2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)最新文献_第10页

A quantitative biomechanical study for precise orthopedic intervention in idiopathic scoliosis 特发性脊柱侧凸精确矫形干预的定量生物力学研究

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872188

Ruliang Feng, Huiren Tao, Canhua Ye, Guanglin Li, Xueling Bai, Lin Wang

{"title":"A quantitative biomechanical study for precise orthopedic intervention in idiopathic scoliosis","authors":"Ruliang Feng, Huiren Tao, Canhua Ye, Guanglin Li, Xueling Bai, Lin Wang","doi":"10.1109/RCAR54675.2022.9872188","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872188","url":null,"abstract":"The scoliosis with a prevalence of about 2.4% has become the top 3 major “killer” of children and adolescents’ health. Only 0.02% of scoliosis would be severe enough to require surgical intervention, while the rest was treated with orthotics or exercise training. However, the location of the orthotic forces and its effects were still not clear, resulting in a great deal of blindness in the fabrication of precise individualized orthoses and the later applied orthopedic forces. In this paper, we built a 3D spine model of a patient with idiopathic scoliosis based on CT tomography data, applied different orthopedic forces to the spine model to compare the results and clarify the relationship between them in order to determine the optimal location and magnitude of the orthopedic force, which were necessary for precise interventions in patients. The present results showed that 1) the greater the applied force, the better the correction effect (within reasonable limits) and 2) the effect of multiple forces applied for correction was better than that of a single force applied, as reflected by a greater displacement of the vertebrae and almost identical mean Von Mises stress in the discs, which could support the production of effective personalized orthopedic robots.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128487523","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 Coupling Enhanced Emergency Braking Approach for Double Pendulum Cranes 双摆起重机耦合强化紧急制动方法

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872296

He Chen, Mengyuan Li, Yinan Wu

{"title":"A Coupling Enhanced Emergency Braking Approach for Double Pendulum Cranes","authors":"He Chen, Mengyuan Li, Yinan Wu","doi":"10.1109/RCAR54675.2022.9872296","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872296","url":null,"abstract":"Crane systems are commonly used transportation tools in industry to transport heavy cargoes to corresponding target positions. If the cargo shape is large which could not be regarded as a mass point or the hook mass also needs to be taken into account, the cranes would perform as double pendulum systems, whose dynamics are more complex than those of single pendulum systems. Since the working environment for crane systems can be very complex in practice, unavoidable emergency situations may occur, which are very dangerous. To avoid possible accidents, effective emergency braking methods are urgently needed, especially for double pendulum cranes with large cargoes. Considering this fact, this paper presents a coupling enhanced braking strategy for double pendulum cranes, which stops the trolley fast and achieves double pendulum vibration elimination objectives simultaneously. Specifically, an elaborately designed variable consisting of the trolley movement, the hook’s swing, and the payload’s swing, is utilized as feedback, which enhances the system couplings and improves the vibration elimination ability. Some constraint items are also introduced to restrict the payload in a safety domain and further avoid possible collisions. The effectiveness is rigorously analyzed and proved by mathematical analysis. Some experiments are executed to show the performance of the designed strategy.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130865181","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 Lifting Mechanism of Transfer Robot for the Elderly 老年人搬运机器人升降机构设计

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872201

Jing Yang, Zheng-ji Song, Ruikai Wu, Jingchuan Wang

引用次数: 0

Hardness indentation detection and classification technology based on image processing 基于图像处理的硬度压痕检测与分类技术

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872294

A. C. Shilin, B. Wei

引用次数: 0

Real-time Prediction Method of Remaining Useful Life Based on TinyML 基于TinyML的剩余使用寿命实时预测方法

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872225

Hongbo Liu, Ping Song, Youtian Qie, Yifan Li

{"title":"Real-time Prediction Method of Remaining Useful Life Based on TinyML","authors":"Hongbo Liu, Ping Song, Youtian Qie, Yifan Li","doi":"10.1109/RCAR54675.2022.9872225","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872225","url":null,"abstract":"Tiny Machine Learning (TinyML) is a new research area aimed at designing and developing machine learning (ML) techniques for embedded systems and IoT units. Due to the limited resources of embedded system, neural network pruning is widely used to reduce resource occupation. To solve the problem that the Remaining Useful Life (RUL) of the equipment is difficult to calculate accurately and in real time, a pruning method based on L1 norm weight was designed to reduce the memory footprint and computational load of the neural network, and a lightweight two-dimensional convolutional neural network was constructed. Experimental results show that compared with random pruning, this method greatly reduces the influence of neural network parameter reduction on the accuracy of inference results. Meanwhile, a retraining method based on Adam optimization was used to make the RUL curve predicted by the retrained model more close to the real RUL curve. When the weight parameters are reduced by 30%, the model still maintains good prediction accuracy, and can realize the real-time prediction of RUL in the embedded system with limited resources.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123952000","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

Decision-making System based on Finite State Machine for Low-speed Autonomous Vehicles in the Park 基于有限状态机的园区低速自动驾驶车辆决策系统

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872208

Yufeng Hu, Lirong Yan, Jun Zhan, Fuwu Yan, Zhishuai Yin, Fuming Peng, Yibo Wu

引用次数: 1

Research on Humanistic Innovation Accomplishment Cultivation in Intercultural Communication Based on Virtual Simulation Technology* 基于虚拟仿真技术的跨文化交际人文创新素养培养研究*

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872181

Jin Zhang

引用次数: 0

Ship manoeuvring model identification under wind disturbance 风扰动下船舶操纵模型辨识

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872289

Mingda Zhu, Tongtong Wang, Houxiang Zhang, Guoyuan Li

引用次数: 0

Assembly of micro-/nano- materials with optoelectronic tweezers and freeze-drying 用光电镊子和冷冻干燥组装微/纳米材料

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872290

Fenggang Li, Bingrui Xu, Shuailong Zhang

引用次数: 0

Configurability Selection of Robotic Arm with Constrained Task and Environment in Laparoscopic Hysterectomy for Uterus Manipulation 腹腔镜子宫切除术中约束任务和约束环境下机械臂构型选择

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872266

Wei Chen, Jiahao Wu, Jianshu Zhou, Hesheng Wang, Yudong Wang, T. Cheung, Yun-hui Liu

{"title":"Configurability Selection of Robotic Arm with Constrained Task and Environment in Laparoscopic Hysterectomy for Uterus Manipulation","authors":"Wei Chen, Jiahao Wu, Jianshu Zhou, Hesheng Wang, Yudong Wang, T. Cheung, Yun-hui Liu","doi":"10.1109/RCAR54675.2022.9872266","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872266","url":null,"abstract":"Multi-link serial robots have gained growing popularity in robot-assisted surgeries with the advantages of flexibility and versatility. This type of robot has be introduced into the uterus manipulation in laparoscopic hysterectomy (UMLH) to mitigate the disadvantages of our previous robotic uterus manipulator. Compared with the other surgical tasks (e.g. laparoscope manipulation, orthopedic and neurosurgery surgeries), the UMLH has a more narrow workspace and a stringent task requirement. Selecting the proper initial configuration of the robot is a key issue for such kind of surgical operations. In this paper, we develop a scheme to select appropriate initial configurations for the UMLH. Moreover, our method can satisfy both the static RCM and dynamic RCM. In an dynamic RCM, the task path or trajectory depends on the robot initial pose and arbitrary (or indefinite) with respect to the robot base frame. We also proposed a criterion, i.e. configuration-type task capability (CTTC), to measure the task capability of a given configuration-type for the dynamic RCMs. Simulations are carried out to validate our scheme.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132144957","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