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

英文中文

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

The main objective of this paper is to control a wheel using hand gesture by the means of smartphones, for this purpose android application is created. An effi cient system will provide a user with good outcome so for that android platform is chosen because it provides open tools for this operation. Motor drivers are controlled via Arduino controller. In this confi guration Arduino app is connected via android application using master-slave. HC-005 Bluetooth module is used which is slave and smartphone which is master[1].

本文的主要目的是通过智能手机使用手势控制轮子，为此创建了android应用程序。一个有效的系统将为用户提供良好的结果，因此选择android平台是因为它为该操作提供了开放的工具。电机驱动器通过Arduino控制器进行控制。在这个配置中，Arduino应用程序是通过使用主从的android应用程序连接的。HC-005蓝牙模块是从模块，智能手机是主模块[1]。

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

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.

可转向针能够沿着曲线轨迹，绕过解剖障碍物，是许多介入手术的理想解决方案。在肺部，这些针头可以从传统支气管镜的顶端展开，到达肺部病变部位进行诊断。这种装置的穿刺范围取决于几个设计参数，包括支气管镜直径、穿刺装置相对于气道内侧轴线的角度以及穿刺针转向时的最小曲率半径。评估这些参数对整个系统临床实用性的影响对于未来的设计选择以及了解系统的能力和局限性非常重要。在本文中，我们分析了这三个机器人参数的不同设置对机器人可触及肺部百分比的影响。我们将穿刺配置的蒙特卡洛随机抽样与基于快速探索随机树的可操纵针头运动规划器相结合，在模拟人类肺部环境中渐进准确地估算出机器人可到达的肺部部位的体积。我们强调了每个参数对整个系统可到达工作空间的重要性，以激励未来的设备创新并突出设计权衡。

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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

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.

与人工手术相比，自主机器人缝合具有利用准确性、可重复性和一致性来改善手术结果的潜力。然而，在复杂的手术环境中实现完全自主是不现实的，需要人工监督来保证安全。在本文中，我们开发了一种基于信任的监督自主缝合方法，通过智能组织自主机器人(STAR)和外科医生以尽可能高的自治程度协同执行机器人缝合任务。通过提出的方法，STAR在高度自信的情况下进行自主缝合，否则会要求操作人员协助调整缝合位置。我们通过人工合成阴道袖带组织的机器人缝合测试来评估我们提出的控制方法的准确性，并将其与经验丰富的外科医生进行阴道袖带闭合的结果进行比较。我们的测试结果表明，使用基于置信度的方法，STAR可以预测纯自主缝线放置的成功率，准确率为94.74%。此外，通过额外25%的人工干预，STAR可以达到98.1%的缝线放置精度，而完全自主机器人缝合的精确度为85.4%。最后，我们的实验结果表明，使用该方法的STAR在缝合间距一致性上比手工结果好1.6倍，在缝合咬合大小一致性上比手工结果好1.8倍。

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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

In this paper passive Infrared sensor “PIR” based security system is introduced. With this sensor we can save power, and effective management at low cost and requires small memory space.

本文介绍了一种基于无源红外传感器PIR的安防系统。有了这个传感器，我们可以节省电力，以低成本进行有效管理，并且需要较小的内存空间。

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

The ideas of shrewd urban communities have consistently been a fantasy. There have been headways produced using the recent years to make a shrewd city dream to reality with the advancement of innovation, smart gadgets are getting increasingly normal in regular daily existence. In this paper a radio frequency identification (RFID) based smart parking system using Internet of Things (IoT) innovation is actualized. The ultrasonic sensors are set before the parking spots and speaker is utilized for sign. On the off chance that the parking space is vacant, at that point light emitting diode (LED) will squint and the parking opening is full LED will be OFF. At the point when vehicle is left the RFID will peruse the data and cut the particular sum and by utilizing IoT location will be sent through short message service (SMS) to proprietor using global system for mobile communications (GSM) and global positioning system (GPS) advancements.

建立精明的城市社区的想法一直是一种幻想。近年来，人们在将精明的城市梦想变为现实方面取得了一些进展，随着创新的推进，智能设备在日常生活中变得越来越普遍。本文实现了一种基于无线射频识别(RFID)的物联网智能停车系统。超声波传感器设置在停车位和扬声器用于标志之前。在偶然的机会，停车位是空的，在这一点上，发光二极管(LED)将斜视和停车位开满LED将关闭。当车辆离开时，RFID将仔细阅读数据并减少特定金额，并通过物联网将位置通过短信服务(SMS)发送给使用全球移动通信系统(GSM)和全球定位系统(GPS)的所有者。

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

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.

