检索结果-内蒙古大学图书馆

Design and simulation of disaster mitigation robot using machine vision

Journal of Physics: Conference Series 2021年第1期2115卷

作者： M Avinaash D Andrew S Visnu M Abrar N Seenu Mechatronics Engineering School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai – 603103. Centre for Automation and Robotics School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai – 603103.

The goal is to provide a robust mobile robot to assist recures in their operation by providing real time surveillance, remote operation as well autonomous operation. The mobile robot is capable of mapping using a LIDAR, this provides a map of the disaster zone which is then used to assess and provide a path planning for the most efficient rescue for the Mobile robot as well as the Rescuers. The built-in gas sensor reads the concentration of gases in the area, providing data on the environment in the disaster zone. The use of high definition cameras combined with Artificial Intelligence based image classification provides an edge in autonomous traversing and search and rescue. Disaster mitigation is an extremely dangerous task for the rescuers, a mobile robot such as LV-01 can be the difference between life and death.

关键词：

来源：评论

学校读者我要写书评

暂无评论

CholecTriplet2021: A benchmark challenge for surgical action triplet recognition

arXiv

引用

arXiv 2022年

作者： Nwoye, Chinedu Innocent Alapatt, Deepak Yu, Tong Vardazaryan, Armine Xia, Fangfang Zhao, Zixuan Xia, Tong Jia, Fucang Yang, Yuxuan Wang, Hao Yu, Derong Zheng, Guoyan Duan, Xiaotian Getty, Neil Sanchez-Matilla, Ricardo Robu, Maria Zhang, Li Chen, Huabin Wang, Jiacheng Wang, Liansheng Zhang, Bokai Gerats, Beerend Raviteja, Sista Sathish, Rachana Tao, Rong Kondo, Satoshi Pang, Winnie Ren, Hongliang Abbing, Julian Ronald Sarhan, Mohammad Hasan Bodenstedt, Sebastian Bhasker, Nithya Oliveira, Bruno Torres, Helena R. Ling, Li Gaida, Finn Czempiel, Tobias Vilaça, João L. Morais, Pedro Fonseca, Jaime Egging, Ruby Mae Wijma, Inge Nicole Qian, Chen Bian, Guibin Li, Zhen Balasubramanian, Velmurugan Sheet, Debdoot Luengo, Imanol Zhu, Yuanbo Ding, Shuai Aschenbrenner, Jakob-Anton van der Kar, Nicolas Elini Xu, Mengya Islam, Mobarakol Seenivasan, Lalithkumar Jenke, Alexander Stoyanov, Danail Mutter, Didier Mascagni, Pietro Seeliger, Barbara Gonzalez, Cristians Padoy, Nicolas ICube University of Strasbourg CNRS France IHU Strasbourg France Department of Computer Science University of Chicago United States Lab for Medical Imaging and Digital Surgery Shenzhen Institute of Advanced Technology Chinese Academy of Sciences China School of Management Hefei University of Technology Hefei China Institue of Medical Robotics Shanghai Jiao Tong University Shanghai China Argonne National Laboratory 9700 S Cass Ave LemontIL60439 United States Digital Surgery A Medtronic Company London United Kingdom Institute of Automation Chinese Academy of Sciences China Department of Computer Science School of Informatics Xiamen University Xiamen China Johnson & Johnson Meander Medical Centre Netherlands Indian Institute of Technology Kharagpur India Muroran Institute of Technology Japan Department of Biomedical Engineering National University of Singapore Singapore Department for Translational Surgical Oncology National Center for Tumor Diseases Partner Site Dresden Germany 2Ai School of Technology IPCA Barcelos Portugal School of Medicine University of Minho Braga Portugal Algoritimi Center School of Engineering University of Minho Guimeraes Portugal Technical University of Munich Germany Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Wellcome EPSRC Center for Interventional and Surgical Science University College London United Kingdom Fondazione Policlinico Universitario Agostino Gemelli IRCCS Rome Italy University Hospital of Strasbourg France

