检索结果-内蒙古大学图书馆

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

作者： Gichan Cho Jintaek Im Hyunjung Kwon Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea Department of Anesthesiology and Pain Medicine Seoul Asan Medical Center Seoul South Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In minimally invasive pain management procedures, precise needle positioning is paramount for effective treatment and patient safety. Traditional techniques like the loss-of-resistance (LOR) method may be insufficient, especially in patients with narrowed epidural spaces. The use of imaging tools such as C-arms carries risks due to radiation exposure for medical professionals. A new system for detecting the epidural space based on optical interferometry is proposed to tackle this issue. Prior research has focused on force measurement systems to identify tissue puncture or rupture. Although mechanical sensors have been utilized, they add bulk and complexity to systems. Optical sensors like Fiber Bragg grating (FBG) and Fabry-Pérot interferometer (FPI) offer stable, high-resolution measurements suitable for complex biological tissues. This study aims to develop a sensor and needle system for epidural injections, incorporating quantitative metrics for validation. An optical interferometer-based force measurement sensor was integrated into a commercial epidural needle, and calibration was performed to establish a correlation between system output and actual force. The system employs a graphical user interface (GUI) to identify puncture points based on abrupt force decreases. A user study involving interventionalists assessed the system’s performance by measuring invasive depth and success rates. The user study demonstrated that the proposed sensorized system could detect the puncture with an average success rate of 72.63 %. This study represents a significant advancement toward safer and more precise epidural procedures, addressing critical clinical considerations for practical applications.

关键词： Optical fibers Optical interferometry Optical fiber sensors Force measurement Force Optical variables measurement Robot sensing systems Needles Optical imaging Graphical user interfaces

来源：评论

学校读者我要写书评

暂无评论

Comparative Analysis of Reinforcement Learning Techniques in Simulated robotics Environments

Comparative Analysis of Reinforcement Learning Techniques in...

引用

IEEE International Conference of Intelligent Robotic and Control engineering (IRCE)

作者： Abey Yoseph M. Hassan Tanveer Razvan Cristian Voicu M. Farrukh Shahid Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Department of AI and Data Science National University of Computer and Emerging Sciences Karachi Pakistan

ISBN: (数字)9798350352399

ISBN: (纸本)9798350352405

Machine learning is a critical component of artificial intelligence and computer science that uses data and algorithms to emulate the way that humans learn and predict. Reinforcement learning, one of the many forms of machine learning, trains an agent through trial and error, with successful outcomes being rewarded and unsuccessful outcomes being penalized. The implementation of three reinforcement learning algorithms, Qlearning, Deep Q-Learning, and Double Deep Q-Learning, was tested using a series of ROS (Robot Operating System) packages in the Gazebo simulation environment. The Python openai_ros package and Gym libraries were used to input a robot into a configurable environment and test out the performance of a specific reinforcement learning algorithm. The agent’s action space was discretized into three specific actions, move forward, turn left, or turn right, that the robot could take. The reward or punishment was given after each step based on if the current action moved the robot towards the goal state or away from it. For each algorithm, the agent was first pre-trained on an obstacle free environment for 200 episodes and then was placed in an environment with two box-shaped obstacles to avoid. The algorithm/neural network parameters from the pre-training environment were loaded prior to the agent being tested in the new environment. The goal state at each episode was randomly generated and the robot’s performance was evaluated using the cumulative reward achieved per episode and the number of times it reached the goal.

关键词： Training Measurement Q-learning Machine learning algorithms Operating systems Robot vision systems Turning Prediction algorithms Libraries Robots

来源：评论

学校读者我要写书评

暂无评论

Development of a Variable Stiffness Mechanism with a Linear Output for Exosuit Integration

Development of a Variable Stiffness Mechanism with a Linear ...

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Tim Verburg Sagar Joshi Ajay Seth Cosimo Della Santina Cognitive Robotics Department Delft University of Technology Delft The Netherlands BioMechanical Engineering department Delft University of Technology Delft Netherlands German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weβling Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

People suffering from conditions affecting their activities of daily living and those who do straining repetitive tasks could be assisted using supportive devices. These devices have generally been stiff in design, with more recent advances exploring soft suits, removing the need for heavier structural components. These supportive devices are often fitted with rigid actuators that lack inherent compliance and rely on feedback to regulate the assistive force. Compl iant actuators able to control stiffness and pretension have only been applied in rigid assistive devices with these devices being designed for controllable stiffness in rotation and not linear motion. This work briefly presents the results of a user study on the effects of a compliant actuator in a soft supportive device for arm flexion, the development and testing of a variable linear stiffness mechanism for a linear motion capable of controlling the stiffness and equilibrium position, and the integration of said actuator in an exosuit.

