IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第10页

Novel integrated scheduling of production and preventive maintenance for serial production systems with equipment degradations 具有设备退化的系列生产系统的新型集成生产调度和预防性维护

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-12-12 DOI: 10.15406/iratj.2019.05.00194

Binghai Zhou, Yun Shi

引用次数: 0

The Design, Fabrication and Preliminary Testing of a Variable Configuration Mobile Robot 一种变结构移动机器人的设计、制造和初步测试

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-11-25 DOI: 10.31875/2409-9694.2019.06.6

N. Giannoccaro, T. Nishida

{"title":"The Design, Fabrication and Preliminary Testing of a Variable Configuration Mobile Robot","authors":"N. Giannoccaro, T. Nishida","doi":"10.31875/2409-9694.2019.06.6","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.6","url":null,"abstract":"In this paper a novel low cost mobile robot that can adjust the balance between the energy efficiency and the running performance according to the environment by changing the number of wheels is introduced. The developed robot, which can be constructed by combining the modules and is driven by Robot Operating System (ROS) tools, has a 3D light detection and distance measurement (LiDAR) for generation of 3D digital map and travels through several environment with saving the energy by adaptively changing the number and arrangement of the wheels according to the environment. The robot can easily change the three types of mechanisms by changing the number of modularized driving wheels and their combination. Furthermore, the developed robot can construct a 3D map in a rough outdoor environment and the running performance of three kinds of robots was investigated by an extensive characterization. Finally, the limits of this prototype have been meticulously analyzed, highlighting new improvements in the future perspective development for permitting an autonomous environment perception with a simple, modular and low-cost device.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46340585","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

The Role of Collaborative Service Robots in the Implementation of Industry 4.0 协同服务机器人在工业4.0实施中的作用

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-11-20 DOI: 10.31875/2409-9694.2019.06.5

I. Karabegović, Arts Bosnia, Herzegovine, E. Karabegović

{"title":"The Role of Collaborative Service Robots in the Implementation of Industry 4.0","authors":"I. Karabegović, Arts Bosnia, Herzegovine, E. Karabegović","doi":"10.31875/2409-9694.2019.06.5","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.5","url":null,"abstract":"The implementation of the fourth industrial revolution Industry 4.0 is based on the following technologies: internet of tings , cloud computing, big data, robotics & automation, intelligent sensors, 3D printers and radio frequency identification – RFID. The robotics is considered as the core technology. Second-generation industrial robots – collaborative robots have been implemented in the last two years. Their implementation is increasing every year and has reached about 3% of the total application of industrial robots in the world. The development of new technologies has contributed to the development and implementation of collaborative service robots AGV (Automated Guided Vehicle), which is one of the most significant qualitative shifts in the automation of logistic in production processes, assembly lines, warehouses and all other operations where transport is necessary. Their application is motivated by technical and economic reasons, such as: improving the quality of finished products, reducing the production of the finished product, increasing the homogeneity rate constant quality, reducing the number of workers to carry out tedious transport, increasing the safety of workers in the work process, minimizing production costs and overall maintenance. The paper describes the trend of implementing service robots for professional use, with particular reference to collaborative service robots in logistics. Some design solutions for collaborative service robots in logistics already implemented in the industry are presented.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47974405","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

International Conference on Robotics and Automation in Industry 工业机器人与自动化国际会议

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967373

J. Iqbal

{"title":"International Conference on Robotics and Automation in Industry","authors":"J. Iqbal","doi":"10.1109/ICRAI47710.2019.8967373","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967373","url":null,"abstract":"The 3rd International Conference on Robotics and Automation in Industry (ICRAI) is being organized by the National Centre of Robotics & Automation (NCRA), Department of Mechatronics, NUST College of Electrical and Mechanical Engineering, Rawalpindi. This conference is one of the leading international forums in Pakistan for researchers in Robotics and Automation to present their work. Previously ICRAI conference was held in the year 2012 and 2016 at NUST College of E&ME. The International Conference on Robotics and Automation in Industry aims to bring together leading engineers, scientists, academics, researchers, policymakers, field and application engineers, industries, companies, startups, and scholars to exchange and share their experiences and research results related to robotics and automation industry. It provides a forum for participants to present their latest research goals, design, developments, manufacturing and applications in all areas of robotics and automation in industry. The conference will be a technical gathering of representatives from the eleven research labs of NCRA from different universities of Pakistan. Foreign Keynote speakers and NCRA Scientific and Industrial Advisory Board (SIAB) foreign and local members will also participate in the conference.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICRAI47710.2019.8967373","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49431042","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

