2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)最新文献

Characterization of a trilateration method using Hall effect sensors for microrobot position tracking 利用霍尔效应传感器进行微型机器人位置跟踪的三边测量方法

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870254

G. Géron, J. Terrien, M. U. Khan, C. Prelle, H. Al Hajjar

引用次数: 0

Magnetic Pick, Mechanical Place on Small Scales* 磁力Pick，机械Place on Small Scales*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870495

R. Pelrine, A. Hsu

引用次数: 1

Eddy Current Damping of Magnetically Actuated Neurosurgical Instruments 磁驱动神经外科器械的涡流阻尼

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870481

N. Wu, T. Looi, James M. Drake, E. Diller

{"title":"Eddy Current Damping of Magnetically Actuated Neurosurgical Instruments","authors":"N. Wu, T. Looi, James M. Drake, E. Diller","doi":"10.1109/MARSS55884.2022.9870481","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870481","url":null,"abstract":"Flexion based magnetically actuated minimally invasive neurosurgical tools tend to oscillate for an extended period of time due to the lack of avenues for energy dissipation. This study proposes eddy current damping as the mechanism for reducing the vibrations present for such magnetic tools. After determining the necessary damping coefficient (4.31 × 10−9 Ns m−1 for a settling time less than 0.5 s and 2.01 × 10−6 Ns m−1 for critical damping), a feasibility study was conducted by approximating the potential damping that could be generated. An experimental study was performed to validate these values and relationships determined by the approximations by measuring the oscillation of a 2 mm by 2 mm by 4 mm N52 Neodymium magnet attached to a nitinol beam. Six measurements were taken at gap sizes between the magnet and conductor of 0 µm, 100 µm, 200 µm, 300 µm, 400 µm, 500 µm, 750 µm, 1000 µm, 1500 µm, and 2000 µm with copper conductors of thicknesses 0.127 mm to 0.635 mm in 0.127 mm increments. It was shown that sufficient damping could be generated experimentally (the maximum damping documented is 1.24 × 10−6 Ns m−1).","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123406664","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

Machine Learning-Based Real-Time Localization and Automatic Trapping of Multiple Microrobots in Optical Tweezer 基于机器学习的光镊多微机器人实时定位与自动捕获

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870467

Yunxiao Ren, Meysam Keshavarz, S. Anastasova, Ghazal Hatami, Benny P. L. Lo, Dandan Zhang

{"title":"Machine Learning-Based Real-Time Localization and Automatic Trapping of Multiple Microrobots in Optical Tweezer","authors":"Yunxiao Ren, Meysam Keshavarz, S. Anastasova, Ghazal Hatami, Benny P. L. Lo, Dandan Zhang","doi":"10.1109/MARSS55884.2022.9870467","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870467","url":null,"abstract":"Optical Tweezer (OT) is an attractive tool for biological studies, which has been used for cell manipulation and tissue engineering. However, the high intensity of laser beam may damage the target biological objects or specimens. To this end, indirect optical manipulation using optical microrobots has become a promising research direction. To enhance the efficiency of indirect manipulation, automatic localization and trapping of multiple microrobots is significant, which paves a way for closed-loop control. For microrobots localization, a modified YOLOv4-tiny neural network model is developed by integrating ConvNext block for feature extraction, while Gaussian modelling is used to optimize the coordinates of the output of the detection head. To avoid expensive manual annotation for model training, self-supervised learning method is employed with Mosaic data augmentation to eliminate the need of collecting a large amount of data. To determine the optimal trapping points for the laser spots, a machine learning-based ellipse detection method is developed based on arc-support groups and k-means algorithm. We conducted experiments to evaluate the effectiveness of the proposed methods. Compared to mainstream object detection algorithms, our proposed mi-crorobot localization method has higher accuracy and enhanced computational efficiency. The proposed ellipse detection method can detect spherical structures of localized microrobots effectively with 96.77% of success rate. The code is open-source and released on: https://github.com/ClouseYunxiao/MicrorobotsDetection_TrappingPoints","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123603141","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: 2

Real-time Active Vibration Compensation: A Novel Scheme with Adaptive Filter and Forecasting 实时主动振动补偿:一种自适应滤波和预测的新方案

