International Journal of Intelligent Robotics and Applications最新文献

{"title":"End-effector with winding and scooping functions for folding and transporting various cloth parts after cutting","authors":"Yuzhe Zhu, Motoki Hirayama, Kimitoshi Yamazaki","doi":"10.1007/s41315-024-00335-0","DOIUrl":"https://doi.org/10.1007/s41315-024-00335-0","url":null,"abstract":"<p>In this study, we propose a novel end-effector that combines the characteristics of winding and scooping fabrics to grasp and categorically place various cloth parts cut by a cutting machine. In addition, we introduce a method for folding the fabric front and back into smaller dimensions, thereby reducing the space required for categorizing, placing, and packaging various clothes, which, to the best of our knowledge, is unique. Subsequently, we develop a method that autonomously determines folding strategies based on the different dimensions of cloth parts, allowing targeted processing of various cloth parts. This approach reduces the height demands of the robot and improves its capability to simultaneously handle multiple types of clothes. Finally, we evaluate the proposed end-effector and folding method in a simulated factory environment using T-shirt parts made of different materials.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140930780","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}

{"title":"Robot-assistive minimally invasive surgery: trends and future directions","authors":"Giulio Dagnino, Dennis Kundrat","doi":"10.1007/s41315-024-00341-2","DOIUrl":"https://doi.org/10.1007/s41315-024-00341-2","url":null,"abstract":"<p>The evolution of medical technologies—such as surgical devices and imaging techniques—has transformed all aspects of surgery. A key area of development is robot-assisted minimally invasive surgery (MIS). This review paper provides an overview of the evolution of robotic MIS, from its infancy to our days, and envisioned future challenges. It provides an outlook of breakthrough surgical robotic platforms, their clinical applications, and their evolution over the years. It discusses how the integration of robotic, imaging, and sensing technologies has contributed to create novel surgical platforms that can provide the surgeons with enhanced dexterity, precision, and surgical navigation while reducing the invasiveness and efficacy of the intervention. Finally, this review provides an outlook on the future of robotic MIS discussing opportunities and challenges that the scientific community will have to address in the coming decade. We hope that this review serves to provide a quick and accessible way to introduce the readers to this exciting and fast-evolving area of research, and to inspire future research in this field.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140889194","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}

{"title":"A survey on wireless in-pipe inspection robotics","authors":"Kunlun Wu","doi":"10.1007/s41315-024-00323-4","DOIUrl":"https://doi.org/10.1007/s41315-024-00323-4","url":null,"abstract":"<p>Pipeline detection is a crucial step in ensuring industrial safety. With the rapid advancement of information and sensor technology, research and applications of wireless pipeline inspection robotics have shown an increasing trend, necessitating a comprehensive review of these studies. Broadly, the research on these devices can be divided into two categories: In-Line Inspection (ILI) robots and external-pipeline inspection robots. This survey primarily focuses on the research status of wireless ILI robots. By using some typical robots as examples, this survey introduces key parameters that reflect the performance of ILI robots in tabular formats. These parameters include vehicle-borne sensors, wireless communication methods, cruising time, and applicable pipeline diameters. Finally, this survey summarizes the aforementioned wireless ILI robots and provides the author’s suggestions for their improvement.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140889368","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}

{"title":"MR-based navigation for robot-assisted endovascular procedures","authors":"Jelle Bijlsma, Dennis Kundrat, Giulio Dagnino","doi":"10.1007/s41315-024-00340-3","DOIUrl":"https://doi.org/10.1007/s41315-024-00340-3","url":null,"abstract":"<p>There is increasing interests in robotic and computer technologies to accurately perform endovascular intervention. One major limitation of current endovascular intervention—either manual or robot-assisted is the surgical navigation which still relies on 2D fluoroscopy. Recent research efforts are towards MRI-guided interventions to reduce ionizing radiation exposure, and to improve diagnosis, planning, navigation, and execution of endovascular interventions. We propose an MR-based navigation framework for robot-assisted endovascular procedures. The framework allows the acquisition of real-time MR images; segmentation of the vasculature and tracking of vascular instruments; and generation of MR-based guidance, both visual and haptic. The instrument tracking accuracy—a key aspect of the navigation framework—was assessed via 4 dedicated experiments with different acquisition settings, framerate, and time. The experiments showed clinically acceptable tracking accuracy in the range of 1.30–3.80 mm RMSE. We believe that this work represents a valuable first step towards MR-guided robot-assisted intervention.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140811738","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}