Method for Measuring Levitation Gap of Magnetic Levitation Ball Based on Image Processin 基于图像处理的磁悬浮球悬浮间隙测量方法

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-06-01 DOI: 10.1109/ICRAS.2019.8808955

Zhang Chenhao, Jing Yongzhi, Kong Jie, Peng Tao, Li Zhenzhen, Hao Jianhua

引用次数: 0

Robust attitude estimation using an adaptive unscented Kalman filter 基于自适应无气味卡尔曼滤波的鲁棒姿态估计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793714

C. Antonio, O. Bruno, A. Guilherme

引用次数: 1

Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Scleral Force. 安全机器人辅助视网膜手术的使能技术:不安全巩膜力的早期预警。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-05-01 Epub Date: 2019-08-12 DOI: 10.1109/ICRA.2019.8794427

Changyan He, Niravkumar Patel, Iulian Iordachita, Marin Kobilarov

{"title":"Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Scleral Force.","authors":"Changyan He, Niravkumar Patel, Iulian Iordachita, Marin Kobilarov","doi":"10.1109/ICRA.2019.8794427","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794427","url":null,"abstract":"Retinal microsurgery is technically demanding and requires high surgical skill with very little room for manipulation error. During surgery the tool needs to be inserted into the eyeball while maintaining constant contact with the sclera. Any unexpected manipulation could cause extreme tool-sclera contact force (scleral force) thus damage the sclera. The introduction of robotic assistance could enhance and expand the surgeon's manipulation capabilities during surgery. However, the potential intra-operative danger from surgeon's misoperations remains difficult to detect and prevent by existing robotic systems. Therefore, we propose a method to predict imminent unsafe manipulation in robot-assisted retinal surgery and generate feedback to the surgeon via auditory substitution. The surgeon could then react to the possible unsafe events in advance. This work specifically focuses on minimizing sclera damage using a force-sensing tool calibrated to measure small scleral forces. A recurrent neural network is designed and trained to predict the force safety status up to 500 milliseconds in the future. The system is implemented using an existing \"steady hand\" eye robot. A vessel following manipulation task is designed and performed on a dry eye phantom to emulate the retinal surgery and to analyze the proposed method. Finally, preliminary validation experiments are performed by five users, the results of which indicate that the proposed early warning system could help to reduce the number of unsafe manipulation events.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICRA.2019.8794427","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37900613","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery. 安全机器人辅助视网膜手术中巩膜力和插入深度的自适应控制。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-05-01 Epub Date: 2019-08-12 DOI: 10.1109/ICRA.2019.8793658

Ali Ebrahimi, Niravkumar Patel, Changyan He, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita

{"title":"Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.","authors":"Ali Ebrahimi, Niravkumar Patel, Changyan He, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita","doi":"10.1109/ICRA.2019.8793658","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793658","url":null,"abstract":"One of the significant challenges of moving from manual to robot-assisted retinal surgery is the loss of perception of forces applied to the sclera (sclera forces) by the surgical tools. This damping of force feedback is primarily due to the stiffness and inertia of the robot. The diminished perception of tool-to-eye interactions might put the eye tissue at high risk of injury due to excessive sclera forces or extreme insertion of the tool into the eye. In the present study therefore a 1-dimensional adaptive control method is customized for 3-dimensional control of sclera force components and tool insertion depth and then implemented on the velocity-controlled Johns Hopkins Steady-Hand Eye Robot. The control method enables the robot to perform autonomous motions to make the sclera force and/or insertion depth of the tool tip to follow pre-defined desired and safe trajectories when they exceed safe bounds. A robotic light pipe holding application in retinal surgery is also investigated using the adaptive control method. The implementation results indicate that the adaptive control is able to achieve the imposed safety margins and prevent sclera forces and insertion depth from exceeding safe boundaries.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICRA.2019.8793658","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37900614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 18

