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2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献

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Simulation of Vertical Water Exit of Rotor Unmanned Aerial/Underwater Vehicle Based on STAR-CCM+ 基于STAR-CCM+的旋翼无人机/水下航行器垂直出水仿真
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612686
Daxiong Ji, Xinwei Wang, Rui Wang, Huifang Cheng, Feijun Guo, Tiejun Liu, Xinke Zhu, Shuo Liu
{"title":"Simulation of Vertical Water Exit of Rotor Unmanned Aerial/Underwater Vehicle Based on STAR-CCM+","authors":"Daxiong Ji, Xinwei Wang, Rui Wang, Huifang Cheng, Feijun Guo, Tiejun Liu, Xinke Zhu, Shuo Liu","doi":"10.1109/WRCSARA53879.2021.9612686","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612686","url":null,"abstract":"Rotor unmanned aerial/underwater vehicle is a kind of novel intelligent equipment in recent years, which can realize autonomous voyage both in the air and underwater. However, the complex motion when crossing the water surface brings huge challenges to its structure design and motion control. Instead of using the experimental method or the traditional numerical method, this paper simulates the vertical water exit of a rotor unmanned aerial/underwater vehicle based on STAR-CCM+. By analysing the simulation results, it is found there will be a certain impact, which is positively correlated to the speed, on the rotor unmanned aerial/underwater vehicle exactly when the free surface breaks and water detaches from the vehicle. Consequently, we propose a segmented water exit mode, which may enhance the stability of the vehicle through the process of water exit.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130648365","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
Automatic Counting Algorithm of Fry Based on Machine Vision System 基于机器视觉系统的薯条自动计数算法
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612698
Daxiong Ji, Jia-li Zhou, Minghui Xu, Zhangying Ye, Songming Zhu, Shuo Liu
{"title":"Automatic Counting Algorithm of Fry Based on Machine Vision System","authors":"Daxiong Ji, Jia-li Zhou, Minghui Xu, Zhangying Ye, Songming Zhu, Shuo Liu","doi":"10.1109/WRCSARA53879.2021.9612698","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612698","url":null,"abstract":"In this study, an automatic counting system for fry based on the machine vision is designed, and the dataset of Pseudosciaena crocea (2–4cm) and Grass Carp (3–6cm) are collected. Aiming at the problems of large moving distance and large deformation of fry between consecutive frames, a matching algorithm based on probability density function (PDF) and a dynamic counting strategy are proposed, which can ensure the accuracy of fry counting effectively. Finally, the experimental results show that the automatic counting system can effectively separate fry, and the average accuracy of counting is more than 97.9%.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"407 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122722994","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
Precise Control of Magnetic Nano Particle Formed Microrobot Cluster 磁性纳米粒子形成微型机器人簇的精确控制
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612685
Luyao Wang, Li Song, Lina Jia, Hongyan Sun, Yiming Ji, Yuguo Dai, Lin Feng
{"title":"Precise Control of Magnetic Nano Particle Formed Microrobot Cluster","authors":"Luyao Wang, Li Song, Lina Jia, Hongyan Sun, Yiming Ji, Yuguo Dai, Lin Feng","doi":"10.1109/WRCSARA53879.2021.9612685","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612685","url":null,"abstract":"Many incredible clusters of emergent behaviors exist in natural organisms, and these colonies of organisms exhibit a vigorous ability to adapt to complex and variable environments. Nowadays several artificial microrobot swarms have been developed, but the majority of them usually have only one single rigid structure which lacks adaptability to complex environments. Inspired by the clustering behavior of wild herring, this paper develops a strategy to trigger loose magnetic nanoparticles to form vortex-shaped “flexible” clusters. By programming the magnetic field parameters, the vortex-like swarm of microscopic robots can exhibit both liquid and solid-like behavior, such that the swarm is variable and reconfigurable, capable of easily overcoming complex surface environments composed of biological cells and controlling movement in any direction of the surface. In addition, it can actively approach its “prey” and capture it for transport to a designated location. In the future, deformable vortex-shaped micro-robots will play a valuable role in targeted drug delivery and targeted lesion removal in living organisms.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132398993","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: 3
Anal Center Detection with Superpixel Segmentation 基于超像素分割的肛门中心检测
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612701
Baiquan Su, Zehao Wang, Mingcheng Li, Shi Yu, Han Li, Yi Gong, Shaolong Kuang, Wenyong Liu, Ye Zong, Weifeng Yao
