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Influences of Predictive Factors on Treatment Effect of Delayed Union with Radial Extracorporeal Shock Wave Therapy 预测因素对桡骨体外冲击波治疗延迟愈合疗效的影响
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903993
Ziyi Wang, Chi Li, Anyi Guo, Yan Liu, Yajun Liu, Wenyong Liu
{"title":"Influences of Predictive Factors on Treatment Effect of Delayed Union with Radial Extracorporeal Shock Wave Therapy","authors":"Ziyi Wang, Chi Li, Anyi Guo, Yan Liu, Yajun Liu, Wenyong Liu","doi":"10.1109/WRCSARA57040.2022.9903993","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903993","url":null,"abstract":"As a widely adopted non-surgical treatment approach in orthopedics, extracorporeal shock wave therapy (ESWT) sill has limitations such as the high operation intensity of physician, the subjective selection of treatment parameters by physicians based on their clinical experience and patient’s medical conditions. In order to automate the planning of treatment parameters in the robot-assisted ESWT, a prerequisite is to clarity the influence of all predictive factors (not only treatment parameters, but also demographic and clinical factors) on treatment effect. However, it is hard to mathematically model the influence of all these predictive factors on treatment effect. Aiming at the radial ESWT (rESWT) of delayed union, this paper analyzes the ranking of importance (degree of explanation) of each predictive factor to the treatment effect of rESWT using the multi-layer perceptron and verifies it using the random forest for consistency. The results indicate that, of all the predictive factors of patient, only the course of disease and BMI have a strong correlation with the successful rESWT treatment of delayed union, while other factors have no significant linear correlation. This conclusion provides a reference for parameter selection in the automatic planning of treatment parameters in robot-assisted orthopedic rESWT.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114969599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design of Tire Stevedoring Robot 轮胎装卸机器人的设计
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903921
Mengmeng Pan, Siqi Wu, QUAN LIU
{"title":"Design of Tire Stevedoring Robot","authors":"Mengmeng Pan, Siqi Wu, QUAN LIU","doi":"10.1109/WRCSARA57040.2022.9903921","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903921","url":null,"abstract":"This paper is aimed at the design of the tire stevedoring robot. Based on the analysis of the situation of the tire warehouse, a mechanical claw which can hold the tires stacked vertically and horizontally is designed. By comparing the advantages and disadvantages of different mechanisms, the hydraulic lifting system and worm gear transmission are selected. The design of hydraulic cylinder, calculation of motor selection and static analysis ensure the efficiency and stability of the tire stevedoring robot. This design replaces manual handling activities and effectively improves the efficiency of tire stevedoring and reduces the possibility of workers’ injury.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133158326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Calibration of Serial Robots through Integration of Local POE Formula and Artificial Neural Networks 基于局部POE公式和人工神经网络的串联机器人标定
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903922
Yongbin Song, Y. Tian, Yiwei Ma
{"title":"Calibration of Serial Robots through Integration of Local POE Formula and Artificial Neural Networks","authors":"Yongbin Song, Y. Tian, Yiwei Ma","doi":"10.1109/WRCSARA57040.2022.9903922","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903922","url":null,"abstract":"This paper presents a calibration method for serial robots to improve pose accuracy. In this method, the complicated calibration of the actual robot containing various error sources is converted to a simple one of the equivalent robot only containing configuration-dependent joint motion errors. For the lower-mobility robot, which has n (less than 6) degree of freedom, other 6-n virtual joints need to be introduced into the equivalent robot to meet the completeness requirement. A simplified local POE formula is used to build the relationship between the pose error and joint motion errors, and an artificial neural network is used to approximate the relationship between joint motion errors and nominal joint variables. By integrating the two models, the error model of the equivalent robot can be deduced and then used for calibration. Simulation results on a typical serial robot show that the proposed method can reduce pose errors significantly.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124643769","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Optimal Control Method of Motor Torque Loading via Active Disturbance Rejection Control 基于自抗扰控制的电机转矩负载最优控制方法
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903964
Gan Zhan, Wencai Zhang, Tianzhen Li, Zhanhua Xin, Dong Wang, Xinyi Dong, S. Niu