关键词： Actuators Force measurement Current measurement Force Biomechatronics Biomedical measurement Manufacturing Springs Robots Testing

来源：评论

学校读者我要写书评

暂无评论

Preoperative imaging in primary hyperparathyroidism patients using 4DCT subtraction maps, a report of three cases

引用

Radiology Case Reports 2023年第8期18卷 2814-2822页

作者： Krol, Jorian P. Veerbeek, Tessa Deden, Laura N. Joosten, Frank B.M. Slump, Cornelis H. Oyen, Wim J.G. Department of Radiology & Nuclear Medicine Rijnstate Hospital Arnhem Netherlands Department of Robotics and Mechatronics Faculty of Electrical Engineering Mathematics and Computer Sciences University of Twente Enschede Netherlands Department of Biomedical Sciences and Humanitas Clinical and Research Centre Department of Nuclear Medicine Humanitas University Milan Italy Department of Radiology & Nuclear Medicine Radboud University Medical Centre Nijmegen Netherlands

Four-dimensional computed tomography (4DCT) is one of the preoperative imaging modalities that can be used to localize a parathyroid adenoma in primary hyperparathyroidism patients however, sensitivity differs in literature and could be improved especially for multiglandular hyperplasia or double adenomas. The most robust feature on the 4DCT for the differentiation between parathyroid adenoma and thyroid gland tissue is arterial enhancement. To make this better visible, we have developed a subtraction map that shows arterial enhancement as a color scale to increase sensitivity for 4DCT. In this report of 3 cases, we present the usefulness of this subtraction map in a 54-year-old male, a 57-year-old female and a 51-year-old male. Subtraction maps may increase sensitivity for 4DCT, especially for multiglandular hyperplasia or double adenomas. © 2023

关键词： Four dimensional computed tomography Parathyroid adenoma Parathyroid hyperplasia Primary hyperparathyroidism Subtraction map

来源：评论

学校读者我要写书评

暂无评论

A Soft e-Textile Sensor for Enhanced Deep Learning-based Shape Sensing of Soft Continuum Robots

A Soft e-Textile Sensor for Enhanced Deep Learning-based Sha...

引用

International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Eric Vincent Galeta Ayman A. Nada Sabah M. Ahmed Victor Parque Haitham El-Hussieny Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria Egypt Electrical Engineering Department Faculty of Engineering Assiut University Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer sensors often fail to integrate well with the flexible nature of these robots, adding unwanted bulk and rigidity. To overcome these hurdles, our study presents a new approach to shape sensing in soft continuum robots through the use of soft e-textile resistive sensors. This sensor, designed to flawlessly integrate with the robot’s structure, utilizes a resistive material that adjusts its resistance in response to the robot’s movements and deformations. This adjustment facilitates the capture of multidimensional force measurements across the soft sensor layers. A deep Convolutional Neural Network (CNN) is employed to decode the sensor signals, enabling precise estimation of the robot’s shape configuration based on the detailed data from the e-textile sensor. Our research investigates the efficacy of this e-textile sensor in determining the curvature parameters of soft continuum robots. The findings are encouraging, showing that the soft e-textile sensor not only matches but potentially exceeds the capabilities of traditional rigid sensors in terms of shape sensing and estimation. This advancement significantly boosts the safety and efficiency of robotic navigation systems.

关键词： Training Shape Navigation Estimation Sensor phenomena and characterization Robot sensing systems Sensors Safety Convolutional neural networks Continuum robots

来源：评论

学校读者我要写书评

暂无评论

Direct Biologically-Inspired Sliding-Mode Control of a Rotorcraft System 32

Direct Biologically-Inspired Sliding-Mode Control of a Rotor...

引用

32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Alvarez-Munoz, J.U. Escareno, J. Garcia Carrillo, L.R. Scola, I. Rubio Labbani-Igbida, O. Institut Polytechnique de Sciences Avancées Ivry-sur-Seine94200 France XLIM Research Institute UMR-CNRS University of Limoges Robotics and Mechatronics Department 87060 France Klipsch School of Electrical and Computer Engineering New Mexico State University Las CrucesNM88003 United States INTI CONICET and UNR Department of Industrial Products Engineering Rosario Argentina

ISBN: (纸本)9798350395440

In the context of nonlinearity and uncertainty in the control systems, this work presents a novel control strategy based on a biologically-inspired learning robust controller for the attitude stabilization of a Vertical-Take-Off and Landing (VTOL) rotorcraft. Initially, the attitude's VTOL model based on quaternion formalism is detailed to subsequently develop the corresponding control law. Such controller consists of a Brain Emotional Learning-Based Intelligent Control (BELBIC) mechanism, combined with a Super-Twisting Sliding-Mode Control (STSMC) law. By using this architecture, the nonlinear sliding-mode equivalent control term is estimated via the BELBIC model, which allows the controller not to be fully dependent on the system model. Furthermore, closed loop stability is verified through Lyapunov's theory. Finally, for validation and assessment purposes of the overall control strategy, an extensive numerical simulation stage is conducted. © 2024 IEEE.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

A Soft e-Textile Sensor for Enhanced Deep Learning-based Shape Sensing of Soft Continuum Robots

arXiv

引用

arXiv 2024年

作者： Galeta, Eric Vincent Nada, Ayman A. Ahmed, Sabah M. Parque, Victor El-Hussieny, Haitham Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria Egypt Electrical Engineering Department Faculty of Engineering Assiut University Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan

