Pub Date : 2017-08-01DOI: 10.1109/ROBIONETICS.2017.8203433
E. Rijanto, A. Sugiharto, Sapdo Utomo, Rifa Rahmayanti, H. Afrisal, T. Nanayakkara
Thirty-three years has passed since the first utilization of laparoscopic technology in surgery, yet the deployment of robots in endovascular catheterization process is currently still in its infancy. Following up some reviews by other researchers, this paper elaborates trends in robotic-assisted endovascular catheterization through literature study of published articles since the last 4 years, direct observation of on going minimally invasive endovascular intervention surgery, and discussions with an interventional cardiologist. Some important facts have been identified such as, some commercial robots have been used In Vitro, and magnetic resonance compatible slave robots as well as methods for physician skill evaluation are under development. The existing issues include miniaturization of flexible robots, side contact force sensing device for catheters, and stable haptic feedback in master robot. Some examples of interesting topics for future research are more stable and robust haptic feedback, structure and mechanism of catheter, intra-cardiac sensors, estimation methods of catheter tip states (position, angle and contact force), modeling and control methods, image sensing technology which does not yield radiation exposure yet more economically affordable, and simulator with skill assessment algorithm.
{"title":"Trends in robot assisted endovascular catheterization technology: A review","authors":"E. Rijanto, A. Sugiharto, Sapdo Utomo, Rifa Rahmayanti, H. Afrisal, T. Nanayakkara","doi":"10.1109/ROBIONETICS.2017.8203433","DOIUrl":"https://doi.org/10.1109/ROBIONETICS.2017.8203433","url":null,"abstract":"Thirty-three years has passed since the first utilization of laparoscopic technology in surgery, yet the deployment of robots in endovascular catheterization process is currently still in its infancy. Following up some reviews by other researchers, this paper elaborates trends in robotic-assisted endovascular catheterization through literature study of published articles since the last 4 years, direct observation of on going minimally invasive endovascular intervention surgery, and discussions with an interventional cardiologist. Some important facts have been identified such as, some commercial robots have been used In Vitro, and magnetic resonance compatible slave robots as well as methods for physician skill evaluation are under development. The existing issues include miniaturization of flexible robots, side contact force sensing device for catheters, and stable haptic feedback in master robot. Some examples of interesting topics for future research are more stable and robust haptic feedback, structure and mechanism of catheter, intra-cardiac sensors, estimation methods of catheter tip states (position, angle and contact force), modeling and control methods, image sensing technology which does not yield radiation exposure yet more economically affordable, and simulator with skill assessment algorithm.","PeriodicalId":113512,"journal":{"name":"2017 International Conference on Robotics, Biomimetics, and Intelligent Computational Systems (Robionetics)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114959926","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}
Pub Date : 2017-08-01DOI: 10.1109/ROBIONETICS.2017.8203432
I. G. E. P. Putra, A. N. Jati, R. E. Saputra
This paper presents the mobile aplication based on Android as a control panel of building security system. This application acts as a liaison between users and the system. With some features in it this application helps users in keeping the building security from everywhere and at anytime by the smartphone. The features are “Alarm Activation” “Door lock Control” and on home screen of the application displays the captured image of somebody who comes into the building. Based on the design this application can get the captured image and can activate the alarm and the door lock.
{"title":"Monitor and control panel of building security system integrated to Android smart phone","authors":"I. G. E. P. Putra, A. N. Jati, R. E. Saputra","doi":"10.1109/ROBIONETICS.2017.8203432","DOIUrl":"https://doi.org/10.1109/ROBIONETICS.2017.8203432","url":null,"abstract":"This paper presents the mobile aplication based on Android as a control panel of building security system. This application acts as a liaison between users and the system. With some features in it this application helps users in keeping the building security from everywhere and at anytime by the smartphone. The features are “Alarm Activation” “Door lock Control” and on home screen of the application displays the captured image of somebody who comes into the building. Based on the design this application can get the captured image and can activate the alarm and the door lock.","PeriodicalId":113512,"journal":{"name":"2017 International Conference on Robotics, Biomimetics, and Intelligent Computational Systems (Robionetics)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126419343","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}
Pub Date : 2017-08-01DOI: 10.1109/ROBIONETICS.2017.8203427
I. G. N. M. K. Raya, A. N. Jati, R. E. Saputra
In this paper the use a face detection system with Viola-Jones method mounted on a surveillance camera in a room as a CCTV is conducted. The camera turns on automatically and moves toward an object corresponding to the input received from a laser range finder. It makes use of the camera becomes more efficient. The output of this research is that the use of Viola-Jones method can immediately detect a human face more than once shoot it in real-time and know the ideal face position to be detected. The results of face detection are captured by the camera and then the final pictures are sent to the server for further processing by a mobile application.