{"title":"Optimal Control Method of Motor Torque Loading via Active Disturbance Rejection Control","authors":"Gan Zhan, Wencai Zhang, Tianzhen Li, Zhanhua Xin, Dong Wang, Xinyi Dong, S. Niu","doi":"10.1109/WRCSARA57040.2022.9903964","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903964","url":null,"abstract":"This paper provides a optimal control method of motor torque loading using active disturbance rejection control (ADRC) for the problem of insufficient accuracy of motor torque under load. First, the parameters of the tracking differentiator (TD) and the extended state observer (ESO) of the ADCR controller are established and their values are set. Secondly, the control and disturbance compensation are carried out to control the motor according to the given signal and the differential of the given signal obtained by the TD and the error of the system output and output derivative observed by the ESO. Finally, the simulation and experiment results show that the ADRC has great advantages in response speed, anti-interference ability and loading accuracy, and the error accuracy and error range are controlled within $pm 0.003Ncdot m$ compared with the traditional PID.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124747079","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design of Dictyophora Rubrovalvata Picking Robot 双叶鹤采摘机器人的设计
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903973
Quan Liu, Mengmeng Pan, Shuoming Wang
{"title":"Design of Dictyophora Rubrovalvata Picking Robot","authors":"Quan Liu, Mengmeng Pan, Shuoming Wang","doi":"10.1109/WRCSARA57040.2022.9903973","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903973","url":null,"abstract":"In the development process of the planting technology of the dictyophora rubrovalvata, the relative backwardness of the picking technology has become the shackle of the dictyophora rubrovalvata spread to the whole country. According to the characteristics of the picking environment and the picking object, a set of picking robots for dictyophora rubrovalvata growing in the culture racks is designed, including two parts: the motion mechanism and the picking mechanism. the motion mechanism can complete the displacement in the horizontal direction and the displacement and rotation in the vertical direction. A mechanical claw is mounted on the motion mechanism as a picking mechanism to pick the dictyophora rubrovalvata. A series of torque calculations are the basis for the selection of robot motors. This robot can effectively improve the picking efficiency and reduce the labor cost.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122553578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A General Framework of Task Understanding for Tour-Guide Robots in Exhibition Environments 展览环境中导览机器人任务理解的一般框架
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903960
Xiangming Xi, Bing Xie, Shiqiang Zhu, Tianlei Jin, J. Ren, Wei Song
{"title":"A General Framework of Task Understanding for Tour-Guide Robots in Exhibition Environments","authors":"Xiangming Xi, Bing Xie, Shiqiang Zhu, Tianlei Jin, J. Ren, Wei Song","doi":"10.1109/WRCSARA57040.2022.9903960","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903960","url":null,"abstract":"Tour-guide robots are a kind of service robots that attract more and more attentions in hospitality industry, such as the museums and exhibitions in domestic or open environments. Two of their essential capabilities are to perform physical movements and to interact with visitors verbally and non-verbally. In this paper, we propose a general framework of the task understanding sub-system inspired by the Tsvetkov’s cognitive information model, to formalize the cognitive information processing, and to enhance the cognitive architecture of tour-guide robots. The proposed framework follows the modular design principle, and consists of different modules that relate to the “thinking” process. We also provide a demonstrative implementation of the proposed framework with a tour-guide robot prototype, which is deployed in a real-world exhibition hall. The experimental results show that the proposed framework enables the tour guide robot to understand the stimuli from visitors.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126790521","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design and Implementation of Parallel Simulation System for UAV Swarms 无人机群并行仿真系统的设计与实现
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903965
Moulu Liu, Jinchao Chen, Chenglie Du, Wenquan Yu
{"title":"Design and Implementation of Parallel Simulation System for UAV Swarms","authors":"Moulu Liu, Jinchao Chen, Chenglie Du, Wenquan Yu","doi":"10.1109/WRCSARA57040.2022.9903965","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903965","url":null,"abstract":"Unmanned aerial vehicles (UAV) swarm is an organic whole formed by a certain number of drones cooperating with each other. It has more advanced and diversified functions and can complete more comprehensive and complex tasks. UAV swarms currently are faced many problems such as low intelligence, rough cooperative control algorithms, and inaccurate behavior prediction. Simulation modeling plays an important role in the research of these critical technologies. Traditional simulation modeling has serious simulation error accumulation and data lag. We propose the design of parallel simulation system for UAV swarms. We complete the related work of dynamic generation of simulation entities, state synchronization between simulation entities and UAVs, and ultra-real-time simulation. Through the performance test, the experimental results prove that UAV swarm parallel simulation system (UAVSPSS) has the ability to dynamically generate the simulation entity in a short time and complete the state synchronization of the simulation entity in a limited time. These results show that the UAV swarms parallel simulation system provides stability of simulation errors and real-time synchronization of data.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122873417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive calibration of the rotation error of total magnetic field for AUV based on Marine Predators Algorithm 基于海洋掠食者算法的水下航行器总磁场旋转误差自适应标定