Context-aware decision support in the operating room can foster surgical safety and efficiency by leveraging real-time feedback from surgical workflow analysis. Most existing works recognize surgical activities at a coarse-grained level, such as phases, steps or events, leaving out fine-grained interaction details about the surgical activity;yet those are needed for more helpful AI assistance in the operating room. Recognizing surgical actions as triplets of combination delivers comprehensive details about the activities taking place in surgical videos. This paper presents CholecTriplet2021: an endoscopic vision challenge organized at MICCAI 2021 for the recognition of surgical action triplets in laparoscopic videos. The challenge granted private access to the large-scale CholecT50 dataset, which is annotated with action triplet information. In this paper, we present the challenge setup and assessment of the state-of-the-art deep learning methods proposed by the participants during the challenge. A total of 4 baseline methods from the challenge organizers and 19 new deep learning algorithms by competing teams are presented to recognize surgical action triplets directly from surgical videos, achieving mean average precision (mAP) ranging from 4.2% to 38.1%. This study also analyzes the significance of the results obtained by the presented approaches, performs a thorough methodological comparison between them, in-depth result analysis, and proposes a novel ensemble method for enhanced recognition. Our analysis shows that surgical workflow analysis is not yet solved, and also highlights interesting directions for future research on fine-grained surgical activity recognition which is of utmost importance for the development of AI in surgery. © 2022, CC BY-NC-SA.

关键词： Deep learning

来源：评论

学校读者我要写书评

暂无评论

Chattering-free fixed-time sliding mode control for bilateral teleoperation under unknown time-varying delay via disturbance and state observers

Advanced Control for Applications: Engineering and Industria...

引用

Advanced Control for Applications: engineering and Industrial Systems 2020年第4期2卷

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Mekhilef, Saad Ordys, Andrzej Department of Electrical Engineering Faculty of Engineering Yazd University Yazd Iran Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode Control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOBSMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB. © 2020 John Wiley & Sons Ltd.

关键词： Time delay

来源：评论

学校读者我要写书评

暂无评论

Compliant Contact Modeling of a Humanoid Robotic Thumb for Assisting Grasp

Compliant Contact Modeling of a Humanoid Robotic Thumb for A...

引用

IEEE International Conference on Intelligent Systems and Green technology (ICISGT)

作者： Sourajit Mukherjee Abhijit Mahapatra School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Shibpur Howrah India Advanced Design and Analysis Group CSIR-Central Mechanical Engineering Research Institute Durgapur India

ISBN: (数字)9781728114231

ISBN: (纸本)9781728114248

In the present study, an analytical model of a four Degree of Freedom (DoF) humanoid robotic thumb with compliance during grasping has been developed. The model involves forward kinematics, inverse kinematics (IK) and the inverse dynamic model of the thumb with compliant contact at multiple points of interaction. Due to the complexity of the thumb, and in order to avoid unpredictable behavior at singularities, the Damped Least Squares (DLS) inverse of the Jacobian was carried out. Further, the inverse dynamic model of the thumb was developed with compliance at the point of contact using a non-linear spring-damper system. Numerical simulations were run in MATLAB. A link-based model was constructed and simulated using similar boundary conditions in Simulink. Thereafter, the analytical data were compared with the Simulink data and were found to be in close agreement with each other.

关键词： Mathematical model Thumb Force Kinematics Dynamics Trajectory Robots

来源：评论

学校读者我要写书评

暂无评论

Performance and exergy analysis of an inclined solar still with baffle arrangements

引用

Heliyon 2023年第4期9卷 e14807页

作者： S Seralathan G Chenna Reddy S Sathish A Muthuram Joshuva Arockia Dhanraj Natrayan Lakshmaiya Karthikeyan Velmurugan Chatchai Sirisamphanwong Rattapon Ngoenmeesri Chattariya Sirisamphanwong School of Aeronautical Sciences Hindustan Institute of Technology and Science Chennai 603103 Tamil Nadu India. Department of Mechanical Engineering Hindustan Institute of Technology and Science Chennai 603103 Tamil Nadu India. Centre for Automation & Robotics (ANRO) Department of Mechatronics Engineering Hindustan Institute of Technology and Science Chennai 603103 Tamil Nadu India. Department of Mechanical Engineering Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India. Center for Alternative Energy Research and Development Khon Kaen University Thailand. Mechanical Engineering Division Faculty of Engineering Khon Kaen University Khon Kaen Thailand. Smart Energy System Integration Research Unit Department of Physics Faculty of Science Naresuan University Thailand. Research and Academic Service Faculty of Science Naresuan University Thailand. Department of Physics and General Science Faculty of Science Nakhon Sawan Rajabhat University Thailand.

