Pub Date : 2022-07-01DOI: 10.1001/jamaoto.2022.1028
Adam B Sauer, Ghazal S Daher, Christine M Lohse, Amy E Glasgow, Elizabeth B Habermann, Dontre' M Douse, Eric J Moore, Eseosa T Ighodaro, Kathryn M Van Abel, Linda X Yin
Importance: There is substantial evidence demonstrating racial disparities in the survival outcomes of patients with head and neck cancer. The reporting and representation of race and ethnicity in cancer trials is crucial for generalizability of trial results to patient care and reduction of racial health disparities in head and neck cancers. Racial disparities in oncologic outcomes across various therapeutic interventions may only manifest when diverse races are appropriately represented in trials.
Objective: To characterize the reporting and representation of race and ethnicity in head and neck cancer clinical trials.
Evidence review: A systematic search of published trials and those available on ClinicalTrials.gov was conducted to identify 3973 studies from 2010 to 2020. Title, abstract, and full-text review yielded 155 trials for data extraction of patient demographics. Year of publication, type of intervention, publication source, and funding source were also collected. Race and ethnicity data were compared with Surveillance, Epidemiology, and End Results (SEER) Program cancer registry data.
Findings: Of the 155 included studies, only 89 (57%) reported race or ethnicity. Only 81 (52%) of the studies reported detailed classification of race or ethnicity per the US Census Bureau classification scheme. Race and ethnicity reporting varied considerably with year of publication, type of intervention, data source, and funding source. Studies in the latter half of the decade were more likely to report race or ethnicity (odds ratio, 2.78; 95% CI, 1.33-5.80), with the highest number in 2019 (24 of 30 [80%] trials), followed by 2020 (20 of 29 [69%] trials). Among the possible interventions, trials on therapeutic chemoradiation most frequently reported race or ethnicity (11 of 12 [92%]), followed by supportive drug trials (22 of 31 [71%]), and then therapeutic chemotherapy trials (28 of 48 [58%]). When compared with SEER data, race and ethnicity distribution in clinical trials showed fewer Black patients (10% vs 8%) and Asian or Pacific Islander patients (6% vs 2%).
Conclusions and relevance: In this systematic review, nearly half of head and neck cancer trials in the past decade did not report the race or ethnicity of participants. Participation of Black and Asian or Pacific Islander patients does not adequately reflect the US population's head and neck cancer demographics, limiting the generalizability of trial results and adding to racial health disparities in patients with head and neck cancers.
{"title":"Underreporting and Underrepresentation of Race and Ethnicity in Head and Neck Cancer Trials, 2010-2020: A Systematic Review.","authors":"Adam B Sauer, Ghazal S Daher, Christine M Lohse, Amy E Glasgow, Elizabeth B Habermann, Dontre' M Douse, Eric J Moore, Eseosa T Ighodaro, Kathryn M Van Abel, Linda X Yin","doi":"10.1001/jamaoto.2022.1028","DOIUrl":"10.1001/jamaoto.2022.1028","url":null,"abstract":"<p><strong>Importance: </strong>There is substantial evidence demonstrating racial disparities in the survival outcomes of patients with head and neck cancer. The reporting and representation of race and ethnicity in cancer trials is crucial for generalizability of trial results to patient care and reduction of racial health disparities in head and neck cancers. Racial disparities in oncologic outcomes across various therapeutic interventions may only manifest when diverse races are appropriately represented in trials.</p><p><strong>Objective: </strong>To characterize the reporting and representation of race and ethnicity in head and neck cancer clinical trials.</p><p><strong>Evidence review: </strong>A systematic search of published trials and those available on ClinicalTrials.gov was conducted to identify 3973 studies from 2010 to 2020. Title, abstract, and full-text review yielded 155 trials for data extraction of patient demographics. Year of publication, type of intervention, publication source, and funding source were also collected. Race and ethnicity data were compared with Surveillance, Epidemiology, and End Results (SEER) Program cancer registry data.