IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第8页

Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties 不确定条件下相机和激光雷达内、外统一标定

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197496

Julius Kummerle, Tilman Kuhner

引用次数: 22

Contact Stability Analysis of Magnetically-Actuated Robotic Catheter Under Surface Motion. 磁动机器人导管在表面运动下的接触稳定性分析

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9196951

Ran Hao, Tipakorn Greigarn, M Cenk Çavuşoğlu

引用次数: 0

Design and Analysis of a Synergy-Inspired Three-Fingered Hand 协同启发的三指手的设计与分析

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196901

Chen Wenrui, Xia Zhilan, Lu Jingwen, Zhao Zilong, W. Yao-nan

引用次数: 4

High-Resolution Optical Fiber Shape Sensing of Continuum Robots: A Comparative Study. 连续体机器人高分辨率光纤形状传感的比较研究。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9197454

Frederic Monet, Shahriar Sefati, Pierre Lorre, Arthur Poiffaut, Samuel Kadoury, Mehran Armand, Iulian Iordachita, Raman Kashyap

{"title":"High-Resolution Optical Fiber Shape Sensing of Continuum Robots: A Comparative Study.","authors":"Frederic Monet, Shahriar Sefati, Pierre Lorre, Arthur Poiffaut, Samuel Kadoury, Mehran Armand, Iulian Iordachita, Raman Kashyap","doi":"10.1109/icra40945.2020.9197454","DOIUrl":"https://doi.org/10.1109/icra40945.2020.9197454","url":null,"abstract":"Flexible medical instruments, such as Continuum Dexterous Manipulators (CDM), constitute an important class of tools for minimally invasive surgery. Accurate CDM shape reconstruction during surgery is of great importance, yet a challenging task. Fiber Bragg grating (FBG) sensors have demonstrated great potential in shape sensing and consequently tip position estimation of CDMs. However, due to the limited number of sensing locations, these sensors can only accurately recover basic shapes, and become unreliable in the presence of obstacles or many inflection points such as s-bends. Optical Frequency Domain Reflectometry (OFDR), on the other hand, can achieve much higher spatial resolution, and can therefore accurately reconstruct more complex shapes. Additionally, Random Optical Gratings by Ultraviolet laser Exposure (ROGUEs) can be written in the fibers to increase signal to noise ratio of the sensors. In this comparison study, the tip position error is used as a metric to compare both FBG and OFDR shape reconstructions for a 35 mm long CDM developed for orthopedic surgeries, using a pair of stereo cameras as ground truth. Three sets of experiments were conducted to measure the accuracy of each technique in various surgical scenarios. The tip position error for the OFDR (and FBG) technique was found to be 0.32 (0.83) mm in free-bending environment, 0.41 (0.80) mm when interacting with obstacles, and 0.45 (2.27) mm in s-bending. Moreover, the maximum tip position error remains sub-millimeter for the OFDR reconstruction, while it reaches 3.40 mm for FBG reconstruction. These results propose a cost-effective, robust and more accurate alternative to FBG sensors for reconstructing complex CDM shapes.","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":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra40945.2020.9197454","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39335086","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: 22

Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration. 通过示范学习在眼内自主导航手术工具。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9196537

Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D Hager, Iulian Iordachita, Marin Kobilarov

{"title":"Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration.","authors":"Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D Hager, Iulian Iordachita, Marin Kobilarov","doi":"10.1109/icra40945.2020.9196537","DOIUrl":"https://doi.org/10.1109/icra40945.2020.9196537","url":null,"abstract":"A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In practice, the surgeon relies on depth-estimation skills to localize the tool-tip with respect to the retina in order to perform the tool-navigation task, which can be prone to human error. To alleviate such uncertainty, prior work has introduced ways to assist the surgeon by estimating the tool-tip distance to the retina and providing haptic or auditory feedback. However, automating the tool-navigation task itself remains unsolved and largely unexplored. Such a capability, if reliably automated, could serve as a building block to streamline complex procedures and reduce the chance for tissue damage. Towards this end, we propose to automate the tool-navigation task by learning to mimic expert demonstrations of the task. Specifically, a deep network is trained to imitate expert trajectories toward various locations on the retina based on recorded visual servoing to a given goal specified by the user. The proposed autonomous navigation system is evaluated in simulation and in physical experiments using a silicone eye phantom. We show that the network can reliably navigate a needle surgical tool to various desired locations within 137 μm accuracy in physical experiments and 94 μm in simulation on average, and generalizes well to unseen situations such as in the presence of auxiliary surgical tools, variable eye backgrounds, and brightness conditions.","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":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra40945.2020.9196537","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39520516","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: 20

Enhancing Imbalanced Dataset by Utilizing (K-NN Based SMOTE_3D Algorithm) 利用（基于K-NN的SMOTE_3D算法）增强不平衡数据集

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-04-25 DOI: 10.17352/ARA.000002

