2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第6页

OCViTnet: Pulse Wave Learning for Cuffless Blood Pressure Estimation of Medical Service Robots OCViTnet：脉搏波学习用于医疗服务机器人的无袖带血压估计

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354835

Yuhui Cen, Jingjing Luo, Hongbo Wang, Li Chen, Xing Zhu, Jingchun Luo

{"title":"OCViTnet: Pulse Wave Learning for Cuffless Blood Pressure Estimation of Medical Service Robots","authors":"Yuhui Cen, Jingjing Luo, Hongbo Wang, Li Chen, Xing Zhu, Jingchun Luo","doi":"10.1109/ROBIO58561.2023.10354835","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354835","url":null,"abstract":"Blood pressure (BP) estimation through cuffless approaches is gaining prominence in precision healthcare, and the emergence of robotic medical services adds impetus to this trend with enhanced diagnostic capabilities. In our endeavor to enable medical service robots for cuffless BP self-estimation, we propose OCViTnet, a deep-learning network model grounded in pulse wave analysis (PWA). The model introduces a novel waveform processing architecture: an omni-scale convolution subnet captures single-period waveform characteristics, the Vision Transformer subnet extracts multi-period waveform features, and a regressor fuses phenotypic information with pulse wave features and performs BP regression. Experimental results perform exceptionally well in non-contact BP estimation from forehead imaging photoplethysmography. Additionally, this paper pioneers the utilization of the radial artery pulse wave for BP estimation. Leveraging the British Hypertension Society standard, our approach yields notable results, assessing the pulse diagnosis robot’s BP estimation performance at grade C/B (systolic/diastolic BP). This effort advances the potential of cuffless BP estimation in pulse diagnosis robotics and underscores the practical viability of our proposed intelligent methodology based on PWA.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"83 3","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187069","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

A Data-Driven Phantom Zeros Prediction Algorithm for Traction Force Sensor in Kinesthetic Demonstration 运动演示中牵引力传感器的数据驱动幻影零点预测算法

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354632

Lei Yao, Bing Chen, Moyun Liu, Jingming Xie, Youping Chen, Lei He

{"title":"A Data-Driven Phantom Zeros Prediction Algorithm for Traction Force Sensor in Kinesthetic Demonstration","authors":"Lei Yao, Bing Chen, Moyun Liu, Jingming Xie, Youping Chen, Lei He","doi":"10.1109/ROBIO58561.2023.10354632","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354632","url":null,"abstract":"Kinesthetic demonstration requires accurate force/torque measurements from sensors. However, even in static conditions, the sensor readings exhibit non-zero fluctuations, which can lead to unstable force control and impair the quality of kinesthetic demonstration. In this paper, we refer to the above problem as phantom zeros and systematically analyze factors contributing to their variability of a traction force sensor. Neural networks (NN) are first introduced to model the complex nonlinear mapping between sensor orientations and phantom zeros. The initial parameters of the NN are then optimized using a genetic algorithm (GA) to prevent convergence to local optima and improve modeling accuracy. In addition, we develop an experimental platform with a physical UR10 robot and a custom traction sensor to comprehensively evaluate the proposed approach. Results demonstrate that the GA-optimized NN achieves higher precision and robustness in predicting phantom zeros under different orientations compared to least squares and vanilla NN baselines. By modeling and predicting phantom zeros, the proposed method can filter out phantom force fluctuations during kinesthetic demonstration, while preserving critical motion information. This work provides insights into modeling and mitigating force/torque sensor uncertainties for enabling more precise robot control and interactive guidance.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"59 12","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187093","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

IGFNet: Illumination-Guided Fusion Network for Semantic Scene Understanding using RGB-Thermal Images IGFNet：利用 RGB 热图像进行语义场景理解的光照引导融合网络

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354613

Haotian Li, Yuxiang Sun

引用次数: 0

Preliminary Study of a Spring-Based Miniature Extensible Manipulator for Bronchoscopic Steering 用于支气管镜转向的弹簧式微型可伸展机械手初步研究