{"title":"Anal Center Detection with Superpixel Segmentation","authors":"Baiquan Su, Zehao Wang, Mingcheng Li, Shi Yu, Han Li, Yi Gong, Shaolong Kuang, Wenyong Liu, Ye Zong, Weifeng Yao","doi":"10.1109/WRCSARA53879.2021.9612701","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612701","url":null,"abstract":"Anal center detection is of great significance for the diagnosis of anorectal diseases, for accurate anal center detection can help gastrointestinal (GI) robot enter the human body automatically and check the patient’s anal and lower intestinal diseases, which is the first step to realize autonomous diagnosis. However, there is no available result on the anal center detection. In this work, the superpixel method is employed to find the anal center. In the first step, the collected image dataset is expanded through the data augmentation method. In the second step, we use the superpixel segmentation method, a machine learning algorithm, to segment the image by pixels with similar features in the image. Then we determine the region of interest (ROI) based on the threshold and the size of the connected region. After that, the gray barycenter method is used to determine the center of gravity of the ROI i.e., the anal center. The ground-truth anal center is obtained by the average of the anal center coordinates determined by ten anorectal surgeons. By the proposed algorithm, it is found that the ROI detected in 70.59% of the images in the dataset includes the anal center, and the positioning accuracy of the anal center is 88.87% averagely. Thus, the method can provide the anal center for GI robot.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127937600","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
3D Spatial Positioning by Binocular Infrared Cameras 双目红外相机的三维空间定位
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612688
Baiquan Su, Yi Gong, Shi Yu, Han Li, Zehao Wang, Wenyong Liu, Junchen Wang, Shaolong Kuang, Weifeng Yao, Jie Tang
{"title":"3D Spatial Positioning by Binocular Infrared Cameras","authors":"Baiquan Su, Yi Gong, Shi Yu, Han Li, Zehao Wang, Wenyong Liu, Junchen Wang, Shaolong Kuang, Weifeng Yao, Jie Tang","doi":"10.1109/WRCSARA53879.2021.9612688","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612688","url":null,"abstract":"The calibration of binocular infrared camera is a key step to realize the positioning of infrared camera. The existing methods of binocular camera calibration are not suitable for infrared camera, so it is necessary to study the methods of binocular infrared camera calibration and positioning. In this paper, a calibration and positioning method of binocular infrared camera is proposed, and the infrared positioning of two kinds of objects is completed by using this method. Firstly, a special temperature calibration system is used to collect the images for binocular calibration, then the center point detection algorithm and Zhang’s calibration method are used to process the infrared calibration image to obtain the internal and external parameters of the binocular infrared camera. The calibration error is compared with that of binocular visible camera to prove the feasibility of the binocular infrared camera calibration. Secondly, according to the calibrated parameter matrix of the binocular infrared camera, symmetrical circle calibration object detection algorithm and coordinate transformation are carried out for the distortion correction images to achieve infrared positioning of different objects, and the positioning error is obtained. The results show that the calibration method of binocular infrared camera is feasible, and it has more functions than the traditional calibration method.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128175100","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 QoS Fair Assurance Scheduling Algorithm Based on Q-Learning 基于q -学习的QoS公平保证调度算法
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612663
Zhen Wang, Jin Duan, Anni Yao
{"title":"A QoS Fair Assurance Scheduling Algorithm Based on Q-Learning","authors":"Zhen Wang, Jin Duan, Anni Yao","doi":"10.1109/WRCSARA53879.2021.9612663","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612663","url":null,"abstract":"Packet scheduling algorithm is one of the core technologies to guarantee the QoS requirements of wireless sensor networks, but traditional scheduling algorithms, including DWRR(Deficit Weighted Round-Robin) and other fair scheduling algorithms, can not effectively guarantee the delay requirements of non-real-time traffic. To solve the above problems, this paper proposes a QoS fairness guarantee scheduling algorithm based on Q-learning, which aims to balance the relationship between fairness and delay and effectively guarantee the QoS requirements of different traffic flows. Simulation results show that compared with DWRR algorithm, the scheduling algorithm proposed in this paper can effectively guarantee the delay requirements of traffic with different priorities, and balance the queue delay and fairness well.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130710859","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
An Underwater Integrated Navigation Method for Small Autonomous Surface and Underwater Vehicle 小型自主水面/水下航行器水下组合导航方法
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612668
Daxiong Ji, Huifang Cheng, Shuai Zhou, Yangyang Zhai, Zhangying Ye, Tiejun Liu, Xinke Zhu, Shuo Liu
{"title":"An Underwater Integrated Navigation Method for Small Autonomous Surface and Underwater Vehicle","authors":"Daxiong Ji, Huifang Cheng, Shuai Zhou, Yangyang Zhai, Zhangying Ye, Tiejun Liu, Xinke Zhu, Shuo Liu","doi":"10.1109/WRCSARA53879.2021.9612668","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612668","url":null,"abstract":"In order to realize low-cost operation in narrow and small waters, a new type of small autonomous surface and underwater vehicle (S-ASUV) is proposed, which has four vertical propellers controlling attitude and two horizontal propellers controlling position. The kinematic and dynamic models of S-ASUV are established, and the thrust coefficient of the models is corrected by global positioning system (GPS) position calibration. An underwater navigation fusion algorithm aided by the thrust correction dynamic model is proposed. The underwater GPS navigation experiment was carried out by using the S-ASUV prototype, and the underwater integrated navigation algorithm under GPS outliers was simulated offline using the track data collected from the field experiment. The results show that the thrust correction dynamic model aided underwater navigation method can effectively improve the accuracy of underwater navigation.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"103 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132982463","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
