Nasir, Fazal E. Khan, Shahbaz Khan, Sheraz Ali Kim, Jong-Myon Le Quy Don Technical University Faculty of Radio-Electronic Engineering Hanoi Viet Nam Advanced Robotics and Automation Lab National Center for Robotics and Automation Peshawar Pakistan Institute of Manufacturing University of Engineering and Applied Sciences Swat Pakistan University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan University of Ulsan Department of IT Convergence Ulsan Korea Republic of PD Technology Ulsan Korea Republic of

ISBN: (纸本)9781665464727

Bearings are important because they play a critical role in the operation of many machines and devices by reducing friction and enabling smooth motion between two moving parts. They are commonly used in rotating machinery, such as electric motors, turbines, pumps, and gearboxes, where they support and guide the rotating shafts. The primary cause of failure in wind turbines and induction motors is bearing faults, resulting in significant downtime and economic losses. Detecting these faults accurately and promptly is crucial to preventing unexpected shutdowns. Most of the existing methods for bearing fault detection rely on envelope analysis, which involves filtering and demodulating the raw signal, and Fourier analysis of the envelope signal to identify defect frequencies. Recent research has focused on improving the visibility of these frequencies by selecting an optimal band for filtering, using sub-band analysis and spectral kurtosis, which is a complex process and can be time-consuming. This paper presents a new approach to envelope signal analysis using texture analysis of the envelope signals that are projected as 2D grayscale images where each fault generates a unique texture. These textures are encoded using the local binary pattern operator and then used for fault classification. The method is tested on a publicly available seeded fault dataset. © 2023 IEEE.

关键词： Signal analysis

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Exploring Robot-Assisted Optical Coherence Elastography for Surgical Palpation

Exploring Robot-Assisted Optical Coherence Elastography for ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yeonhee Chang Elan Z. Ahronovich Nabil Simaan Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea Department of Mechanical Engineering Vanderbilt University Nashville TN USA

Optical Coherence Elastography (OCE) is a method that discerns local tissue stiffness using optical information. This method has recently been explored for laryngeal cancer tumor margin detection but has not been widely deployed clinically. Part of the challenge hindering such clinical deployment is the need for controlled high-precision mechanical probing of the tissue. This paper explores the concept of robot-assisted optical coherence elastography(OCE) and presents a preliminary system integration used to demonstrate the approach for stiffness mapping and discerning tumor margins. The approach is demonstrated on a custom Cartesian stage robot, and a custom-built OCE system comprised of an 830 nm broad-band laser with a vector-analysis method for phase gradient estimation and strain imaging. The paper illustrates one of the advantages of robot-controlled probing in terms of increasing the accuracy of the OCE system in a large range of displacement and strain. By leveraging motion information from the robot, online re-calibration of the OCE strain map may be achieved, thereby reducing OCE errors. After calibration, it is shown that the error in estimating the local Young's modulus is 0.485% in the silicon phantom and 0.531% in the agar phantom. These results suggest that future integration of optical coherence tomography(OCT) in clinically deployable robots may offer advantages in enabling local stiffness map estimation using OCE.

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Optimization of an Intelligent Wheelchair: LiDAR and Camera Vision for Obstacle Avoidance

Optimization of an Intelligent Wheelchair: LiDAR and Camera ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Joshua Green Joshua Clounie Rafael Galarza Shawn Anderson Jash Campell-Smith Razvan Cristian Voicu Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

According to the Wheelchair Foundation, over 131 million individuals depend on a wheelchair [1]. Wheelchairs drastically improve the quality of life by providing partially disabled persons with mobility. Moreover, wheelchairs have become a central component of many hospitals, necessary to transport patients. However, manual wheelchairs limit users’ or helpers’ freedom by requiring direct actuation, either by turning the wheels or pushing the wheelchair. Electric wheelchairs allow users to navigate a wheelchair through a single control mechanism to improve flexibility. Autonomous wheelchairs are the next step in improving the quality of life and further enhancing user freedom [2]. This paper presents the optimization of an automated wheelchair implementing unique and novel path planning and localization indoors. The results illustrate the implementation of camera vision with LiDAR for obstacle avoidance and advancements in a modular infrastructure.

关键词： Location awareness Laser radar Navigation Wheelchairs Wheels Cameras Turning

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Cosmic Troubleshooting: Exploring Third-Person View for Error Handling in Telerobotic Planetary Infrastructure Maintenance

Cosmic Troubleshooting: Exploring Third-Person View for Erro...

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Space robotics (iSpaRo), International Conference on

作者： Liliane Filthaut Dave Murray-Rust Maria Luce Lupetti Neal Y. Lii Peter Schmaus Daniel Leidner Faculty of Industrial Design Engineering Delft University of Technology Delft The Netherlands German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC) Weßling Germany

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

This study investigates error handling intricacies in supervised autonomy orbit-to-ground teleoperation for space exploration robots, emphasizing scenarios with communication delays that render Earth-based ground control assistance unfeasible. In this setting, one major challenge lies in empowering the crew to independently mitigate robot errors that may occur as the robot plans its actions. To address this limitation of current supervised autonomy interfaces, we propose a third-person perspective and game design principles to improve environmental awareness in error situations. 16 experts with similar technical background as the target crew members tested the interface in a physical user study, while 42 people assessed it in an online study. We conclude that a third-person view brings significant improvements to mental workload, overall experience and the ability to identify and rectify planning errors.

关键词： Space vehicles Games Space exploration Planning Maintenance Delays Planetary orbits

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