2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第2页

A developmental constraint driven approach to developmental robotic hand-eye coordination 发育约束驱动的机器人手眼协调研究

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491237

F. Chao, Haixiong Lin, Min Jiang, Changle Zhou

{"title":"A developmental constraint driven approach to developmental robotic hand-eye coordination","authors":"F. Chao, Haixiong Lin, Min Jiang, Changle Zhou","doi":"10.1109/ROBIO.2012.6491237","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491237","url":null,"abstract":"Robotic hand-eye coordination plays an important role in dealing with real time environment; and the learning procedure of this skill affects the fundamental framework of robotic cognition. Theories from developmental psychology have motivated the appearance of cognitive developmental robotics; however, several important features within infant developmental procedure have not been introduced into researches on developmental robotics. This paper proposes a new approach to robotic hand-eye coordination by imitating the developmental progress of human infant. The work employs a brain-like neural network system to learn hand-eye coordination. The learning procedure is driven by developmental constraints, the robot starts to learn under fully constrained conditions, when the system becomes saturated, a new constraint is assigned to the robot; the robot needs to learn this new conditions again, until the all contained conditions have been overcome. The work is supported by experimental evaluation, which shows that the new approach is able to drive the robot to own the hand-eye coordination ability autonomously, and the robot also behaves similar developmental progress with human infants'.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121210500","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

Manufacturing of patient-specific pancreas models for surgical resections 用于手术切除的患者特异性胰腺模型的制造

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491098

Johannes Schwaiger, M. Kagerer, M. F. Traeger, S. Gillen, M. Dobritz, J. Kleeff, H. Feußner, T. Lüth

{"title":"Manufacturing of patient-specific pancreas models for surgical resections","authors":"Johannes Schwaiger, M. Kagerer, M. F. Traeger, S. Gillen, M. Dobritz, J. Kleeff, H. Feußner, T. Lüth","doi":"10.1109/ROBIO.2012.6491098","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491098","url":null,"abstract":"Purpose: Patient-specific models of organs improve the planning of surgical resections and the intraoperative approach. In particular, pancreatic cancer surgery can benefit from a manufactured, patient-specific model. Therewith, the complex anatomical structures of and around the pancreas, especially the vessels, can be visualized. Methods: Several CT data sets showing the pancreas / pancreatic cancer were segmented. A special software system was used which allows segmentation of different tissues and export of three dimensional model data. A patient-specific model containing the pancreas, pancreatic cancer, arteries and veins was created for each case using rapid prototyping technologies. Different prototyping techniques were applied to show details and anatomical structures within the pancreas. Results: The patient-specific models of the pancreas / pancreatic cancer allowed better visualization of the three-dimensional anatomical structure as well as the perception of size and relations of dimensions and volume. Additionally, the vessels and the cancer within the pancreas were highlighted. Conclusions: The described procedure of creating patient-specific models of the pancreas promises advantages for pre-and intraoperative planning of pancreatic cancer surgery.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127106785","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

Robot's remote real-time navigation controlled by smart phone 机器人的远程实时导航由智能手机控制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491321

Qian Wang, W. Pan, Mo Li

引用次数: 8

Statistical atlas based registration and planning for ablating bone tumors in minimally invasive interventions 基于统计图谱的微创骨肿瘤消融的登记和计划

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491033

X. Kang, Hongliang Ren, Jing Li, W. Yau

引用次数: 5

Singularity-free path planning of dual-arm space robot for keeping the base inertially stabilized during target capturing 双臂空间机器人捕获目标时保持基座惯性稳定的无奇异路径规划

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491186

Wenfu Xu, Houde Liu, Y. She, Bin Liang

{"title":"Singularity-free path planning of dual-arm space robot for keeping the base inertially stabilized during target capturing","authors":"Wenfu Xu, Houde Liu, Y. She, Bin Liang","doi":"10.1109/ROBIO.2012.6491186","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491186","url":null,"abstract":"Compared with a single-arm space robot, a dual-arm or multi-arm system has much more dexterity and flexibility, and can complete more complex tasks. In this paper, oordinated path planning methods are proposed for a dual-arm space robotic system to capture a target and stabilize the base at the same time. Two typical applications are considered — keeping the centroid of the base fixed (approximately; the same below), and keeping the pose (attitude and the centroid position) of the base fixed synchronously. Firstly, the concept “Base Centroid Virtual Manipulator” is presented, and its kinematic model is directed. Based on the resolution of the position-level kinematic equation, the motion of the balance arm for stabilize the base's centroid is planned. Furthermore, combining with the control of reaction flywheel, whose angular speed is determined according to the angular momentum conservation law, the base's attitude and centroid can be kept fixed at the same time. The proposed methods overcome the singularity problem, which is un-avoidable for those based on differential kinematics.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126931255","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