Active Contact Physiotherapy System 主动接触物理治疗系统
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612679
Baiquan Su, Han Li, Shi Yu, Xinrong Yan, Yi Gong, Zehao Wang, Wenyong Liu, Shaolong Kuang, Weifeng Yao
{"title":"Active Contact Physiotherapy System","authors":"Baiquan Su, Han Li, Shi Yu, Xinrong Yan, Yi Gong, Zehao Wang, Wenyong Liu, Shaolong Kuang, Weifeng Yao","doi":"10.1109/WRCSARA53879.2021.9612679","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612679","url":null,"abstract":"It is easy for human body to contact with objects for a long time to cause fatigue of corresponding parts. How to use robot technology to reduce or eliminate this fatigue in order to improve work efficiency, ensure human health and improve comfort is an important problem in the field of robot. In this paper, combined with the characteristics of animal tissues (puffer’s air bag, etc.), through the application of soft robot related technology, a set of program-controlled active flexible massage system is made. The system is mainly composed of support frame, air bag placement module and electrical system. The system can be freely deformed and combined, soft and comfortable, and has strong expansibility. In addition, we propose a control method to calculate the relationship between the air pressure inside the airbag and the surface tension of the airbag, set four working modes for the system, and measure the air pressure inside the airbag under the four modes. The results show that the proposed control method is feasible and will have a very broad application prospect in medical rehabilitation.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115677687","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 and Analysis of a Micro Flexible Surgical Robot 微型柔性手术机器人的设计与分析
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612619
Xiaoyong Wei, Yingxuan Zhang, Feng Ju, Hao Guo, Bai Chen, Hongtao Wu
{"title":"Design and Analysis of a Micro Flexible Surgical Robot","authors":"Xiaoyong Wei, Yingxuan Zhang, Feng Ju, Hao Guo, Bai Chen, Hongtao Wu","doi":"10.1109/WRCSARA53879.2021.9612619","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612619","url":null,"abstract":"Continuum robots have been widely used in the medical field due to their flexibility. In order to further expand the application range of continuum robots in the medical field and meet the requirements of minimally invasive surgery, this paper proposes a micro flexible surgical robot. It is equipped with the tendon-driven actuation system and an elastic skeleton, which is made by laser cutting from Nitinol tube. The flexible robot skeleton and the guiding disk are processed in an integrated way to minimize the assembly error. It contains a central instrument channel and is easy to expand into multiple segments to adapt to complex operational requirements. First, the kinematic analysis is carried out. On this basis, a kinematics simplified method and a real-time monitoring method of the robot state are proposed. Then the static model of the system is established to analyze the relationship between the bending shape and the driving force. The researched robot can be used for the surgery in nasal cavity, transurethral surgery and the surgery of other narrow area, and has the potential to improve the efficiency and safety of the surgery.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131942885","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
Visual Optimization of Ultrasound-Guided Robot-Assisted Procedures Using Variable Impedance Control 使用可变阻抗控制的超声引导机器人辅助手术的视觉优化
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612667
Songjie Xiao, Chao-Kuei Wang, Yunze Shi, Jiawei Yu, Linfei Xiong, C. Peng, Liangjing Yang
{"title":"Visual Optimization of Ultrasound-Guided Robot-Assisted Procedures Using Variable Impedance Control","authors":"Songjie Xiao, Chao-Kuei Wang, Yunze Shi, Jiawei Yu, Linfei Xiong, C. Peng, Liangjing Yang","doi":"10.1109/WRCSARA53879.2021.9612667","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612667","url":null,"abstract":"Ultrasonography is one of the most common intraoperative imaging modalities for image-guided procedures in clinical practice. However, the quality of the ultrasound image depends largely on the skill and dexterity of the surgeon. We propose a robotic control system for intraoperative ultrasound imaging that optimizes visual quality of the ultrasonography using variable impedance control for regulating the contact force of the ultrasound transducer. The system consists of a human-robot-environment interaction (HREI) system and a needle insertion system. Experimental results show that the HREI system can control the robot in collaboration with the human while interacting with the environment and maintain a constant force with a maximum error of 0.2N. These results support the feasibility of our proposed approach. This study has the potential to positively impact current practices in ultrasound image-guided procedures.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"497 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132235778","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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