IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第3页

Detecting African hoofed animals in aerial imagery using convolutional neural network 利用卷积神经网络在航空图像中检测非洲有蹄动物

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-06-01 DOI: 10.11591/IJRA.V10I2.PP133-143

Yunfei Fang, Shengzhi Du, L. Boubchir, Karim D Djouani

{"title":"Detecting African hoofed animals in aerial imagery using convolutional neural network","authors":"Yunfei Fang, Shengzhi Du, L. Boubchir, Karim D Djouani","doi":"10.11591/IJRA.V10I2.PP133-143","DOIUrl":"https://doi.org/10.11591/IJRA.V10I2.PP133-143","url":null,"abstract":"Small unmanned aerial vehicles applications had erupted in many fields including conservation management. Automatic object detection methods for such aerial imagery were in high demand to facilitate more efficient and economical wildlife management and research. This paper aimed to detect hoofed animals in aerial images taken from a quad-rotor in Southern Africa. Objects captured in this way were small both in absolute pixels and from an object-to-image ratio point of view, which were not perfectly suit for general purposed object detectors. We proposed a method based on the iconic Faster region-based convolutional neural networks (R-CNN) framework with atrous convolution layers in order to retain the spatial resolution of the feature map to detect small objects. A good choice of anchors was of prime importance in detecting small objects. The performance of the proposed Faster R-CNN with atrous convolutional filters in the backbone network was proven to be outstanding in our scenario by comparing to other object detection architectures.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"10 1","pages":"133-143"},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48708605","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

Smart wheel chair 智能轮椅

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-05-22 DOI: 10.17352/ARA.000008

Hameed Sarmad, Shoukat Muhammad Hamza, Khan Abdur Rafay, Haroon Khwaja Mobeen

引用次数: 0

Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. 最大化可到达肺容积的可转向针式机器人的设计考虑因素

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-05-01 Epub Date: 2021-10-18 DOI: 10.1109/icra48506.2021.9561342

Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A Akulian, Robert J Webster, Ron Alterovitz

{"title":"Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume.","authors":"Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A Akulian, Robert J Webster, Ron Alterovitz","doi":"10.1109/icra48506.2021.9561342","DOIUrl":"10.1109/icra48506.2021.9561342","url":null,"abstract":"Steerable needles that are able to follow curvilinear trajectories and steer around anatomical obstacles are a promising solution for many interventional procedures. In the lung, these needles can be deployed from the tip of a conventional bronchoscope to reach lung lesions for diagnosis. The reach of such a device depends on several design parameters including the bronchoscope diameter, the angle of the piercing device relative to the medial axis of the airway, and the needle's minimum radius of curvature while steering. Assessing the effect of these parameters on the overall system's clinical utility is important in informing future design choices and understanding the capabilities and limitations of the system. In this paper, we analyze the effect of various settings for these three robot parameters on the percentage of the lung that the robot can reach. We combine Monte Carlo random sampling of piercing configurations with a Rapidly-exploring Random Trees based steerable needle motion planner in simulated human lung environments to asymptotically accurately estimate the volume of sites in the lung reachable by the robot. We highlight the importance of each parameter on the overall system's reachable workspace in an effort to motivate future device innovation and highlight design trade-offs.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2021 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8553157/pdf/nihms-1695307.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39579555","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: 0

A Confidence-Based Supervised-Autonomous Control Strategy for Robotic Vaginal Cuff Closure. 基于置信度的机器人阴道袖带闭合监督自主控制策略。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-05-01 Epub Date: 2021-10-18 DOI: 10.1109/icra48506.2021.9561685

Michael Kam, Hamed Saeidi, Michael H Hsieh, J U Kang, Axel Krieger

{"title":"A Confidence-Based Supervised-Autonomous Control Strategy for Robotic Vaginal Cuff Closure.","authors":"Michael Kam, Hamed Saeidi, Michael H Hsieh, J U Kang, Axel Krieger","doi":"10.1109/icra48506.2021.9561685","DOIUrl":"https://doi.org/10.1109/icra48506.2021.9561685","url":null,"abstract":"Autonomous robotic suturing has the potential to improve surgery outcomes by leveraging accuracy, repeatability, and consistency compared to manual operations. However, achieving full autonomy in complex surgical environments is not practical and human supervision is required to guarantee safety. In this paper, we develop a confidence-based supervised autonomous suturing method to perform robotic suturing tasks via both Smart Tissue Autonomous Robot (STAR) and surgeon collaboratively with the highest possible degree of autonomy. Via the proposed method, STAR performs autonomous suturing when highly confident and otherwise asks the operator for possible assistance in suture positioning adjustments. We evaluate the accuracy of our proposed control method via robotic suturing tests on synthetic vaginal cuff tissues and compare them to the results of vaginal cuff closures performed by an experienced surgeon. Our test results indicate that by using the proposed confidence-based method, STAR can predict the success of pure autonomous suture placement with an accuracy of 94.74%. Moreover, via an additional 25% human intervention, STAR can achieve a 98.1% suture placement accuracy compared to an 85.4% accuracy of completely autonomous robotic suturing. Finally, our experiment results indicate that STAR using the proposed method achieves 1.6 times better consistency in suture spacing and 1.8 times better consistency in suture bite sizes than the manual results.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2021 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8612028/pdf/nihms-1721258.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39673819","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: 3

