2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)最新文献_第2页

Automatic ROI Detection in Lumbar Spine MRI 腰椎MRI自动ROI检测

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657505

Mohamad Reza Shahabian Alashti, M. Daliri, B. Jamei

{"title":"Automatic ROI Detection in Lumbar Spine MRI","authors":"Mohamad Reza Shahabian Alashti, M. Daliri, B. Jamei","doi":"10.1109/ICROM.2018.8657505","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657505","url":null,"abstract":"Low back pain (LBP) is one of the most common diseases affecting a large number of people. Diagnosis and treatment of LBP require quick, accurate imaging methods. Magnetic resonance imaging (MRI) is effective in distinguishing between vertebra, intervertebral disc and spinal cord, and thus is used frequently in spinal cord injury (SCI) diagnosis. This paper proposes a fully automated approach to detecting region of interest (ROI) using T2-weighted MRI images. Our dataset included the cases of 100 patients who suffered from LBP. In total, 2000 axial and 1200 sagittal ROI were marked in the Lumbar spine. Extracted ROIs were used in the cascade classifier learner. In this method, ROI detection consists of two processes. First the ROIs are specified using the cascade classifier, and then via a process, non-regions of interest (NROIs) are discarded. Histogram of Oriented Gradient (HOG) was used as the feature descriptor in each stage of the Cascade classifier. This method does not require background knowledge of input images and it is reliable regardless of the images size, contrast and clinical abnormally of cases. The quantitative and qualitative evaluation results of the proposed ROI detector were 83% and above 94%, respectively.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134099851","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

Analyzing Human-Robot Interaction Using Machine Vision for Autism screening 基于机器视觉的自闭症筛查人机交互分析

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657569

M. Moghadas, H. Moradi

引用次数: 9

Design, Fabrication, and Test of a Low-Cost MEMS-Based Sun Sensor 低成本mems太阳传感器的设计、制造与测试

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657499

Jamal Addin Bahrampoor, A. Naghash

引用次数: 1

Robust Adaptive H∞ Control for Attitude Control of a Quadrotor 四旋翼飞行器姿态控制的鲁棒自适应H∞控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657497

Sadra Borji Monfared, A. Kalhor, M. A. Atashgah

引用次数: 4

Kinematics and Dynamics Modeling of Spherical Parallel Manipulator 球面并联机械臂的运动学与动力学建模

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657504

Omid Mahdizadeh, Afshin Zeinaddini Meymand, M. Mollahossein, S. Moosavian

引用次数: 6

Impedance Estimation and Motion Control of a Pendulum-Driven Spherical Robot 摆驱动球形机器人的阻抗估计与运动控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657621

Hamidreza Kolbari, Alireza Ahmadi, M. Bahrami, Farzam Janati

{"title":"Impedance Estimation and Motion Control of a Pendulum-Driven Spherical Robot","authors":"Hamidreza Kolbari, Alireza Ahmadi, M. Bahrami, Farzam Janati","doi":"10.1109/ICROM.2018.8657621","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657621","url":null,"abstract":"Spherical robot due to its special attributes such as maneuverability, omnidirectional movement, and silent movement has employed in the robotic fields instead of using legged and wheeled robots. In spite of the fact that several mechanisms are used to design such robots, pendulum driven is commonly utilized because of its simplicity. In this paper, a spherical robot equipped with a pendulum - driven is implemented. Two ways of control are discussed. At first, the robot is controlled manually by using smartphone remotely. In another strategy, schemes of control are designed to guarantee the trajectory tracking and stability of the robot autonomously. The former strategy is divided into two plans. At first, the mathematical dynamics model of the robot based on the Lagrangian method is proposed. As well as, the transform functions between the driving motors and angular velocities are derived experimentally. PID control is employed to ensure the trajectory tracking of the robot in both strategies. Experimental results prove the effectiveness of the transform function compared to the mathematical dynamic model.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127193698","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: 5

Design and Control of a Suspended Cable-Driven Parallel Robot with Four Cables 悬索驱动四缆并联机器人的设计与控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657534

Ramin Mersi, Sina Vali, Morteza Shahamiri Haghighi, G. Abbasnejad, M. T. Masouleh

引用次数: 11

Wave Based Control of A Deployable Cable Driven Robot 可展开索驱动机器人的波浪控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657565

S. A. Khalilpour, R. Khorrambakht, H. Taghirad, P. Cardou

{"title":"Wave Based Control of A Deployable Cable Driven Robot","authors":"S. A. Khalilpour, R. Khorrambakht, H. Taghirad, P. Cardou","doi":"10.1109/ICROM.2018.8657565","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657565","url":null,"abstract":"Cable driven parallel manipulator are known by their low costs and numerous applications. However despite of all research interests and developed methods they are not yet vastly used in action. The reason for this, is their limiting requirements for accurate assembly and installation process. The main goal of this paper is to propose a suitable control method by which the robot could appropriately be controlled, requiring no accurate calibrations or precise sensors. As it is well known, uncertainty in kinematics equations can lead to loose cables in redundant robots controlled through joint space controllers. In this paper a simple but very effective joint space controller is proposed that addresses the problem of loose cables by a wave based control method by employing a novel force feedback scheme. Indeed, a new conceptual framework for controlling deployable cable driven parallel manipulators is introduced by which such robots are greatly empowered at real-world scenarios. Finally, the performance of the proposed controller and its effectiveness is verified through some practical experiments showing that the proposed controller outperforms conventional cascade topologies in terms of much smoother tracking performance.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114136852","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: 8

New Approach to Center of Mass Estimation for Humanoid Robots Based on Sensor Measurements and General LIPM 基于传感器测量和通用LIPM的人形机器人质心估计新方法

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657538

H. Alai, F. A. Shirazi, A. Yousefi-Koma

引用次数: 4

Design, Manufacturing and Motion Generation of a Shark Robot 鲨鱼机器人的设计、制造及运动生成

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657507

Omid Ahmadi Khiyavi, A. Yousefi-Koma, F. A. Shirazi, S. A. Alizadeh Kolagar

引用次数: 0