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903980
C. Guo, X. Zhang, D. Wang, Chunhua Shen, F. Zeng
{"title":"Adaptive calibration of the rotation error of total magnetic field for AUV based on Marine Predators Algorithm","authors":"C. Guo, X. Zhang, D. Wang, Chunhua Shen, F. Zeng","doi":"10.1109/WRCSARA57040.2022.9903980","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903980","url":null,"abstract":"Vectoral magnetometer could reveal more detail in geomagnetic prospection, but was limited by rotation error when applied on ship, towed fish or underwater vehicles. Rotation error is caused by the intrinsic magnetism of the carrier body material, which will lead to data fluctuation of total field when the carrier changes its attitude. This paper rebuilds the rotation error model considering the soft magnetism, hard magnetism and electromagnetism of autonomous underwater vehicle. A new in-situ calibration method based on Marine Predators Algorithm(MPA) is proposed, which calibrate the rotation error by using on site data and compensate the error parameters adaptively. Outdoor pool test and sea trial have been completed and original data was calibrated by different algorithm. The results show that the calibration applying MPA achieves best performance rather than other algorithm, and iteration efficiency of MPA is also the best.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125865688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Overview of the Application of Unmanned Aerial Vehicles in the Arctic Atmospheric Observation System 无人机在北极大气观测系统中的应用综述
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903991
Xindi Huang, T. Liu, Haobo Liu, Hailin Wang
{"title":"Overview of the Application of Unmanned Aerial Vehicles in the Arctic Atmospheric Observation System","authors":"Xindi Huang, T. Liu, Haobo Liu, Hailin Wang","doi":"10.1109/WRCSARA57040.2022.9903991","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903991","url":null,"abstract":"As a result of global warming, the climate in the Arctic region is undergoing dramatic changes. The Arctic atmospheric system is an important part of the Arctic climate, and it also plays a vital role in understanding the dramatic changes of the Arctic climate. Limited by many factors such as severe weather, observation location and safety of researchers, the accuracy of data obtained by the traditional platform for observing the Arctic atmospheric system is low. However, this kind of low-precision data cannot be used to establish an accurate Arctic climate model. As a new type of mobile observation platform, the unmanned aerial vehicles (UAVs) are used for in-situ observation. And they are widely used for scientific research in the Antarctic and Arctic regions because of their flexibility, low cost and applicability to high-risk areas. An overview of UAVs, which have been used in the Arctic atmospheric observation system over the past few decades, is provided in this paper to reflect the important role of UAVs in observing the Arctic atmosphere. Additionally, both the disadvantages and development trends of the above UAVs are also summarized in this paper.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128509159","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Two-Stage Multi-Organ Automatic Segmentation with Low GPU Memory Occupancy 低GPU内存占用的两阶段多器官自动分割
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903976
Yi Lv, Junchen Wang
{"title":"Two-Stage Multi-Organ Automatic Segmentation with Low GPU Memory Occupancy","authors":"Yi Lv, Junchen Wang","doi":"10.1109/WRCSARA57040.2022.9903976","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903976","url":null,"abstract":"Abdominal multi organ segmentation is of great significance in medical diagnosis and research. As the abdominal CT usually has a high resolution and a high image size, automatic segmentation of the abdominal organs demands a high configuration of hardware. In this paper, we proposed a low GPU memory occupied two stage fully supervised automatic segmentation framework for abdomina113 organs: liver, spleen, pancreas, right kidney, left kidney, stomach, gallbladder, esophagus, aorta, inferior vena cava, right adrenal gland, left adrenal gland, and duodenum, and designed a lightweight 3D CNN refer to as Tiny-CED Net. The proposed Tiny-CED Net can accurately complete the automatic segmentation of the whole abdominal CT with the GPU memory occupation <2GB. The results show that the average DSC of our method reached 0.83. The average time consumption and max GPU memory occupied are less than 25s and 2GB.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126132433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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