Early experience with force-space navigated robotics for glenoid implantation during total shoulder arthroplasty 全肩关节置换术中使用力空间导航机器人进行肩关节植入的早期经验

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-04-14 DOI: 10.17352/ARA.000007

Corey Smith, G. Athwal, L. Ferreira

引用次数: 1

Radio frequency identification based smart parking system using Internet of Things 基于射频识别的物联网智能停车系统

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-03-01 DOI: 10.11591/IJRA.V10I1.PP41-50

Rahman Atiqur

引用次数: 6

Portable wireless node design for smart agricultural system based on Internet of Things 基于物联网的智能农业系统便携式无线节点设计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-03-01 DOI: 10.11591/IJRA.V10I1.PP1-9

Adnan Rafi Al Tahtawi, Erick Andika, Wildan Nurfauzan Harjanto

{"title":"Portable wireless node design for smart agricultural system based on Internet of Things","authors":"Adnan Rafi Al Tahtawi, Erick Andika, Wildan Nurfauzan Harjanto","doi":"10.11591/IJRA.V10I1.PP1-9","DOIUrl":"https://doi.org/10.11591/IJRA.V10I1.PP1-9","url":null,"abstract":"This paper presents a pair of portable wireless nodes for a smart agricultural system to control and monitor the agricultural parameters based on Internet of Things (IoT). This system utilizes low-cost wireless communication through an nRF24L01 module between the sensor node and the controller node. The sensor node is placed on the agricultural area with a Li-Ion battery as a power supply, while the controller node is placed at the control and monitoring station. On the sensor node, there is a YL-69 soil moisture sensor and DS18B20 temperature sensor, while in the controller node there is a relay that can set watering on/off condition. In the controller node, there is also an ESP8266 WiFi module that serves to send data to the internet cloud for user monitoring. Both hardware nodes are built in small and portable size. The experimental result shows that the sensor node can transmit soil moisture and temperature data via RF wireless communication to the controller node. Watering is done automatically based on the condition of sensor values. In addition, this system can also be monitored through a website interface, so the users can easily find out the condition of their plant as long as there is internet access.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"10 1","pages":"1-9"},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43143355","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

Internet of Things-based home automation, energy management and smart security system 基于物联网的家庭自动化、能源管理和智能安防系统

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-03-01 DOI: 10.11591/IJRA.V10I1.PP32-40

U. I. Bature, N. M. Tahir, A. Abubakar, A. Makama

{"title":"Internet of Things-based home automation, energy management and smart security system","authors":"U. I. Bature, N. M. Tahir, A. Abubakar, A. Makama","doi":"10.11591/IJRA.V10I1.PP32-40","DOIUrl":"https://doi.org/10.11591/IJRA.V10I1.PP32-40","url":null,"abstract":"Objects can easily be remotely sensed, monitored and controlled when home is automated using the Internet of Things (IoT); this will give room for direct integration of the real world into computerized systems. Energy consumption is defined as the degree of the amount of power expended by a given load in an electric circuit. Nowadays, inefficient techniques used in monitoring and control of power consuming devices has contributed immensely in the high rate of power consumption in our homes, institutions, business places, and marketplaces. The design and implementation of an IoT-based home automation, energy management and smart security system has been proposed in this paper. The components used in the development of the system unit include an ESP8266 Wi-Fi component and the universal Arduino imbedded controller. The proposed scheme is aimed at assisting and supporting an efficient usage of power, and by doing so, power consumption as well as the risk of fire outbreaks will be greatly reduced to the barest minimal. The capability of remotely monitoring and controlling both electrical and electronic appliances via a web application is the main feature of the proposed scheme. The scheme provides better efficiency and accuracy as well as economic benefits.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"10 1","pages":"32-40"},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43574104","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

Analytical design of the fractional order controller and robustness verification 分数阶控制器的解析设计及鲁棒性验证

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-03-01 DOI: 10.11591/IJRA.V10I1.PP10-23

Sateesh K. Vavilala, Vinopraba Thirumavalavan

引用次数: 2

Design of energy-efficient multiplier based on 3:2 compressor 基于3:2压缩机的节能倍增器设计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-03-01 DOI: 10.11591/IJRA.V10I1.PP51-58

I. Hussain, S. Chaudhury

{"title":"Design of energy-efficient multiplier based on 3:2 compressor","authors":"I. Hussain, S. Chaudhury","doi":"10.11591/IJRA.V10I1.PP51-58","DOIUrl":"https://doi.org/10.11591/IJRA.V10I1.PP51-58","url":null,"abstract":"A multiplier circuit is one of the most important functional blocks of many nano-electronic, control and automation applications. In this work, an energy-efficient multiplier is reported based on a 3:2 compressor. The multiplier has been designed in three different parts. In the first part, a partial product (PP) generator is used. In the second part, the partial products are reduced which is termed as PPP (partial product processing). Whereas in the third step final addition is performed. PPs are produced by using AND gates. The PPP is designed in two-phase. In the first phase, the Wallace tree logarithm has been used to reduce the PPs. Whereas, in the second phase the PPs are reduced by using energy-efficient half adder and 3:2 compressor. At last, in the third step, by using a carry-save adder final addition has been computed. The performance analysis of the designed multiplier is evaluated and compared with other multiplier circuits. The multiplier shows performance improvements by 20.55%-46% for the power supply variation from 1.2 V to 0.6 V. All the simulations and analyses have been carried out by using the Synopsys EDA tool.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"10 1","pages":"51-58"},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48040781","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