{"title":"Improving time and energy efficiency in multi-UAV coverage operations by optimizing the UAVs’ initial positions","authors":"Aliki Stefanopoulou, Emmanuel K. Raptis, Savvas D. Apostolidis, Socratis Gkelios, Athanasios Ch. Kapoutsis, Savvas A. Chatzichristofis, Stefanos Vrochidis, Elias B. Kosmatopoulos","doi":"10.1007/s41315-024-00333-2","DOIUrl":"https://doi.org/10.1007/s41315-024-00333-2","url":null,"abstract":"<p>This paper focuses on Coverage Path Planning (CPP) methodologies, particularly in the context of multi-robot missions, to efficiently cover user-defined Regions of Interest (ROIs) using groups of UAVs, while emphasizing on the reduction of energy consumption and mission duration. Optimizing the efficiency of multi-robot CPP missions involves addressing critical factors such as path length, the number of turns, re-visitations, and launch positions. Achieving these goals, particularly in complex and concave ROIs with No-Go Zones, is a challenging task. This work introduces a novel approach to address these challenges, emphasizing the selection of launch points for UAVs. By optimizing launch points, the mission’s energy and time efficiency are significantly enhanced, leading to more efficient coverage of the selected ROIs. To further support our research and foster further exploration on this topic, we provide the open-source implementation of our algorithm and our evaluation mechanisms.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140635675","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}

{"title":"Improvement in the conservatism of the time domain passivity approach in delayed position-position teleoperation system","authors":"Mohsen Salehi, Ali-Akbar Ahmadi","doi":"10.1007/s41315-024-00336-z","DOIUrl":"https://doi.org/10.1007/s41315-024-00336-z","url":null,"abstract":"<p>In this paper, using time domain passivity approach and energy storage capability of the coupling controllers in a bilateral teleoperation system as a storage element, an innovative control method for position-position architecture is proposed which reduces unnecessary conservatism caused by the conventional direction dependent energy monitoring. An ideal value for the energy storage element is obtained and it is shown that the passivity can be guaranteed by restricting the system output energy to some desired values based on the obtained ideal one. Simulation results show the less energy dissipation and improved position tracking in comparison with the conventional approaches.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140635330","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}

{"title":"Skin lesion image segmentation based on improved U-shaped network","authors":"Yuhang Zhao, Tianxing Yan, Yaermaimaiti Yilihamu","doi":"10.1007/s41315-024-00337-y","DOIUrl":"https://doi.org/10.1007/s41315-024-00337-y","url":null,"abstract":"<p>Skin lesion segmentation is an important step to help us in skin cancer diagnosis. However, skin lesions have variable shapes, fuzzy boundaries, and various colors, which bring challenges to the accurate segmentation of skin lesions. In this paper, we propose an Enhanced Deep Information Fusion based on residual U-net (ED-ResUnet). Firstly, the coding part is improved into a residual network structure, and more feature information is obtained by stacking residual blocks. Secondly, a Channel shuffling hybrid dilated convolution module is designed to increase the receptive field, so that the network pays more attention to deep feature information and strengthens the transmission of context information. Then, the context fusion module and Polarized Self-Attention module are introduced into the encoder to suppress interference information and retain effective lesion location information. Finally, the experimental results on the ISIC 2017 dermoscopy image dataset show that the Dice Coefficient of the segmentation results of the proposed algorithm reaches 87.43%, which is 8.81% higher than that of the original U-Net network and 5.7% higher than that of the UNet++ network. It can segment melanoma effectively.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140560737","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}

{"title":"A Novel FSVM with PSO for gait phase detection based on elastic pressure sensing insole system","authors":"Pingping Lv, Chi Zhang, Feng Yi, Ting Yuan, Shupei Li, Meitong Zhang","doi":"10.1007/s41315-024-00334-1","DOIUrl":"https://doi.org/10.1007/s41315-024-00334-1","url":null,"abstract":"<p>The precise gait phase detection with lightweight equipment under variable conditions is crucial for low limb exoskeleton robots. Therefore, the kinematics and dynamics information are investigated. In this paper, a novel radius-margin-based support vector machine (SVM) model with particle swarm optimization (PSO) in feature space called PSO-FSVM is proposed for gait phase detection. The proposed method addresses the dual objectives of maximizing margin while minimizing radius, employing PSO to fine-tune the parameters of the FSVM. This enhancement significantly bolsters the classification accuracy of the SVM. For the measurement of gait features with a lightweight sensor system, the plantar pressure insoles equipped with flexible and elastic sensors are designed. To evaluate the effectiveness of our method, we conducted comparative experiments, pitting the proposed PSO-FSVM against other support vector machine variants, across four treadmill speeds. The experimental results indicate that the proposed method achieves an accuracy of over 98% at four different speeds indoors. Furthermore, the proposed method is compared with other algorithms (SVM, k-nearest neighbor (KNN), adaptive boosting (AdaBoost), and quadratic discriminant analysis (QDA)) under outdoor experiments. The experimental results demonstrate that the average recognition accuracy of this method reaches 96.13% under variable speed conditions, with an average accuracy of 98.06% under slow walking conditions, surpassing the performance of the above four algorithms.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140560667","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}