</p><p><strong>Findings: </strong>Of the 155 included studies, only 89 (57%) reported race or ethnicity. Only 81 (52%) of the studies reported detailed classification of race or ethnicity per the US Census Bureau classification scheme. Race and ethnicity reporting varied considerably with year of publication, type of intervention, data source, and funding source. Studies in the latter half of the decade were more likely to report race or ethnicity (odds ratio, 2.78; 95% CI, 1.33-5.80), with the highest number in 2019 (24 of 30 [80%] trials), followed by 2020 (20 of 29 [69%] trials). Among the possible interventions, trials on therapeutic chemoradiation most frequently reported race or ethnicity (11 of 12 [92%]), followed by supportive drug trials (22 of 31 [71%]), and then therapeutic chemotherapy trials (28 of 48 [58%]). When compared with SEER data, race and ethnicity distribution in clinical trials showed fewer Black patients (10% vs 8%) and Asian or Pacific Islander patients (6% vs 2%).</p><p><strong>Conclusions and relevance: </strong>In this systematic review, nearly half of head and neck cancer trials in the past decade did not report the race or ethnicity of participants. Participation of Black and Asian or Pacific Islander patients does not adequately reflect the US population's head and neck cancer demographics, limiting the generalizability of trial results and adding to racial health disparities in patients with head and neck cancers.</p>","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"14 1","pages":"662-669"},"PeriodicalIF":6.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85462107","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 : 2019-01-01DOI: 10.4018/978-1-5225-8060-7.ch058
Sachin Jain, M. Phadtare
Robots are developed for various construction processes and used in countries such as the USA, Japan and China. However, their adoption in India is very limited due to weaknesses in the construction sector. The Indian construction industry is poised to grow at a faster rate due to planned investment. Robots will benefit construction industry by way of better productivity, quality, timely completion, etc. resulting in the growth of construction industry. This paper identifies the structure of influencers of adoption of robots in the Indian infrastructure construction sector using exploratory factor analsis. This structure was validated using confirmatory factor analysis. A total of 20 influencers are identified and grouped in eight factors. Based on these influencers, strategies are recommended to enhance adoption of robots in Indian infrastructure construction industry. Finally the authors identify the influencers that are common to India and other countries in Asia, America, Europe and Australia.
{"title":"Influencers for Adoption of Robots in Indian Construction Industry","authors":"Sachin Jain, M. Phadtare","doi":"10.4018/978-1-5225-8060-7.ch058","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.ch058","url":null,"abstract":"Robots are developed for various construction processes and used in countries such as the USA, Japan and China. However, their adoption in India is very limited due to weaknesses in the construction sector. The Indian construction industry is poised to grow at a faster rate due to planned investment. Robots will benefit construction industry by way of better productivity, quality, timely completion, etc. resulting in the growth of construction industry. This paper identifies the structure of influencers of adoption of robots in the Indian infrastructure construction sector using exploratory factor analsis. This structure was validated using confirmatory factor analysis. A total of 20 influencers are identified and grouped in eight factors. Based on these influencers, strategies are recommended to enhance adoption of robots in Indian infrastructure construction industry. Finally the authors identify the influencers that are common to India and other countries in Asia, America, Europe and Australia.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"24 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78196101","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 : 2019-01-01DOI: 10.4018/978-1-4666-9572-6.CH011
Xiu-juan Lei, Fei Wang, Ying Tan
Mobile robot path planning is generally a kind of optimal problems, which is to find a best path of a track between a starting point to a goal point in the constraint conditions. Mobile robot path planning can be divided into two categories according to different environment planning awareness information: one is the global path planning and the other is the local path planning. We employed ACO, PSO, FA, FOA, FWA and ABC swarm intelligent optimization algorithms to optimize the global and local path planning of mobile robot, and gave the detailed implement steps and the comparing results to show the feasibility of using swarm intelligence optimization algorithms to solve the robot path planning problems.