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354864

Jie Wang, Chengquan Hu, Yihua Sun, Longfei Ma, Guochen Ning, Hongen Liao

{"title":"Preliminary Study of a Spring-Based Miniature Extensible Manipulator for Bronchoscopic Steering","authors":"Jie Wang, Chengquan Hu, Yihua Sun, Longfei Ma, Guochen Ning, Hongen Liao","doi":"10.1109/ROBIO58561.2023.10354864","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354864","url":null,"abstract":"Bronchoscopy is widely used as a minimally invasive diagnostic and therapeutic modality for early screening of bronchial diseases. To face the complicated airway structure and gradually decreasing bronchial diameter with increasing generation, the bronchoscope with enhanced steering capability is more competent. In this paper, a spring-based miniature extensible manipulator is proposed as the active bending segment for the bronchoscope based on the detailed problem statement about the steering ability. The manipulator, which takes advantage of the extension of the compression spring, features a simple structural design, offset neutral bending plane and extensibility. The associated kinematics based on the piecewise constant curvature model are presented in detail. To validate the concept, a manipulator prototype with an outer diameter of 4 mm and the custom actuation device with a constrained mechanism for the driven rod is fabricated. Several experiments including motion validation, kinematics validation, and steering capability validation are performed, and the results indicate that the proposed manipulator system is feasible and has the potential to improve bronchoscopic steering capability and to further improve diagnostic yield.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"69 5","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187121","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

Design and Experimental Evaluation of WLR-III WLR-III 的设计与实验评估

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354666

Xu Li, Yili Fu

{"title":"Design and Experimental Evaluation of WLR-III","authors":"Xu Li, Yili Fu","doi":"10.1109/ROBIO58561.2023.10354666","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354666","url":null,"abstract":"This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"69 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187122","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

Robust Adaptive Filter for Time-Varying Parameters Estimation in Integrated Navigation of Fixed-Wing Aerial Robot* 固定翼航空机器人综合导航中用于时变参数估计的鲁棒自适应滤波器*

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354695

Zhaoyu Zhang, Haibin Duan

{"title":"Robust Adaptive Filter for Time-Varying Parameters Estimation in Integrated Navigation of Fixed-Wing Aerial Robot*","authors":"Zhaoyu Zhang, Haibin Duan","doi":"10.1109/ROBIO58561.2023.10354695","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354695","url":null,"abstract":"This paper focuses on the autonomous navigation problem of the fixed-wing aerial robot, of which the inertial measurement unit (IMU) has time-varying error characteristic parameters. A robust variational Bayesian adaptive Kalman filter (RVBAKF) is proposed to tackle the noise outliers in integrated navigation brought by sensor uncertainties. The proposed method formulates the joint probability distribution of the system state vector and the measurement noise covariance matrix. A fading factor matrix with strong tracking quality is introduced to enhance the prediction on the prior distribution of the process noise covariance. Then a weighted sliding window mechanism has been constructed to obtain the posterior distribution of the measurement noise outliers. Therefore, the proposed approach is impressive in approximating both the process and measurement noise. The RVBAKF algorithm is implemented in an integrated navigation system which is composed of the strapdown inertial navigation system (SINS) and the global navigation satellite system (GNSS). The integration framework based on RVBAKF is conducted on two typical verification scenarios, which is proven to be exceptional in coping with the time-varying process and measurement noise by comparing the average root mean square error in misalignment angle, velocity and position with the strong tracking filter and the variational Bayesian filter.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"79 11","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187141","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

Design, fabrication and fine-tuning of an aerial-aquatic explosive water-jet thruster with repeatable propulsion capability 设计、制造和微调具有可重复推进能力的空中-水上爆炸喷水推进器

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354615

Xinyang Wang, Xuan Pei, Jiahao Wu, Xiangxing Wang, Taogang Hou

引用次数: 0

Deployment Method of Wireless Sensor Networks for Coal Mine Safety Monitoring Based on Multi Robot Systems 基于多机器人系统的煤矿安全监测无线传感器网络部署方法

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354569

Hongwei Tang, Gongbo Zhou, Deen Bai, Menggang Li, Xia Zhang, Chaoquan Tang

引用次数: 0

Design of a Compact Variable Stiffness Joint for Modular Lower Limb Assistive Exoskeleton 为模块化下肢辅助外骨骼设计紧凑型可变刚度关节

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354606

Shipei Cao, Youliang Cheng, Bo Sheng, Jing Tao

引用次数: 0

Robot Plane Grasping Pose Detection Based on U2-Net 基于 U2-Net 的机器人平面抓取姿势检测

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354980

Qingsong Yu, Xiangrong Xu, Yinzhen Liu, Hui Zhang

引用次数: 0