This study presents the details of performance and exergy investigations on an inclined solar still with baffle arrangements. The shortage of consumable water creates the transformation of accessible brackish water into consumable water an unavoidable one and this can be accomplished utilizing sun-oriented refining. To remove drinkable water from pungent water, sun-oriented still is broadly utilized. To build the contact season of the pungent water with sunlight-based brilliance, perplex course of action is set to expand the opposition in the stream. This prompts more vanishing of brackish water. Therefore, the objective of this study is to improve freshwater yield. The experimental study is performed for two different mass flow rates (m = 0.0833 kg/min and m = 0.166 kg/min). An increase in the mass flow of water directly deteriorates the yield of fresh water. Highest accumulated freshwater yield is achieved as 2.908 kg/m day during the month of May for m = 0.0833 kg/min. The accumulated freshwater yield improved by 4.23% in comparison with inclined solar still designs. Moreover, the yield is better by 3.49%-61.56% in comparison with various solar still designs. Using RSM, a polynomial statistical model is specified to estimate as well as maximize the freshwater yield of ISSB. The exergy analysis for m = 0.0833 kg/min shows a maximum hourly exergy efficiency of 6.82%.

关键词： Baffle arrangements Exergy efficiency Inclined solar still Performance yield

来源：评论

学校读者我要写书评

暂无评论

A Fsr based data acquisition system to study the interaction of different footwear with different foot-regions 2

A Fsr based data acquisition system to study the interaction...

引用

2nd International Conference on Electronics, Materials engineering and Nano-technology, IEMENTech 2018

作者： Sarkar, Siddhartha Singh, Bipin Kumar Mandal, Nirupama Behera, Shakti Sangram Computational Instrumentation Division CSIR-Central Scientific Instruments Organisation Chandigarh India Dhanbad India School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Shibpur India

ISBN: (纸本)9781538655498

This article describes the design and development of a data acquisition system to capture the effect of footwear on human foot gait cycle. It involves the calculation of Duty Cycle Period of force-sensing resistors (FSR) which are mounted on right and left foot insoles. Two FSR sensors are placed at the fore-foot, one FSR sensor is placed at mid-foot and one FSR sensor is placed at rear-foot. An op-amp based FSR current-to-voltage converter circuit is designed and corresponding voltage data of each force-sensing resistors are collected using an AVR based SD Card module. Duty cycle Period is calculated from the data stored in the SD Card module using MATLAB software and further processed to obtain the mean, standard deviation kurtosis of each FSR sensor. In this exploratory study 3 Male participants are instructed to walk on Grassy Surface and Concrete Surface wearing 3 different footwear i.e. Sports shoe, Causal shoe and Sandal at different rates as walking and jogging while wearing the FSR mounted insoles. Anova Tests and subsequent T-Tests on the statistical parameters of duty cycle shows significant (α = 0.05) variation among different foot regions for the three different footwear with varying degree. These results indicate that our foot is affected by different types of footwear while walking and jogging on different surfaces affecting the Gait pattern of the participant's foot at Stance phase of the Gait cycle, which determines the dynamic characteristic of human locomotion. © 2018 IEEE.

关键词： MATLAB

来源：评论

学校读者我要写书评

暂无评论

Dark-Room Exchange: Human Supervision of Decentralized Multi-Robot Systems Using Distributed Ledgers and Network Mapping

Dark-Room Exchange: Human Supervision of Decentralized Multi...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Saiprasanth Krishnamoorthy Albert P. Go Ashlee Tiwari Vikram Kapila Mechatronics Controls and Robotics Laboratory (MCRL) Mechanical and Aerospace Engineering NYU Tandon School of Engineering Brooklyn NY USA Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA Aerospace Engineering Indian Institute of Technology Kanpur U.P. India

ISBN: (纸本)9781728126234

This paper develops a distributed technique to populate the network graph of a decentralized multi-robot system (MRS) by employing a consensus protocol for extracting the identities and states of each robot's neighbors in the MRS. A dark-room exchange (DRE) technique is proposed wherein each robot uses its on-board 2D LiDAR for range sensing and peer-to-peer communication to identify and track neighboring objects. The resulting information is utilized to build and maintain a distributed ledger populated with the information of the MRS network graph structure to facilitate supervision by human operators. The system is tested in a simulated environment consisting of TurtleBot3 robots scattered in a 2D plane. Using the results of simulation, an analysis of the speed and performance of the DRE technique is conducted that illustrates high reliability and fast response times. The paper concludes with a discussion of the future scope of this research for multi-robot/swarm applications.