{"title":"Swarm Intelligent Optimization Algorithms and Its Application in Mobile Robot Path Planning","authors":"Xiu-juan Lei, Fei Wang, Ying Tan","doi":"10.4018/978-1-4666-9572-6.CH011","DOIUrl":"https://doi.org/10.4018/978-1-4666-9572-6.CH011","url":null,"abstract":"Mobile robot path planning is generally a kind of optimal problems, which is to find a best path of a track between a starting point to a goal point in the constraint conditions. Mobile robot path planning can be divided into two categories according to different environment planning awareness information: one is the global path planning and the other is the local path planning. We employed ACO, PSO, FA, FOA, FWA and ABC swarm intelligent optimization algorithms to optimize the global and local path planning of mobile robot, and gave the detailed implement steps and the comparing results to show the feasibility of using swarm intelligence optimization algorithms to solve the robot path planning problems.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"39 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77430740","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 : 2019-01-01DOI: 10.4018/978-1-5225-8060-7.CH012
O. Görür, A. Erkmen
This chapter focuses on emotion and intention engineering by socially interacting robots that induce desired emotions/intentions in humans. The authors provide all phases that pave this road, supported by overviews of leading works in the literature. The chapter is partitioned into intention estimation, human body-mood detection through external-focused attention, path planning through mood induction and reshaping intention. Moreover, the authors present their novel concept, with implementation, of reshaping current human intention into a desired one, using contextual motions of mobile robots. Current human intention has to be deviated towards the new desired one by destabilizing the obstinance of human intention, inducing positive mood and making the “robot gain curiosity of human”. Deviations are generated as sequences of transient intentions tracing intention trajectories. The authors use elastic networks to generate, in two modes of body mood: “confident” and “suspicious”, transient intentions directed towards the desired one, choosing among intentional robot moves previously learned by HMM.
{"title":"Intention and Body-Mood Engineering via Proactive Robot Moves in HRI","authors":"O. Görür, A. Erkmen","doi":"10.4018/978-1-5225-8060-7.CH012","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.CH012","url":null,"abstract":"This chapter focuses on emotion and intention engineering by socially interacting robots that induce desired emotions/intentions in humans. The authors provide all phases that pave this road, supported by overviews of leading works in the literature. The chapter is partitioned into intention estimation, human body-mood detection through external-focused attention, path planning through mood induction and reshaping intention. Moreover, the authors present their novel concept, with implementation, of reshaping current human intention into a desired one, using contextual motions of mobile robots. Current human intention has to be deviated towards the new desired one by destabilizing the obstinance of human intention, inducing positive mood and making the “robot gain curiosity of human”. Deviations are generated as sequences of transient intentions tracing intention trajectories. The authors use elastic networks to generate, in two modes of body mood: “confident” and “suspicious”, transient intentions directed towards the desired one, choosing among intentional robot moves previously learned by HMM.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"3 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80760524","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 : 2019-01-01DOI: 10.4018/978-1-5225-8060-7.ch073
Hruday Kasina, M. R. Bahubalendruni, Rahul Botcha
Robots are wide across used in several industrial applications. Robot applications are more found in medical industry in recent days. In initial days, robots were mostly used for simple surgeries and medical applications such as laparoscopic surgery and minimally invasive surgery in 1980's. At that time robotic surgeries were performed with the presence of surgeons in operation theatre. The present day technology has been so much advanced with more enhanced capabilities to perform several complicated tasks such as remote surgery and micro robotic surgery. The current paper discuss about the history and evolution of robots in medical industry and their latest technological advances, applications in various fields in medicine and limitations of robots in medical industry along with its future scope.