The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer sensors often fail to integrate well with the flexible nature of these robots, adding unwanted bulk and rigidity. To overcome these hurdles, our study presents a new approach to shape sensing in soft continuum robots through the use of soft e-textile resistive sensors. This sensor, designed to flawlessly integrate with the robot's structure, utilizes a resistive material that adjusts its resistance in response to the robot's movements and deformations. This adjustment facilitates the capture of multidimensional force measurements across the soft sensor layers. A deep Convolutional Neural Network (CNN) is employed to decode the sensor signals, enabling precise estimation of the robot's shape configuration based on the detailed data from the e-textile sensor. Our research investigates the efficacy of this etextile sensor in determining the curvature parameters of soft continuum robots. The findings are encouraging, showing that the soft e-textile sensor not only matches but potentially exceeds the capabilities of traditional rigid sensors in terms of shape sensing and estimation. This advancement significantly boosts the safety and efficiency of robotic navigation systems. © 2024, CC BY.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Logarithmically Quantized Distributed Optimization over Dynamic Multi-Agent Networks

arXiv

引用

arXiv 2024年

作者： Doostmohammadian, Mohammadreza Pequito, Sérgio Mechatronics Department Faculty of Mechanical Engineering Semnan University Semnan Iran Department of Electrical and Computer Engineering Institute for Systems and Robotics Instituto Superior Técnico University of Lisbon Portugal

Distributed optimization finds many applications in machine learning, signal processing, and control systems. In these real-world applications, the constraints of communication networks, particularly limited bandwidth, necessitate implementing quantization techniques. In this paper, we propose distributed optimization dynamics over multi-agent networks subject to logarithmically quantized data transmission. Under this condition, data exchange benefits from representing smaller values with more bits and larger values with fewer bits. As compared to uniform quantization, this allows for higher precision in representing near-optimal values and more accuracy of the distributed optimization algorithm. The proposed optimization dynamics comprise a primary state variable converging to the optimizer and an auxiliary variable tracking the objective function's gradient. Our setting accommodates dynamic network topologies, resulting in a hybrid system requiring convergence analysis using matrix perturbation theory and eigenspectrumanalysis. © 2024, CC BY.

关键词： Support vector machines

来源：评论

学校读者我要写书评

暂无评论

A Study of Cantaloupe Fruit Classification Using Deep Learning Algorithms

A Study of Cantaloupe Fruit Classification Using Deep Learni...

引用

2024 International Conference on Control, robotics and Informatics, ICCRI 2024

作者： Tran, Huy Q. Le, Quoc Ngoc Ha, Cheolkeun Van Nguyen, Tan Tan, Quoc Phan Nguyen Tat Thanh University Robotics and Mechatronics Research Group Faculty of Engineering and Technology Viet Nam Faculty of Information and Technology SaigonTech Ho Chi Minh City Viet Nam University of Ulsan Department of Aerospace Engineering Ulsan Korea Republic of Thu Dau Mot University Faculty of Engineering and Technology Viet Nam Saigon University Faculty of Information Technology Viet Nam

ISBN: (纸本)9798350380309

This study focuses on identifying cantaloupes using deep learning algorithms. Subsequently, the cantaloupes are categorized into two groups (green and yellow) based on their distinct shape and color characteristics. We also recognized the unripe cantaloupe using several recent deep-learning algorithms. Experimental results from the dataset collected in Tay Ninh province, Vietnam, demonstrated classification accuracies of Yolov8, SSD Mobilenet V2, and Faster - RCNN are impressive, especially the Yolov8 model, which achieved an average accuracy of nearly 97%. © 2024 IEEE.

关键词： Adversarial machine learning

来源：评论

学校读者我要写书评

暂无评论

Open-Source, Low-Cost, and Bimodal Amateur Radio Communication Paradigm for Scientific CanSats

Open-Source, Low-Cost, and Bimodal Amateur Radio Communicati...

引用

robotics, Control and Automation engineering (RCAE), International Conference on

作者： Carrington Chun Billy Kihei Sumit Chakravarty M. Hassan Tanveer Department of Robotics and Mechatronics Engineering Kennesaw State Univeristy Marietta GA Department of Electrical and Computer Engineering Kennesaw State Univeristy Marietta GA

To facilitate the development of accessible space-bound robotic explorers, this work demonstrates a novel communication architecture intended for scientific CanSats. As low-cost terrestrial simulation platforms for orbital satellites, CanSats provide a valuable proving ground for new technologies or techniques. CanSats are also a considerably more accessible technological frontier than orbital CubeSats, as CanSats are lower in cost to develop and retain fewer operational requirements. Multiple low-cost CanSats and a simple Base Station were developed using Commercial-Off- The-Shelf (COTS) components. The bimodal modulation technique utilizes Amplitude Shift Keying (ASK) as a means for transferring data packets between the devices, while the delay between multiple ASK trains modulates additional Pseudo Morse Code (PMC) information that is audibly decodable with a handheld amateur radio receiver or digitally with a Software Defined Radio (SDR). The presented framework could be a valuable addition to telemetry beacons for orbital satellites that are seeking to engage the open-source or amateur radio communities.

关键词：

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：