关键词： Regulated industries Robot System Robot Peer-to-peer communications multi-robot systems Supervision Simulated Environment MODERATOR RECOVERY SYSTEM Decentralized DESTRUCTION REMOVAL EFFICIENCY FAST-RESPONSE Distribute

来源：评论

学校读者我要写书评

暂无评论

Corrigendum to “A critical review on mechanical micro-drilling of glass and carbon fibre reinforced polymer (GFRP and CFRP) composites” [Compos B: Eng 254 (2023) 110589]

引用

Composites Part B: engineering 2023年 262卷

作者： Norbert Geier Karali Patra Ravi Shankar Anand Sam Ashworth Barnabás Zoltán Balázs Tamás Lukács Gergely Magyar Péter Tamás-Bényei Jinyang Xu J Paulo Davim Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Manufacturing Science and Engineering Budapest 1111 Hungary Indian Institute of Technology Patna Department of Mechanical Engineering Patna 801103 India Birla Institute of Technology Department of Mechanical Engineering Patna Campus Patna 800014 India North of England Robotics Innovation Centre The University of Salford Salford Greater Manchester UK Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Polymer Engineering Műegyetem rkp. 3 Budapest 1111 Hungary ELKH–BME Research Group for Composite Science and Technology Műegyetem rkp. 3 Budapest 1111 Hungary Shanghai Jiao Tong University School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai 200240 PR China University of Aveiro Department of Mechanical Engineering Centre for Mechanical Engineering and Automation (TEMA) Campus Santiago Aveiro 3810-193 Portugal

来源：评论

学校读者我要写书评

暂无评论

Target localization intervention and prognosis evaluation for an individual with mild cognitive impairment

Brain‐X

引用

Brain‐X 2023年第3期1卷

作者： Weiping Wang Haiyan Zhao Chang He Yuanbo Cui Zhen Wang Alexander Hramov Ping Luan Xiong Luo Jipeng Ouyang Kurths Jürgen School of Computer and Communication Engineering University of Science and Technology Beijing Beijing China Shunde Graduate School University of Science and Technology Beijing Foshan Guangdong China Beijing Key Laboratory of Knowledge Engineering for Materials Science Beijing China Contribution: Writing - review & editing Department of Neurology Peking University Third Hospital Beijing China Contribution: Resources Zhen Wang The Center for Optical Imagery Analysis and Learning and School of Mechanical Engineering Northwestern Polytechnical University Xi'an Shaanxi 710072 China. Contribution: Writing - original draft The 6th Research Institute of China Electronics Corporation Beijing China The Center for Optical Imagery Analysis and Learning and School of Mechanical Engineering Northwestern Polytechnical University Xi'an Shaanxi China Chang He School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China. Contribution: Investigation Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Saratov State Medical University Saratov Russia Contribution: Data curation Guangdong Second Provincial General Hospital & Health Science Center Shenzhen Guangdong China Department of Neurology Shunde Hospital Southern Medical University Foshan Guangdong China Institute of Physics Humboldt-University Berlin Germany Potsdam Institute for Climate Impact Research Potsdam Germany

Currently, no specific treatments are available for Alzheimer's disease (AD). Mild cognitive impairment (MCI), the preclinical stage of AD, has a high possibility of reversing symptoms through neural regulation. A state dynamics model for single brain regions was developed to simulate blood oxygen level-dependent signals in a patient with early mild cognitive impairment. Subsequently, the analysis of functional connections was used to comprehensively consider multiple complex network centralities to locate the intervention targets, and a multiple brain region collaborative control scheme was designed. Finally, the reliability and effectiveness of the intervention were verified at the brain region and subnetwork levels. This technique provides a basis for future clinical diagnosis and treatment of AD and MCI.

关键词： adaptive pinning control Alzheimer's disease BOLD signals computational modeling Sub_network

来源：评论

学校读者我要写书评

暂无评论

Correction: Dynamic response study of Ti3C2-MXene films to shockwave and impact forces

引用

RSC advances 2021年第12期11卷 6448页

作者： Shreyas Srivatsa Pavithra Belthangadi Shivakarthik Ekambaram Manu Pai Prosenjit Sen Tadeusz Uhl Saurabh Kumar Krzysztof Grabowski M M Nayak Academic Center for Materials and Nanotechnology (ACMiN) AGH University of Science and Technology (UST) Krakow Poland sshreyas@agh.edu.pl. Centre for Nano Science and Engineering (CeNSE) Indian Institute of Science (IISc) Bangalore India saurabh2203@iisc.ac.in. Atomic Molecular and Optical Physics Division Physical Research Laboratory Ahmedabad India. Instrumentation and Applied Physics Indian Institute of Science (IISc) Bangalore India. Department of Robotics and Mechatronics AGH University of Science and Technology Krakow Poland.

[This corrects the article DOI: 10.1039/D0RA04879H.].

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：