{"title":"Robots in Medicine","authors":"Hruday Kasina, M. R. Bahubalendruni, Rahul Botcha","doi":"10.4018/978-1-5225-8060-7.ch073","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.ch073","url":null,"abstract":"Robots are wide across used in several industrial applications. Robot applications are more found in medical industry in recent days. In initial days, robots were mostly used for simple surgeries and medical applications such as laparoscopic surgery and minimally invasive surgery in 1980's. At that time robotic surgeries were performed with the presence of surgeons in operation theatre. The present day technology has been so much advanced with more enhanced capabilities to perform several complicated tasks such as remote surgery and micro robotic surgery. The current paper discuss about the history and evolution of robots in medical industry and their latest technological advances, applications in various fields in medicine and limitations of robots in medical industry along with its future scope.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"191 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79579376","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 : 2019-01-01DOI: 10.4018/978-1-5225-8060-7.ch001
J. Blankenship, S. Mishal
Unlike most chapters in this book, this chapter does not introduce new methods or algorithms related to robotic navigation systems. Instead, it provides an overview of a simulation tool that, in some situations, can be useful for quickly evaluating the overall appropriateness of a wide variety of alternatives before focusing more advanced development activities on a chosen design. In addition, since the tool described herein is totally free, it can be used to help students and others new to robotics understand the value of utilizing a design-simulate-deploy approach to developing robotic behaviors. Robot Simulators can emulate nearly all aspects of a robot's functionality. Unfortunately, many programming environments that support simulation have steep learning curves and are difficult to use because of their ability to handle complex attributes such as 3D renderings and bearing friction. Fortunately, there are many situations where advanced attributes are unnecessary. When the primary goal is to quickly test the feasibility of a variety of algorithms for robotic behaviors, RobotBASIC provides an easy-to-use, economical alternative to more complex systems without sacrificing the features necessary to implement a complete design-simulate-deploy cycle. RobotBASIC's ability to simulate a variety of sensors makes it easy to quickly test the performance of various configurations in an assortment of environments. Once algorithm development is complete, the same programs used during the simulation phase of development can immediately control a real robot.
{"title":"RobotBASIC","authors":"J. Blankenship, S. Mishal","doi":"10.4018/978-1-5225-8060-7.ch001","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.ch001","url":null,"abstract":"Unlike most chapters in this book, this chapter does not introduce new methods or algorithms related to robotic navigation systems. Instead, it provides an overview of a simulation tool that, in some situations, can be useful for quickly evaluating the overall appropriateness of a wide variety of alternatives before focusing more advanced development activities on a chosen design. In addition, since the tool described herein is totally free, it can be used to help students and others new to robotics understand the value of utilizing a design-simulate-deploy approach to developing robotic behaviors. Robot Simulators can emulate nearly all aspects of a robot's functionality. Unfortunately, many programming environments that support simulation have steep learning curves and are difficult to use because of their ability to handle complex attributes such as 3D renderings and bearing friction. Fortunately, there are many situations where advanced attributes are unnecessary. When the primary goal is to quickly test the feasibility of a variety of algorithms for robotic behaviors, RobotBASIC provides an easy-to-use, economical alternative to more complex systems without sacrificing the features necessary to implement a complete design-simulate-deploy cycle. RobotBASIC's ability to simulate a variety of sensors makes it easy to quickly test the performance of various configurations in an assortment of environments. Once algorithm development is complete, the same programs used during the simulation phase of development can immediately control a real robot.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"41 3 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72761092","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 : 2019-01-01DOI: 10.4018/IJAIE.2014010104
T. Strasser, M. Rooker, G. Ebenhofer, Alois Zoitl
Industrial areas like manufacturing, logistics and power systems require highly flexible and adaptable control solutions in order to fulfill future requirements. An industrial automation system has to provide technologies, concepts and mechanisms allowing the adaption of control logic during operation. Proper engineering approaches as well as execution environments with dynamic reconfiguration capabilities are needed to turn this vision into reality. This article provides an overview of applying the IEC 61499 reference model for distributed automation as basis for a standard-compliant reconfigurable method in industrial environments. It covers the modeling and engineering of reconfiguration applications and their execution on distributed embedded controllers using IEC 61499. This approach significantly increases engineering efficiency and reuse in component-based design of industrial automation and control applications. A special focus of this contribution is the discussion of implemented industrial use cases from the manufacturing, robotics and power systems domain.