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870472

Yichang He, Yunfeng Fan, U-Xuan Tan

{"title":"Real-time Active Vibration Compensation: A Novel Scheme with Adaptive Filter and Forecasting","authors":"Yichang He, Yunfeng Fan, U-Xuan Tan","doi":"10.1109/MARSS55884.2022.9870472","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870472","url":null,"abstract":"Remote platform-based laser positioning applications are severely affected by onboard vibration. To eliminate the effect, sensing and compensating the vibration by equal but opposite actuation is necessary. However, existing methods possess various limitations due to the technical challenges as follows: 1) the vibration has multiple time-variant dominant frequencies; 2) the bandwidth is broad; 3) there is a significant phase shift in signals caused by inherent delay; 4) the sensor (i.e., gyroscope) generates noise and integration drift disturbances. To overcome these challenges, we propose a novel sensing scheme in this paper, applying the Taylor series fore-casting and the Recursive Least Square (RLS)-based filter. Both techniques are designed to process signals with features listed in challenges 1) and 2). The Taylor series forecasting is a time series forecasting technique that eliminates the delay-induced phase shift with higher accuracy than existing methods. The RLS-based filter is an adaptive filter that applies a regression model to the input and achieves frequency domain separation with negligible phase shift. In this paper, both offline and online real-time (RT) experiments are conducted for validation, using the vibration signal sampled from a truck-based system. The proposed method shows higher accuracy than existing methods and achieves compensation rates over 70%.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114482478","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 Miniature Tubular Linear Electromagnetic Actuator: Design, Modeling and Experimental Validation 一种微型管状线性电磁执行器:设计、建模和实验验证

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870253

Mouna Ben Salem, L. Petit, M. Khan, J. Terrien, C. Prelle, F. Lamarque, T. Coradin, C. Egles

引用次数: 1

Electronic Waste Separation Using Magnetic Minirobots 利用磁性微型机器人进行电子垃圾分类

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870505

Ondřej Carvan, Martin Juřík, Jiri Kuthan, Martin Vítek, F. Mach

引用次数: 1

Cooperative Control of Dual-Arm Concentric Tube Continuum Robots 双臂同心管连续机器人的协同控制

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870466

H. Zhang, S. Lilge, M. Chikhaoui, J. Burgner-Kahrs

{"title":"Cooperative Control of Dual-Arm Concentric Tube Continuum Robots","authors":"H. Zhang, S. Lilge, M. Chikhaoui, J. Burgner-Kahrs","doi":"10.1109/MARSS55884.2022.9870466","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870466","url":null,"abstract":"Thanks to their small size, high dexterity and compliance, concentric tube continuum robots (CTCRs) are well suited for tasks in constrained and tortuous environments such as minimally invasive surgery. Many real-world tasks often require collaboration of multiple manipulators necessitating dual-arm (DA) robotic systems. Leveraging the benefits of CTCRs in a dual-arm configuration, i.e. DA-CTCR, has great potential for applications in such areas. A hierarchy-based control framework is proposed to efficiently control and coordinate motions in a semi-autonomous manner for DACTCRs. This framework is validated in various assistive/motion coordination control schemes in simulation and on a real-robot prototype. Our results demonstrate that a DA-CTCR can effectively be controlled when considering the autonomous execution of multiple functionally meaningful tasks aggregated in a prioritized hierarchy. The performance of the task prioritization was clear on the real robot where, for a relative positioning task prioritized over that of a single arm, respective mean errors of 0.38mm and 0.7mm were observed.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130146813","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

Cancelling stray magnetic fields to render magnetic nanobots autonomous 消除杂散磁场，使磁性纳米机器人自治

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870477

G. Patil, Pranay Mandal, Jyotiprakash Behera, Ajay Ajith, Ambarish Ghosh

引用次数: 0

Microfluidic Electrochemical Sensor for Heavy Metal Detection Using Pyrolytic Carbon Electrodes and Valveless Micropump* 使用热解碳电极和无阀微泵的重金属检测微流控电化学传感器*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870496

P. Zhou, T. Zhang, Y. Xu, T. Simon, T. Cui

引用次数: 2