2019 International Conference on Robotics and Automation in Industry (ICRAI)最新文献_第3页

Bond Graph Modeling and LQR Control Synthesis of a Robotic Digit in Human Impaired Hand for Anthropomorphic Coordination 拟人协调残障手机器人手指键图建模与LQR控制综合

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967367

Maryam Iqbal, A. Mahmood

{"title":"Bond Graph Modeling and LQR Control Synthesis of a Robotic Digit in Human Impaired Hand for Anthropomorphic Coordination","authors":"Maryam Iqbal, A. Mahmood","doi":"10.1109/ICRAI47710.2019.8967367","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967367","url":null,"abstract":"The voluntary movement of a human hand is a complex mechanism due to the physiological extensor and flexor movements. Anthropomorphic hands can have a wide range of applications. These applications include but are not limited to bionic hands in active prostheses, assisting surgical operations that are free from involuntary movements such as tremors and shudders and robotic grippers for remote applications. A partially impaired human hand coordination scheme involving a combination of natural and robotic digits is proposed in this paper. This research presents five digits, 21 degrees of freedom (DOF) graphical model of a human hand, where the index finger is impaired and therefore replaced with a robotic BeBionic finger. The angular displacement of the tip of the middle finger is controlled through a feedback force applied by the LQR (linear quadratic regulator) observer-based controller. The simulation result shows the control of the movement of robotic fingers of an impaired hand and the movement coordination with the central nervous system (CNS) and the natural digits. This demonstrates the efficiency of the scheme towards active prosthetics, exoskeleton and upper limb rehabilitation.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114968911","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

Towards Rehabilitation of Mughal Era Historical Places using 7 DOF Robotic Manipulator 利用七自由度机械臂修复莫卧儿时代的历史遗迹

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967360

Muhammad Bilal, A. Raza, M. Rizwan, Muhammad Ahsan, H. F. Maqbool, Syed Abbas Zilqurnain Naqvi

引用次数: 0

Investigating Series-Parallel Actuation Arrangement in a Bioinspired Biped Robot 仿生双足机器人串联并联驱动装置的研究

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967365

Ahmed A. Ansari, Junaid Ahmed, Hamza Arif, Aashir Iqbal, Hamza Asif Nizami, Y. Ayaz

{"title":"Investigating Series-Parallel Actuation Arrangement in a Bioinspired Biped Robot","authors":"Ahmed A. Ansari, Junaid Ahmed, Hamza Arif, Aashir Iqbal, Hamza Asif Nizami, Y. Ayaz","doi":"10.1109/ICRAI47710.2019.8967365","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967365","url":null,"abstract":"A bipedal robot with serial linkage legs having passive energy storage elements distal to the knee in a Series Parallel Elastic Actuation (SPEA) arrangement is presented to demonstrate and experiment on energy input and recovery during energy-intensive low frequency squatting. The robot is based on the hind legs of the Felidae family with bio-inspired linkage ratios and spring locations. The design places special emphasis on reduction of leg inertia by qualitative assessment of placement of heavier components including motors. Natural dynamics of the system are explored by allowing the assembly to fall from a height and observing its passive spring-damping characteristics and oscillatory frequency. The same is also investigated through computational simulations in the absence of real-world constraints such as joint friction. The effects of SPEA at the knee and ankle joint is observed on the ground-reaction force through the simulation environment. An interesting proposal of incorporating an engage-disengage spring at the knee joint is discussed.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133133723","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

Analysis of Computational Efficiency of Artificial Intelligence based Search Techniques in Trajectory Planning of Industrial Manipulator 基于人工智能搜索技术的工业机械臂轨迹规划计算效率分析

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967374

N. Anjum, M. K. Amjad, Y. Ayaz

引用次数: 0

Fast, Optimal Algorithm for Real Time Image Enhancement 快速，优化算法的实时图像增强

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967364

Yousaf Mehmood, U. S. Khan, J. Iqbal

{"title":"Fast, Optimal Algorithm for Real Time Image Enhancement","authors":"Yousaf Mehmood, U. S. Khan, J. Iqbal","doi":"10.1109/ICRAI47710.2019.8967364","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967364","url":null,"abstract":"This paper presents a fast and efficient algorithm to enhance digital image for real time image processing. The true quality of image and minor details in the image are of serious importance in any image analysis. In electronic applications, these are usually affected by varying depth of camera as well as magnitude and direction of sunlight on camera; Resulting digital image contains inaccurate color level, contrast levels, intensity noises in pixels. Paper presents a proposed algorithm and its comparison with traditional enhancement techniques. Unlike traditional histogram approaches, Boosted and Dualistic Contrast Intensity Enhancement enhances color image in three major operations: Global Recursive Separated and Weighted Histogram Stretching, Local Sliding Window of Contrast Limited Adaptive Histogram Equalization with the cancellation of pixel noises, and Luminance Adjustment Function. Proposed technique enhances the image in such a way that it makes minor details more prominent by making dark pixels brighter, sharp pixels lighter and keeping light pixels of same intensity as it is; Overall process maintains the balance among the regions of varying contrast and intensity level without the amplification of unwanted pixels noises. Algorithm is designed to perform under low light in real time, when images start losing the color strength of minor details.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124579506","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