{"title":"Analysis realization of Viola-Jones method for face detection on CCTV camera based on embedded system","authors":"I. G. N. M. K. Raya, A. N. Jati, R. E. Saputra","doi":"10.1109/ROBIONETICS.2017.8203427","DOIUrl":"https://doi.org/10.1109/ROBIONETICS.2017.8203427","url":null,"abstract":"In this paper the use a face detection system with Viola-Jones method mounted on a surveillance camera in a room as a CCTV is conducted. The camera turns on automatically and moves toward an object corresponding to the input received from a laser range finder. It makes use of the camera becomes more efficient. The output of this research is that the use of Viola-Jones method can immediately detect a human face more than once shoot it in real-time and know the ideal face position to be detected. The results of face detection are captured by the camera and then the final pictures are sent to the server for further processing by a mobile application.","PeriodicalId":113512,"journal":{"name":"2017 International Conference on Robotics, Biomimetics, and Intelligent Computational Systems (Robionetics)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116343109","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}
Pub Date : 2017-08-01DOI: 10.1109/ROBIONETICS.2017.8203431
A. Widyotriatmo, P. I. Siregar, Y. Y. Nazaruddin
This paper presents the line following control of a truck-trailer. The control architecture of the truck-trailer is also proposed. To cope with the autonomous application of the truck-trailer the kinematics of truck-trailer is derived and the mapping of the control actuators in the head-truck which are the steering angle and the traction to the posture of the trailer is conducted. The geometrical schematic between the truck trailer and the path to be followed is explored so that the error dynamics between the configuration of truck-trailer and the path are formulated. The path following control is designed based on the Lyapunov method and the global asymptotic stability of the origin of error variables is shown. Optimization of the control parameters is performed to include the constraints of the truck-trailer maneuver. Simulation results of a truck-trailer following rectangular-shaped path are conducted to show the efficiency of the proposed method.
{"title":"Line following control of an autonomous truck-trailer","authors":"A. Widyotriatmo, P. I. Siregar, Y. Y. Nazaruddin","doi":"10.1109/ROBIONETICS.2017.8203431","DOIUrl":"https://doi.org/10.1109/ROBIONETICS.2017.8203431","url":null,"abstract":"This paper presents the line following control of a truck-trailer. The control architecture of the truck-trailer is also proposed. To cope with the autonomous application of the truck-trailer the kinematics of truck-trailer is derived and the mapping of the control actuators in the head-truck which are the steering angle and the traction to the posture of the trailer is conducted. The geometrical schematic between the truck trailer and the path to be followed is explored so that the error dynamics between the configuration of truck-trailer and the path are formulated. The path following control is designed based on the Lyapunov method and the global asymptotic stability of the origin of error variables is shown. Optimization of the control parameters is performed to include the constraints of the truck-trailer maneuver. Simulation results of a truck-trailer following rectangular-shaped path are conducted to show the efficiency of the proposed method.","PeriodicalId":113512,"journal":{"name":"2017 International Conference on Robotics, Biomimetics, and Intelligent Computational Systems (Robionetics)","volume":"2096 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127466211","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}
Pub Date : 2017-08-01DOI: 10.1109/ROBIONETICS.2017.8203428
Barorotul Abror, D. Pramadihanto
As continuation of our last research about dancing humanoid robot in 33 degree of freedom, in this paper we describe how to build dance pattern planning of Indonesia traditional dance movement in complete degree of freedom. We discuss the primitive pose in that commonly happened in traditional dance and build the transition pattern among the pose. The motion pattern method between the poses is based on the ability of robot to reach zero moment point position, and also the system to synchronize timing for dance motion is built. In this research zero moment point is our most concern problem because the worst thing in humanoid research is when the robot cannot maintain the balance itself. The computation considers that the zero moment point stays in a support polygon area.