Autonomous Laparoscopic Robotic Suturing with a Novel Actuated Suturing Tool and 3D Endoscope. 基于新型驱动缝合工具和三维内窥镜的自主腹腔镜机器人缝合。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-05-01 Epub Date: 2019-08-12 DOI: 10.1109/icra.2019.8794306

H Saeidi, H N D Le, J D Opfermann, S Leonard, A Kim, M H Hsieh, J U Kang, A Krieger

{"title":"Autonomous Laparoscopic Robotic Suturing with a Novel Actuated Suturing Tool and 3D Endoscope.","authors":"H Saeidi, H N D Le, J D Opfermann, S Leonard, A Kim, M H Hsieh, J U Kang, A Krieger","doi":"10.1109/icra.2019.8794306","DOIUrl":"https://doi.org/10.1109/icra.2019.8794306","url":null,"abstract":"Compared to open surgical techniques, laparoscopic surgical methods aim to reduce the collateral tissue damage and hence decrease the patient recovery time. However, constraints imposed by the laparoscopic surgery, i.e. the operation of surgical tools in limited spaces, turn simple surgical tasks such as suturing into time-consuming and inconsistent tasks for surgeons. In this paper, we develop an autonomous laparoscopic robotic suturing system. More specific, we expand our smart tissue anastomosis robot (STAR) by developing i) a new 3D imaging endoscope, ii) a novel actuated laparoscopic suturing tool, and iii) a suture planning strategy for the autonomous suturing. We experimentally test the accuracy and consistency of our developed system and compare it to sutures performed manually by surgeons. Our test results on suture pads indicate that STAR can reach 2.9 times better consistency in suture spacing compared to manual method and also eliminate suture repositioning and adjustments. Moreover, the consistency of suture bite sizes obtained by STAR matches with those obtained by manual suturing.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra.2019.8794306","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"25402484","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 30

Fuzzy neuro-genetic approach for feature selection and image classification in augmented reality systems 增强现实系统中特征选择和图像分类的模糊神经遗传方法

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-03-01 DOI: 10.11591/IJRA.V8I1.PP%P

M. Moazzami, Hossein Shahinzadeh, G. Gharehpetian, A. Shafiei

{"title":"Fuzzy neuro-genetic approach for feature selection and image classification in augmented reality systems","authors":"M. Moazzami, Hossein Shahinzadeh, G. Gharehpetian, A. Shafiei","doi":"10.11591/IJRA.V8I1.PP%P","DOIUrl":"https://doi.org/10.11591/IJRA.V8I1.PP%P","url":null,"abstract":"In this paper, a new approach for implementing an Augmented Reality system by applying fuzzy genetic neural networks is proposed. It consists of two components namely feature selection and classification modules. For feature detection, extraction and selection, the proposed model uses a fuzzy logic based incremental feature selection algorithm which has been proposed in this work in order to recognize the important features from 3D images. Moreover, this paper explains the implementation and results of the proposed algorithms for an Augmented Reality system using image recognition, feature extraction, feature selection and classification by considering the global and local features of the images. For this purpose, we propose a three layer fuzzy neural network that has been implemented based on weight adjustments using fuzzy rules in the convolutional neural networks with genetic algorithm for effective optimization of rules. The classification algorithm is also based on fuzzy neuro-genetic approach which consists of two phases namely Training phase and testing phase. During the training phase, rules are formed based on objects and these rules are applied during the testing phase for recognizing the objects which can be used in robotics for effective object recognition. From the experiments conducted in this work, it is proved that the proposed model is more accurate in 3D object recognition.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43201422","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: 11