Design and implementation of Hot-line Working Robot master-slave manipulator 热线工作机器人主从机械手的设计与实现

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491309

引用次数: 8

Tele-impedance control of a variable stiffness prosthetic hand 可变刚度假手的远程阻抗控制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491192

E. Hocaoğlu, V. Patoglu

{"title":"Tele-impedance control of a variable stiffness prosthetic hand","authors":"E. Hocaoğlu, V. Patoglu","doi":"10.1109/ROBIO.2012.6491192","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491192","url":null,"abstract":"We propose a variable stiffness prosthetic hand and present its surface electromyography (sEMG) interface for tele-impedance control. Such an interface, together with variable stiffness actuation (VSA), enables the amputee to modulate the impedance of the prosthetic limb to properly match the requirements of the task at hand, while performing activities of daily living. Both the desired position and stiffness of the hand are estimated through sEMG signals and these estimates are employed to control the VSA hand prosthesis. In particular, regulation of finger impedance is managed through the impedance measurements of the intact forearm; this control takes place naturally and automatically as the amputee interacts with the environment, while position of the hand prosthesis is regulated intentionally by the amputee through the estimated position of the thumb, extracted from sEMG signals of the dysfunctional agonistic and antagonistic thumb muscles that are embedded in the forearm. The proposed approach is advantageous, since the impedance regulation takes place naturally from task to task or during execution of a single task without requiring amputees' attention and diminishing their functional capability. Consequently, the proposed interface does not require long training periods or interfere with control of intact body segments, and provides amputee with easiness in use. The performance of the tele-impedance control of the VSA hand prosthesis is experimentally evaluated. Experimental results indicate that both position and stiffness can be adequately estimated using sEMG signals and regulated through VSA.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115054341","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: 23

CPG parameter search for a biomimetic robotic fish based on particle swarm optimization 基于粒子群优化的仿生机器鱼CPG参数搜索

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491026

Zhengxing Wu, Junzhi Yu, M. Tan

引用次数: 24

Development and depth control of a robotic fish mimicking cownose ray 模仿牛鼻鳐的机器鱼的研制与深度控制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491068

Chuanmeng Niu, Lige Zhang, S. Bi, Yueri Cai

引用次数: 20

Study of composite fuzzy control of dissolved oxygen in a sequencing batch reactor pilot process of synthetic papermaking wastewater 合成造纸废水序批式反应器中试过程溶解氧的复合模糊控制研究

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491143

W. Shen, E. Tao, Li Ning, Tianlong Liu

{"title":"Study of composite fuzzy control of dissolved oxygen in a sequencing batch reactor pilot process of synthetic papermaking wastewater","authors":"W. Shen, E. Tao, Li Ning, Tianlong Liu","doi":"10.1109/ROBIO.2012.6491143","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491143","url":null,"abstract":"The studies on the automatic control strategy of papermaking wastewater treatment process have always been sparse for a long time. During the process of treatment, the oxygen concentration in the wastewater is a key substrate in animal cell metabolism and its consumption is a parameter of great interest for the monitoring. This paper introduces an effective and robust control strategy to control the dissolved oxygen concentration in a pilot sequencing batch reactor of wastewater treatment process. For comparison, four control strategies are tested and evaluated: ON/OFF, PID, fuzzy and composite fuzzy control strategies. The control results with composite fuzzy control strategy show that, the controlled dissolved oxygen concentration is around the set point with 0.05 standard deviation and 3.5 minutes rising time, but the good controlling performance is obtained at the price of relatively high aeration volume for the heavier pollution load. It takes less time than that of the other strategies to arrive the ammonia valley, which shows its good ability of chemical oxygen demand removal. From the compared results of these four control strategies, we can conclude that the proposed composite fuzzy control strategy is proved to be a robust and effective controller for the DO concentration of synthetic papermaking wastewater.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128208631","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