Journal of Intelligent and Robotic Systems最新文献

Theory and Application of High-Precision Preoperative Positioning for Cochlear Surgical Robot 人工耳蜗手术机器人高精度术前定位理论与应用

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-02001-2

Hengjia Liu, Hongjian Yu, Zhijiang Du, Feng Liu, Xuanbo Fan, Lining Sun

引用次数: 0

Consensus Formation of Multi-agent Systems with Obstacle Avoidance based on Event-triggered Impulsive Control 基于事件触发脉冲控制的多智能体避障系统共识形成

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-01987-z

Lianghao Ji, Xiaofeng Qu, Chengmei Tang, Shasha Yang, Xing Guo, Huaqing Li

引用次数: 0

Robotic Grasping of Pillow Spring Based on M-G-YOLOv5s Object Detection Algorithm and Image-Based Visual Serving 基于M-G-YOLOv5s目标检测算法和图像视觉服务的枕弹簧机器人抓取

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-01989-x

Hao Tian, Wenhai Wu, Huanlong Liu, YaDong Liu, Jincheng Zou, Yifei Zhao

引用次数: 0

Novel Interaction Control in Adolescent Idiopathic Scoliosis Treatment Using a Robotic Brace 使用机器人支架治疗青少年特发性脊柱侧凸的新型相互作用控制

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-02010-1

Farhad Farhadiyadkuri, Xuping Zhang

{"title":"Novel Interaction Control in Adolescent Idiopathic Scoliosis Treatment Using a Robotic Brace","authors":"Farhad Farhadiyadkuri, Xuping Zhang","doi":"10.1007/s10846-023-02010-1","DOIUrl":"https://doi.org/10.1007/s10846-023-02010-1","url":null,"abstract":"Abstract Adolescent Idiopathic Scoliosis (AIS) may affect the quality of the patient’s life if it is left untreated. Bracing is prescribed to halt or reduce the curvature progression and avoid surgery. However, the in-brace correction pressure remains unclear, and it is controlled passively by tightening/losing the brace’s strap. Computational modeling has recently attracted researchers’ attention to predict and optimize the AIS bracing treatment. In this paper, a Multi Body-Finite Element (MB-FE) Simscape model and an analytical model of the AIS bracing treatment are created. The MB-FE Simscape model is used to predict the in-brace correction pressure. Furthermore, a Novel Position-based Impedance Control (NPIC) is proposed to control the dynamic interaction between the robotic brace and torso. In this method, the error between the desired and estimated impedance parameters is involved in the controller design to improve the performance of the typical PIC in terms of pose tracking and impedance model tracking. In-vivo data from the literature and numerical simulations are used to validate the MB-FE Simscape model and analytical model. The performance of the proposed controller is verified using numerical simulations in terms of pose tracking and impedance model tracking.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"75 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135716089","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

Scalable Optimal Formation Path Planning for Multiple Interconnected Robots via Convex Polygon Trees 基于凸多边形树的多互联机器人可伸缩最优编队路径规划

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-01994-0

Wenjie Lu, Hao Xiong, Zhengjie Zhang, Zhezhe Hu, Tianming Wang

引用次数: 0

Resilient Simultaneous Localization and Mapping Fusing Ultra Wide Band Range Measurements and Visual Odometry 弹性同步定位和映射融合超宽带范围测量和视觉里程计

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-01995-z

Fabrizio Romanelli, Francesco Martinelli, Simone Mattogno

{"title":"Resilient Simultaneous Localization and Mapping Fusing Ultra Wide Band Range Measurements and Visual Odometry","authors":"Fabrizio Romanelli, Francesco Martinelli, Simone Mattogno","doi":"10.1007/s10846-023-01995-z","DOIUrl":"https://doi.org/10.1007/s10846-023-01995-z","url":null,"abstract":"Abstract In this paper we consider a Simultaneous Localization and Mapping (SLAM) problem for a moving agent using Visual Odometry (VO) while measuring the range from a set of Ultra Wide Band (UWB) antennas, deployed in unknown position in the environment. The solution approach is based on a switching observer which, under standard working conditions, for each observed UWB, uses a two dimensional Extended Kalman Filter (EKF) providing an estimate of the range and bearing of the observed UWB with respect to the agent. This information is then used in a Robust EKF algorithm which solves the SLAM problem with performances that, even before closing the loop, are comparable to the ones that a VO algorithm (namely ORB-SLAM2) would obtain only after closing the loop. Moreover, a resilient module is added to the algorithm to evaluate the reliability of the position estimate of each observed UWB. When the Visual Odometry is not available, the switching observer uses an auxiliary EKF to provide an estimate of the agent position. This makes the proposed approach robust with respect to several kinds of unmodeled disturbances, like multipath effects, and automatically adapts to sensor failures with resilience (e.g. when Visual Odometry or UWB measurements are not available).","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"1 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135454770","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

Scalable Motion Planning and Task-Oriented Coordination Scheme for Mobile Manipulators in Smart Manufacturing 智能制造中移动机械臂可伸缩运动规划与面向任务的协调方案

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-02005-y

Tian Yu, Qing Chang

引用次数: 0

Towards Robust Physical Human Robot Interaction by an Adaptive Admittance Controller 基于自适应导纳控制器的鲁棒人机交互

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-01999-9

Guanghui Liu, Qiang Li, Lijin Fang, Hualiang Zhang

引用次数: 0

A Modified Total Energy Control Scheme for Unmanned Aircraft 一种改进的无人机总能量控制方案

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-01998-w

Peter Bauer

{"title":"A Modified Total Energy Control Scheme for Unmanned Aircraft","authors":"Peter Bauer","doi":"10.1007/s10846-023-01998-w","DOIUrl":"https://doi.org/10.1007/s10846-023-01998-w","url":null,"abstract":"Abstract The paper focuses on safety and simplicity of unmanned aircraft longitudinal control and proposes a new combination of total energy control (TECS) and conventional control. The introduced new modified total energy control (TECSMOD) method applies IAS priority all the time. IAS is controlled through the elevator while the total energy of the system and so the altitude is maintained with throttle. Neither engine fault or stall detection nor switching logic is required while stall is prevented keeping the solution simple and safe. To prove the viability of the new concept it is compared to a conventional multiple zone PI controller and the TECS solution in simulation and real flight tests. First, the six degrees of freedom simulation model of the Sindy test UAV (developed and built in Institute for Computer Science and Control, HUN-REN, Hungary) is verified comparing its inputs and outputs to flight results. Then a simulation campaign is done for all three controllers with special test cases which can be critical according to the literature. Finally, real flight test comparison is done considering IAS and altitude tracking and engine fault handling. The new method was the best in IAS tracking with acceptable results in altitude tracking and successful stall prevention upon engine fault (without any fault detection or switching). Future improvements can be fine tuning for improved altitude tracking with the price of decreased IAS tracking performance and the introduction of a glideslope tracking mode for landing scenarios.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"2 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135455158","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

Grasp Configuration Synthesis from 3D Point Clouds with Attention Mechanism 利用注意机制把握三维点云的构型综合

Journal of Intelligent and Robotic Systems Pub Date : 2023-11-01 DOI: 10.1007/s10846-023-02007-w

Dinh-Cuong Hoang, Anh-Nhat Nguyen, Van-Duc Vu, Duy-Quang Vu, Van-Thiep Nguyen, Thu-Uyen Nguyen, Cong-Trinh Tran, Khanh-Toan Phan, Ngoc-Trung Ho

引用次数: 0