Chunshuo Zheng, Yang Yang, Mingsheng Li, Wenjun Gao
{"title":"Fault detection of linear stochastic system in network environment","authors":"Chunshuo Zheng, Yang Yang, Mingsheng Li, Wenjun Gao","doi":"10.1109/WRCSARA53879.2021.9612670","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612670","url":null,"abstract":"In this paper, the problem of fault detection for linear stochastic system affected by network induced delay, random disturbance and network resource limitation is studied. On the one hand, the adaptive event triggering mechanism is used to reduce the frequency of event triggering and improve the utilization of network resources. On the other hand, the residual system constructed by the fault detection filter is designed to detect the occurrence of system faults, and the H∞ optimal performance method is used to ensure that the designed fault detection model is mean square asymptotically stable and meets the expected H∞ performance1. Finally, the simulation results show that the sampling method can not only detect the fault quickly and accurately, but also improve the utilization of network resources.","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":"129606462","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}
Wentong Wang, Guangdong Zhan, Junyi Wei, Li Song, Lin Feng
{"title":"WCE with real time polyp detection and segmentation using deep neural networks","authors":"Wentong Wang, Guangdong Zhan, Junyi Wei, Li Song, Lin Feng","doi":"10.1109/WRCSARA53879.2021.9612694","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612694","url":null,"abstract":"Capsule robots are developing rapidly. The capsule robots perform non-invasive gastrointestinal endoscopy on patients. With the application of artificial intelligence in the capsule robot, the images collected by the capsule can be read efficiently and accurately offline. However, since the previous capsules either lacked wireless data transmission or only used Bluetooth data transmission, real-time interaction was not yet possible. It is very helpful for the diagnosis of the patient’s condition. However, due to the lack of real-time interaction, it is still only an early diagnosis and cannot be applied to real-time treatment. In other words, patients still need to undergo invasive surgery after the gastrointestinal capsule endoscopy. The capsule robot proposed in this paper transmits data through Wi-Fi, detects and locates the lesion in real-time using a deep neural network named SEG-YOLOv5. It provides real-time feedback of the endoscopy, which shows a potential of non-invasive treatment or surgery. The experimental result shows that the model detection mAP@0.5 of 10 fold cross-validation on the open-access dataset Kvasir-SEG reaches 97.77% and the dice coefficient is 85.03% for lesion segmentation.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"27 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":"121783577","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}
Baosen Tan, Wei Duan, Shaolong Kuang, Wenyong Liu, Xiaoming Li
{"title":"Kinematic Analysis of Stereotactic Bioprinting Prototype Based on Double-Parallelogram Mechanism","authors":"Baosen Tan, Wei Duan, Shaolong Kuang, Wenyong Liu, Xiaoming Li","doi":"10.1109/WRCSARA53879.2021.9612680","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612680","url":null,"abstract":"Motion control strategies of currently available bioprinters are mainly based on the Cartesian coordinate system to perform layer-by-layer stacking of materials along the vertical direction through the axial-aligned horizontal slicing method. The stacked bioprinting strategy that is inconsistent with the growing pattern of natural biological tissues/organs with anisotropic property in some sense, is stimulating new bioprinting techniques such as the stereotactic bioprinting. This paper analytically calculates the forward and inverse kinematics of a four degree-of-freedom (4-DOF) robotic bioprinter prototype developed in our group which is featured with a 3-DOF manipulator and a 1-DOF circular rail for stereotactic bioprinting. Numerical simulations of working space and motion characteristics using MATLAB and V-REP software have validated the performance and feasibility of the developed prototype, which provides a robot-assisted solution reference for the stereotactic bioprinting.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"31 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":"115131179","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}