{"title":"Review of the characteristics of mobile robots for health care application","authors":"Getnet Ayele Kebede, Amesssalu Atenafu Gelaw, Hayleyesus Andualem, Assefa Tesfaye Hailu","doi":"10.1007/s41315-024-00324-3","DOIUrl":"https://doi.org/10.1007/s41315-024-00324-3","url":null,"abstract":"<p>Mobile robotics has become a well-known research area in healthcare applications; as it defines itself from general robotics, it can move in the surrounding environment which is essential for replicating human abilities. Mobile robots can be utilized in the hospital for health care applications like nursing for doctor assistance and patient monitoring, drug delivery, and teleoperation for contagious diseases. However, mobile robots need unique characteristics, such as the function of locomotion, perception, navigation, and vision systems. The solution and challenge of a mobile robot’s characteristics must be considered when developing a mobile robot. Therefore, they are becoming more autonomous, adaptable to changing situations, and extending their range of applications. This study aimed to investigate the system, which includes both physical robot features (sensors &amp; actuators) and a comparison of different mobile robots in terms of their characteristics and applications in health care. In the coming years, mobile robotics will see increased development, incorporating cognitive architecture, artificial intelligence, speech communication, and affective human–robot interaction. Future healthcare intelligent mobile robots aim to enhance autonomy, communication, data security, and ethical considerations, enhancing patient care, efficiency, and collaboration between medical professionals and technology, shaping the future of healthcare delivery. This review paper presents an overview of the current mobile robot design architecture, which advances the design of the next generation of intelligent mobile robots used in healthcare.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140302963","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}

{"title":"A state-of-the-art review on topology and differential geometry-based robotic path planning—part II: planning under dynamic constraints","authors":"Sindhu Radhakrishnan, Wail Gueaieb","doi":"10.1007/s41315-024-00331-4","DOIUrl":"https://doi.org/10.1007/s41315-024-00331-4","url":null,"abstract":"<p>Path planning is an intrinsic component of autonomous robotics, be it industrial, research or consumer robotics. Such avenues experience constraints around which paths must be planned. While the choice of an appropriate algorithm is application-dependent, the starting point of an ideal path planning algorithm is the review of past work. Historically, algorithms were classified based on the three tenets of autonomous robotics which are the ability to avoid different constraints (static/dynamic), knowledge of the environment (known/unknown) and knowledge of the robot (general/model specific). This division in literature however, is not comprehensive, especially with respect to dynamics constraints. Therefore, to remedy this issue, we propose a new taxonomy, based on the fundamental tenet of characterizing space, i.e., as a set of distinct, unrelated points or as a set of points that share a relationship. We show that this taxonomy is effective in addressing important parameters of path planning such as connectivity and partitioning of spaces. Therefore, path planning spaces may now be viewed either as a set of points or, as a space with structure. The former relies heavily on robot models, since the mathematical structure of the environment is not considered. Thus, the approaches used are variants of optimization algorithms and specific variants of model-based methods that are tailored to counteract effects of dynamic constraints. The latter depicts spaces as points with inter-connecting relationships, such as surfaces or manifolds. These structures allow for unique characterizations of paths using homotopy-based methods. The goals of this work, viewed specifically in light with dynamic constraints, are therefore as follows: First, we propose an all-encompassing taxonomy for robotic path planning literature that considers an underlying structure of the space. Second, we provide a detailed accumulation of works that do focus on the characterization of paths in spaces formulated to show underlying structure. This work accomplishes the goals by doing the following: It highlights existing classifications of path planning literature, identifies gaps in common classifications, proposes a new taxonomy based on the mathematical nature of the path planning space (topological properties), and provides an extensive conglomeration of literature that is encompassed by this new proposed taxonomy.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140301864","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}