{"title":"Standardized Dynamic Reconfiguration of Control Applications in Industrial Systems","authors":"T. Strasser, M. Rooker, G. Ebenhofer, Alois Zoitl","doi":"10.4018/IJAIE.2014010104","DOIUrl":"https://doi.org/10.4018/IJAIE.2014010104","url":null,"abstract":"Industrial areas like manufacturing, logistics and power systems require highly flexible and adaptable control solutions in order to fulfill future requirements. An industrial automation system has to provide technologies, concepts and mechanisms allowing the adaption of control logic during operation. Proper engineering approaches as well as execution environments with dynamic reconfiguration capabilities are needed to turn this vision into reality. This article provides an overview of applying the IEC 61499 reference model for distributed automation as basis for a standard-compliant reconfigurable method in industrial environments. It covers the modeling and engineering of reconfiguration applications and their execution on distributed embedded controllers using IEC 61499. This approach significantly increases engineering efficiency and reuse in component-based design of industrial automation and control applications. A special focus of this contribution is the discussion of implemented industrial use cases from the manufacturing, robotics and power systems domain.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"33 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79351661","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 : 2019-01-01DOI: 10.4018/978-1-4666-4034-4.CH008
Yan Qiao, N. Wu, Mengchu Zhou
In semiconductor manufacturing, when a wafer is processed, it requires unloading from its process module in a given time interval, otherwise it is scraped. This requirement is called wafer residency time constraints. Thus, it is crucial to schedule a cluster tool such that the wafer sojourn time in a process module is within a given time window to satisfy the wafer residency time constraints. Besides wafer residency time constraints, in a cluster tool, the activity time is subject to variation. The activity time variation can make a feasible schedule obtained under the assumption of deterministic activity times become infeasible. To solve this problem, it is important to reveal the wafer sojourn time fluctuations with bounded activity time variation. Such an issue is addressed in this chapter for single-arm cluster tools. A single-arm cluster tool is modeled by a resource-oriented Petri net to describe the wafer fabrication processes. Based on it, a real-time control policy is proposed such that it offsets the effect of the activity time variation as much as possible. Then, the wafer sojourn time delay in a process module is analyzed and analytical expressions are derived to calculate the upper bound. With the help of the real-time control policy and wafer sojourn time delay analysis results, schedulability conditions and scheduling algorithms for an off-line schedule are presented in this chapter. The schedulability conditions can be analytically checked. If schedulable, an off-line schedule can be analytically found. The off-line schedule together with the real-time control policy forms the real-time schedule for the system. It is optimal in terms of cycle time minimization. Examples are given to show the application of the proposed approach.
{"title":"Real-Time Scheduling and Control of Single-Arm Cluster Tools With Residency Time Constraint and Activity Time Variation by Using Resource-Oriented Petri Nets","authors":"Yan Qiao, N. Wu, Mengchu Zhou","doi":"10.4018/978-1-4666-4034-4.CH008","DOIUrl":"https://doi.org/10.4018/978-1-4666-4034-4.CH008","url":null,"abstract":"In semiconductor manufacturing, when a wafer is processed, it requires unloading from its process module in a given time interval, otherwise it is scraped. This requirement is called wafer residency time constraints. Thus, it is crucial to schedule a cluster tool such that the wafer sojourn time in a process module is within a given time window to satisfy the wafer residency time constraints. Besides wafer residency time constraints, in a cluster tool, the activity time is subject to variation. The activity time variation can make a feasible schedule obtained under the assumption of deterministic activity times become infeasible. To solve this problem, it is important to reveal the wafer sojourn time fluctuations with bounded activity time variation. Such an issue is addressed in this chapter for single-arm cluster tools. A single-arm cluster tool is modeled by a resource-oriented Petri net to describe the wafer fabrication processes. Based on it, a real-time control policy is proposed such that it offsets the effect of the activity time variation as much as possible. Then, the wafer sojourn time delay in a process module is analyzed and analytical expressions are derived to calculate the upper bound. With the help of the real-time control policy and wafer sojourn time delay analysis results, schedulability conditions and scheduling algorithms for an off-line schedule are presented in this chapter. The schedulability conditions can be analytically checked. If schedulable, an off-line schedule can be analytically found. The off-line schedule together with the real-time control policy forms the real-time schedule for the system. It is optimal in terms of cycle time minimization. Examples are given to show the application of the proposed approach.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"23 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82238240","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 : 2019-01-01DOI: 10.4018/978-1-4666-2658-4.CH011
L. F. Melo, S. G. S. Cervantes, J. M. Rosário
This chapter presents a virtual environment implementation for embedded design, simulation, and conception of supervision and control systems for mobile robots, which are capable of operating and adapting to different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic, dynamic, and control conditions, in real time monitoring of all important system points. To achieve this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation at the hardware level: systems microprocessors and reconfigurable hardware devices. The utilization of a hierarchic and open architecture, distributing the diverse actions of control in increasing levels of complexity and the use of resources of reconfigurable computation are made in a virtual simulator for mobile robots. The validation of this environment is made in a nonholonomic mobile robot and in a wheelchair; both of them used an embedded control rapid prototyping technique for the best navigation strategy implementation. After being tested and validated in the simulator, the control system is programmed in the control board memory of the mobile robot or wheelchair. Thus, the use of time and material is optimized, first validating the entire model virtually and then operating the physical implementation of the navigation system.