Real-Time Display of Dense Neuronal Activation Map Using Functional Near-Infrared Spectroscopy 基于功能近红外光谱的密集神经元激活图实时显示

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967394

M. A. Yaqub, U. Ghafoor, K. Hong

{"title":"Real-Time Display of Dense Neuronal Activation Map Using Functional Near-Infrared Spectroscopy","authors":"M. A. Yaqub, U. Ghafoor, K. Hong","doi":"10.1109/ICRAI47710.2019.8967394","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967394","url":null,"abstract":"The risk of getting psychiatric disease or various kinds of dementia is rising as a significant problem in the aging society. Functional near-infrared spectroscopy (fNIRS) can measure the blood chromophores noninvasively for early diagnosis, and frequent examination, which are vital in case of brain degeneration. We present the development and functioning of our lab-developed fNIRS system. It provides a real-time display of variation in blood chromophores related to neuronal activation. It employs 128 dual-wavelength LEDs of 735 nm and 850 nm. The selection of these wavelengths allows computation of oxyhemoglobin (HbO) and deoxyhemoglobin (HbR). A single photosensor is used in the presented device. This system is developed using a modular approach where a single module can cover approximately 7 cm x 7 cm while multiple modules can be used to cover a wider area. The current configuration utilizes different source-detector separation to reach multiple depths between 2 cm and 3.5 cm. Short separation channels also exist in the design to provide the information of superficial layers. MOSFET based LED switching is implemented that allows sharp current switching for high-speed data acquisition. Windows-based software is developed for the display of fNIRS data in real time. Wi-Fi is used as the wireless medium of communication between the hardware and software. Phantom model, as well as human subject, was used for testing the device efficacy. The phantom results showed that by increasing the channel-separation, the signal intensity was reduced. Resting state human subject was also evaluated to compute and display the HbO in real time. A complete fNIRS sample comprising of 128 channels was recorded in 25 ms.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131266015","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

Accelerating Research and Development Using 3D Printing and Its Potential Opportunities in Pakistan: A Review 巴基斯坦利用3D打印加速研发及其潜在机遇:综述

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967387

Aashir Azhar, Aamer Nazir, W. S. Qureshi, J. Jeng

{"title":"Accelerating Research and Development Using 3D Printing and Its Potential Opportunities in Pakistan: A Review","authors":"Aashir Azhar, Aamer Nazir, W. S. Qureshi, J. Jeng","doi":"10.1109/ICRAI47710.2019.8967387","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967387","url":null,"abstract":"Technological innovation in additive manufacturing has enabled it to reach the consumer market very rapidly since the last decade. The word ‘additive manufacturing’ is now widely replaced with the word ‘3D Printing’. The 3D printing industry is evolving from desktop to Industrial 3D printers all over the world, which will fulfill the requirements in Industry 4.0. The current usage of 3D printing is in medical and dental applications, rapid prototyping, food industry, and Jewelry making. This emerging technology disrupts the $12 Trillion manufacturing sector. In 2017, there is a 21% increase in the industrial growth of Additive Manufacturing from $6.06 billion to $7.3 billion. This article explains the current global trends in 3D printing in technologically advanced countries and emphasizes the use of 3D printing in accelerating the research and development in emerging economies, in particular to Pakistan. Further, it helps to bring the success stories regarding 3D printing for startups and the challenges related to the adaptation of 3D printing technologies in Pakistan to limelight.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115848181","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

Multimedia Forensic: An Approach for Splicing Detection based on Deep Visual Features 多媒体取证:一种基于深度视觉特征的拼接检测方法

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967380

Summra Saleem, Aniqa Dilawari, Usman Ghani Khan

引用次数: 4

Foot Prosthesis: Estimation of Gait Phases using Gyroscope and Potentiometer 足假体:用陀螺仪和电位器估计步态相位

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967379

Muhammad Asif, Absar Ahmad, M. Tiwana, S. Mehmood

引用次数: 2

Control and Efficiency Analysis of Multi-Motion of Four Wheel Drive Omni-Directional Robot 四轮驱动全向机器人多运动控制及效率分析

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967382

Munim Matin Afridi, J. Usman

{"title":"Control and Efficiency Analysis of Multi-Motion of Four Wheel Drive Omni-Directional Robot","authors":"Munim Matin Afridi, J. Usman","doi":"10.1109/ICRAI47710.2019.8967382","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967382","url":null,"abstract":"To control an Omni-directional robot in multimotion, a detail analysis is done which includes study of the Design and Kinematics of the robot leading to the motion analysis done mathematically and then experimentally. This research presented extends the pre-present research on the control and motion of the Omni-directional robot by presenting a unique motion methodology for higher efficiency. The major focus of this paper lies in the control and efficiency analysis and the results of the multi-motion analysis are compared with other literatures of the same workspace conditions. The motion of the robot is examined in two ways: Linear and Circular. The core concept of the motion analysis lies in the idea that the robot does not change its orientation during motion, thus challenging the motion efficiency of conventional and Omni-directional robots with higher maneuverability through experimentally compiled results. The results of these multi-motions are also compared with each other to get a better efficiency of Omni-directional robot. The research also addresses the issue of the Jacobian being nonsquare for inverse kinematics. The inverse kinematics is solved through Moore-Penrose pseudo inverse method, yielding to accurate results experimentally.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128834449","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