Khaldoon Alshouiliy, Sujan Ray, A. Al-Ghamdi, D. Agrawal

{"title":"Enhancing Imbalanced Dataset by Utilizing (K-NN Based SMOTE_3D Algorithm)","authors":"Khaldoon Alshouiliy, Sujan Ray, A. Al-Ghamdi, D. Agrawal","doi":"10.17352/ARA.000002","DOIUrl":"https://doi.org/10.17352/ARA.000002","url":null,"abstract":"Big data is currently a huge industry that has grown significantly every year. Big data is being used by machine learning and deep learning algorithm to study, analyze and parse big data and then drive useful and beneficial results. However, most of the real datasets are collected through different organizations and social media and mainly fall under the category of Big Data applications. One of the biggest and most drawbacks of such datasets is an imbalance representation of samples from different categories. In such case, the classifiers and deep learning techniques are not capable of handling issues like these. A majority of existing works tend to overlook these issues. Typical data balancing methods in the literature resort to data resampling whether it is under sampling a majority class samples or oversampling the minority class of samples. In this work, we focus on the minority sample and ignore the majority ones. Many researchers have done many works as most of the work suffers from over sampling or form the generated noise in the dataset. Additionally, works are either suitable for either big data or small data. Moreover, some other work suffers from a long processing time as complicated algorithms are used with many steps to fix the imbalance problem. Therefore, we introduce a new algorithm that deals with all these issues. We have created a short example to explain briefly how the SMOTE works and why we need to enhance the SMOTE and we have done this by using a very well-known imbalance dataset that we downloaded from the Kaggle website. We collect the results by using Azure machine learning platform. Then, we compare the results to see that the model is functional just good with SMOTE and way better than without it.","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":"2020-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42631685","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

Estimation of nonlinear systems parameters 非线性系统参数的估计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp26-33

Mohamed Benyassi, A. Brouri

引用次数: 0

Discrete time reaching law based variable structure control for fast reaching with reduced chattering 基于离散时间趋近律的变结构快速趋近控制

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp51-61

P. Padmalatha, Susy Thomas

引用次数: 3

Design and development of soft robotic hand for vertical farming in spacecraft 航天器垂直农业用柔性机械手的设计与研制

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp6-16

A. Suresh, G. Udupa, Dhruv Gaba

{"title":"Design and development of soft robotic hand for vertical farming in spacecraft","authors":"A. Suresh, G. Udupa, Dhruv Gaba","doi":"10.11591/ijra.v9i1.pp6-16","DOIUrl":"https://doi.org/10.11591/ijra.v9i1.pp6-16","url":null,"abstract":"For colonization in deep space we need to explore the feasibility of a bioregenerative system in microgravity or artificial gravity environments. The process has various complexities form ranging to biological obstacles to engineering limitations of the spacecraft. Concentration of microbes in the confinements of a spacecraft can be fatal for the crew. In this paper, a solution to the elevated microbial levels by farming using robots is discussed. The soft robotic arm is made up of Asymmetric Flexible Pneumatic Actuator (AFPA). The AFPA under internal pressure will curve in the direction of the side having greater thickness as the expansion of the thinner side (outside radius) will be more than thicker side (inside radius) due to differential expansion and moment induced due to eccentricity. Simulation results demonstrate that bending based on AFPA can meet the designed requirement of application. The AFPA is used for five fingers of the robotic hand. The safe, soft touch and gentle motion of the bellow (AFPA) gives the feel of real human hand. The internal pressure of the AFPA is controlled using a solenoid valve which is interfaced using an Arduino microcontroller for hand like moves. The bending of the fingers and degree of freedom (DOF) of the joints of the hand is controlled using an IMU and flex sensor. Wireless connection of the hand and the control system is implemented using XBee pro 60mW with a range of 1 miles.The pneumatic soft robotic hand is made up of solenoid valve, Mini Compressor, AFPA bellow, and Servos. This soft robotic hand has many advantages such as good adaptability, simple structure, small size, high flexibility and less energy loss. As an extension Manual control of the robot using a virtual reality environment and well as some possible aspects of an automated farming systems can be considered as future additions.","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":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47771724","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: 4

Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery 一种用于软组织手术的医疗机器人工具系列链的多目标优化和线性屈曲

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp17-25

G. Ilewicz, A. Harlecki

{"title":"Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery","authors":"G. Ilewicz, A. Harlecki","doi":"10.11591/ijra.v9i1.pp17-25","DOIUrl":"https://doi.org/10.11591/ijra.v9i1.pp17-25","url":null,"abstract":"Received Oct 13, 2019 Revised Dec 27, 2019 Accepted Jan 12, 2020 The slender structures of a medical robot may have a tendency to buckling when a force equal to the critical Euler force and an additional disturbance will work on their structures. In this work, eigenvalue problem that describes the linear buckling is under consideration. The main goal of the article is to check when linear buckling phenomenon appears in construction of a medical robot with serial chain due to the fact that for safety reasons of a robot’s work, it is necessary to answer the question, whether the buckling may occur in the robot’s structure. For this purpose, a numerical calculation model was defined by using the finite element method. The values of load factor coefficients that are eigenvalue are determinated and also the eigenvectors that have shapes of deformation for the next eigenvalues are presented. The multi-criteria optimization model was determined to aim for the minimum mass of the effector and the buckling coefficient, from which the Euler force results, for the maximum. The solution was obtained on the basis of Pareto fronts and the MOGA genetic algorithm.","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":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47041061","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