{"title":"Dance motion pattern planning for K. Mei as dancing humanoid robot","authors":"Barorotul Abror, D. Pramadihanto","doi":"10.1109/ROBIONETICS.2017.8203428","DOIUrl":"https://doi.org/10.1109/ROBIONETICS.2017.8203428","url":null,"abstract":"As continuation of our last research about dancing humanoid robot in 33 degree of freedom, in this paper we describe how to build dance pattern planning of Indonesia traditional dance movement in complete degree of freedom. We discuss the primitive pose in that commonly happened in traditional dance and build the transition pattern among the pose. The motion pattern method between the poses is based on the ability of robot to reach zero moment point position, and also the system to synchronize timing for dance motion is built. In this research zero moment point is our most concern problem because the worst thing in humanoid research is when the robot cannot maintain the balance itself. The computation considers that the zero moment point stays in a support polygon area.","PeriodicalId":113512,"journal":{"name":"2017 International Conference on Robotics, Biomimetics, and Intelligent Computational Systems (Robionetics)","volume":"185 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134128761","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}
Pub Date : 2017-08-01DOI: 10.1109/ROBIONETICS.2017.8203429
M. Ariyanto, W. Caesarendra, J. Setiawan, T. Tjahjowidodo, R. M. Fajri, Geraldy A. Wdhiatmoko
This paper presents the development of underwater manipulator robot using commercial underwater servo. The proposed underwater manipulator system consists of Arduino MEGA microcontroller position control joystick 3 DOF underwater manipulator and SimMechanics 3D Animation. The 3D Animation in the SimMechanicsis is utilized to visualize orientation of manipulator in the computer. Open loop control algorithm is embedded into Arduino MEGA using Simulink Support Package for Arduino Hardware. The kinematics of manipulator is studied using forward kinematics and inverse kinematics to investigate the motion of manipulator in the air. The forward kinematics is computed using mathematical approach based on D-H parameter RoboAnalyzer and SimMechanics. Mathematical approach using trigonometric method is employed to calculate the inverse kinematics. The motion study of the proposed underwater manipulator in the water is conducted by experimental work. Based on the experimental work hydrodynamics effect gives steady state error and delay between command and response when underwater manipulator moves in the water. The proposed underwater manipulator robot integrated with SimMechanics 3D Animation has successful mission for underwater object grasping and manipulation both in the air and water.
{"title":"Development of a low cost underwater manipulator robot integrated with SimMechanics 3D animation","authors":"M. Ariyanto, W. Caesarendra, J. Setiawan, T. Tjahjowidodo, R. M. Fajri, Geraldy A. Wdhiatmoko","doi":"10.1109/ROBIONETICS.2017.8203429","DOIUrl":"https://doi.org/10.1109/ROBIONETICS.2017.8203429","url":null,"abstract":"This paper presents the development of underwater manipulator robot using commercial underwater servo. The proposed underwater manipulator system consists of Arduino MEGA microcontroller position control joystick 3 DOF underwater manipulator and SimMechanics 3D Animation. The 3D Animation in the SimMechanicsis is utilized to visualize orientation of manipulator in the computer. Open loop control algorithm is embedded into Arduino MEGA using Simulink Support Package for Arduino Hardware. The kinematics of manipulator is studied using forward kinematics and inverse kinematics to investigate the motion of manipulator in the air. The forward kinematics is computed using mathematical approach based on D-H parameter RoboAnalyzer and SimMechanics. Mathematical approach using trigonometric method is employed to calculate the inverse kinematics. The motion study of the proposed underwater manipulator in the water is conducted by experimental work. Based on the experimental work hydrodynamics effect gives steady state error and delay between command and response when underwater manipulator moves in the water. The proposed underwater manipulator robot integrated with SimMechanics 3D Animation has successful mission for underwater object grasping and manipulation both in the air and water.","PeriodicalId":113512,"journal":{"name":"2017 International Conference on Robotics, Biomimetics, and Intelligent Computational Systems (Robionetics)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128859080","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}
Pub Date : 2017-08-01DOI: 10.1109/ROBIONETICS.2017.8203430
W. Caesarendra, T. Tjahjowidodo, D. Pamungkas
This paper presents a comparison study between support vector machine (SVM) and adaptive neuro-fuzzy inference system (ANFIS) classification for electromyography (EMG) signals. The EMG signals were acquired from seven hand common gestures. Sixteen features were extracted and were reduced into three new features set using principal component analysis (PCA). The new features set were divided into two for training and testing. The result of ANFIS classification is 91.43% which is higher than SVM classification that has been conducted in previous study.
{"title":"EMG based classification of hand gestures using PCA and ANFIS","authors":"W. Caesarendra, T. Tjahjowidodo, D. Pamungkas","doi":"10.1109/ROBIONETICS.2017.8203430","DOIUrl":"https://doi.org/10.1109/ROBIONETICS.2017.8203430","url":null,"abstract":"This paper presents a comparison study between support vector machine (SVM) and adaptive neuro-fuzzy inference system (ANFIS) classification for electromyography (EMG) signals. The EMG signals were acquired from seven hand common gestures. Sixteen features were extracted and were reduced into three new features set using principal component analysis (PCA). The new features set were divided into two for training and testing. The result of ANFIS classification is 91.43% which is higher than SVM classification that has been conducted in previous study.","PeriodicalId":113512,"journal":{"name":"2017 International Conference on Robotics, Biomimetics, and Intelligent Computational Systems (Robionetics)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129187954","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}
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