{"title":"A Virtual Simulator for the Embedded Control System Design for Navigation of Mobile Robots Applied in Wheelchairs","authors":"L. F. Melo, S. G. S. Cervantes, J. M. Rosário","doi":"10.4018/978-1-4666-2658-4.CH011","DOIUrl":"https://doi.org/10.4018/978-1-4666-2658-4.CH011","url":null,"abstract":"This chapter presents a virtual environment implementation for embedded design, simulation, and conception of supervision and control systems for mobile robots, which are capable of operating and adapting to different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic, dynamic, and control conditions, in real time monitoring of all important system points. To achieve this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation at the hardware level: systems microprocessors and reconfigurable hardware devices. The utilization of a hierarchic and open architecture, distributing the diverse actions of control in increasing levels of complexity and the use of resources of reconfigurable computation are made in a virtual simulator for mobile robots. The validation of this environment is made in a nonholonomic mobile robot and in a wheelchair; both of them used an embedded control rapid prototyping technique for the best navigation strategy implementation. After being tested and validated in the simulator, the control system is programmed in the control board memory of the mobile robot or wheelchair. Thus, the use of time and material is optimized, first validating the entire model virtually and then operating the physical implementation of the navigation system.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78753661","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 : 2019-01-01DOI: 10.4018/978-1-5225-1639-2.CH014
Saeed Abdolshah, M. Abdolshah, Majid Abdolshah, S. V. Hashemi
Walking control of humanoid robots is a challenging issue. In this chapter, a method for modeling humanoid robots is presented considering the human being indices such as DOFs, mass and the moment of inertia of the segments. In the next step, a walking pattern on the flat ground is generated and the robot motion is simulated in the MSC. Visual Nastran 4D™ software. ZMP trajectory of the simulated humanoid robot in walking cycle has been obtained. An uneven ground is generated in the software, where the robot falls down during the motion. A fuzzy algorithm is employed to balance the robot; input is defined as the differences between the projections of ZMP in flat and uneven ground and output is a compensative signal to make the robot follow the flat ground ZMP pattern to refuse the robot falling. Output signal is distributed in different joints to make faster and more effective compensation. Although the type of uneven ground can be important, but the robot could successfully pass the designed uneven ground in MSC.Visual Nastran 4D.
{"title":"Walking Control of Humanoid Robots on Uneven Ground Using Fuzzy Algorithm","authors":"Saeed Abdolshah, M. Abdolshah, Majid Abdolshah, S. V. Hashemi","doi":"10.4018/978-1-5225-1639-2.CH014","DOIUrl":"https://doi.org/10.4018/978-1-5225-1639-2.CH014","url":null,"abstract":"Walking control of humanoid robots is a challenging issue. In this chapter, a method for modeling humanoid robots is presented considering the human being indices such as DOFs, mass and the moment of inertia of the segments. In the next step, a walking pattern on the flat ground is generated and the robot motion is simulated in the MSC. Visual Nastran 4D™ software. ZMP trajectory of the simulated humanoid robot in walking cycle has been obtained. An uneven ground is generated in the software, where the robot falls down during the motion. A fuzzy algorithm is employed to balance the robot; input is defined as the differences between the projections of ZMP in flat and uneven ground and output is a compensative signal to make the robot follow the flat ground ZMP pattern to refuse the robot falling. Output signal is distributed in different joints to make faster and more effective compensation. Although the type of uneven ground can be important, but the robot could successfully pass the designed uneven ground in MSC.Visual Nastran 4D.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"18 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87192262","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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