本文提出了一对用于智能农业系统的便携式无线节点，用于基于物联网（IoT）的农业参数控制和监测。该系统通过传感器节点和控制器节点之间的nRF24L01模块利用低成本无线通信。传感器节点放置在农业区，以锂离子电池为电源，控制器节点放置在控制和监测站。在传感器节点上，有一个YL-69土壤湿度传感器和DS18B20温度传感器，而在控制器节点上有一个继电器，可以设置浇水开/关条件。在控制器节点中，还有一个ESP8266 WiFi模块，用于向互联网云发送数据以供用户监控。这两个硬件节点都是以小巧便携的尺寸构建的。实验结果表明，传感器节点可以通过射频无线通信将土壤湿度和温度数据传输到控制器节点。浇水是根据传感器值的条件自动完成的。此外，该系统还可以通过网站界面进行监控，因此只要有互联网接入，用户就可以很容易地了解工厂的状况。

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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

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.

当使用物联网（IoT）实现家庭自动化时，可以轻松地对物体进行遥感、监控和控制；这将为将现实世界直接集成到计算机系统中提供空间。能量消耗被定义为电路中给定负载消耗的功率大小。如今，用于监测和控制耗电设备的低效技术极大地导致了我们家庭、机构、商业场所和市场的高耗电率。本文提出了一个基于物联网的家庭自动化、能源管理和智能安全系统的设计和实现。系统单元开发中使用的组件包括ESP8266 Wi-Fi组件和通用Arduino嵌入式控制器。拟议的计划旨在帮助和支持有效使用电力，通过这样做，电力消耗和火灾爆发的风险将大大降低到最低限度。通过网络应用程序远程监控电器和电子设备的能力是所提出方案的主要特征。该方案具有较高的效率、准确性和经济效益。

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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

This paper proposes a fractional order controller (FOC) for the level control problem of the coupled tank system, using the desired time domain specifications. The coupled tank system is used in the chemical industries for the storage and mixing of liquids. The FOC is designed analytically using the direct synthesis method. In the direct synthesis method, the Bode's ideal loop transfer function is chosen as the desired transfer function. Bode's loop transfer function has the advantages like robustness to system gain variations, constant phase and very high gain margin. Performance of the proposed controller is compared with the state of the art literature. Simulation results showed that the proposed controller has the least peak overshoot. The robust performance of the proposed controller is also the best. Robust stability of the system with the proposed controller is verified, and the system is found to be robustly stable.

本文利用所需的时域规范，提出了一种用于耦合水箱系统液位控制问题的分数阶控制器。耦合罐系统在化学工业中用于液体的储存和混合。FOC采用直接合成法进行解析设计。在直接合成方法中，选择波德理想环路传递函数作为所需的传递函数。波德环路传递函数具有对系统增益变化的鲁棒性、相位恒定、增益裕度高等优点。将所提出的控制器的性能与现有技术文献进行了比较。仿真结果表明，该控制器具有最小的峰值超调量。所提出的控制器的鲁棒性能也是最好的。用该控制器验证了系统的鲁棒稳定性，发现系统是鲁棒稳定的。

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

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.

乘法器电路是许多纳米电子、控制和自动化应用中最重要的功能块之一。在这项工作中，报道了一种基于3:2压缩机的节能乘法器。乘法器分为三个不同的部分设计。在第一部分中，使用了偏积（PP）生成器。在第二部分中，部分产品被减少，这被称为PPP（部分产品处理）。而在第三步骤中进行最后的添加。PP是通过使用AND门产生的。PPP分两个阶段设计。在第一阶段中，使用Wallace树对数来减少PP。而在第二阶段，通过使用节能的半加法器和3:2压缩器来减少PP。最后，在第三步中，使用进位保存加法器计算了最终加法。对所设计的乘法器进行了性能分析，并与其他乘法器电路进行了比较。在1.2 V到0.6 V的电源变化范围内，乘法器的性能提高了20.55%-46%。所有模拟和分析都是使用Synopsys EDA工具进行的。

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引用次数: 0

Design and implementation of automatic painting mobile robot 自动喷漆移动机器人的设计与实现

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.PP68-74

Amgad Muneer, Zhan Dairabayev

Wall painting is a repetitive, stressful, and hazardous process that makes it an ideal automation case. In the automotive industry, painting had been automated but not yet for the construction industry. However, there is a strong need for a mobile robot that can move to paint residential interior walls. In this study, we aim to design and implement an automatic painting mobile robot. The conceptual design of the proposed wall painting robot consisting paint mechanism with a spray gun and ultrasonic sensor. The spray gun is attached to a pulley mechanism that has linear motion. The ultrasonic sensor is used to detect the spray gun when it reached a certain limit. The DC motor rotates clockwise and counterclockwise based on the ultrasonic sensor condition made. The experimental results indicate that the robot was able to paint the walls smoothly vertically, and horizontally. The spraying gun structure's speed is at a tolerable speed of 0.07 m/s, which could be increased, but to provide high-quality painting without any gaps, the current speed was selected as the most suitable, without any harm to the working process.

墙面油漆是一个重复的、有压力的和危险的过程，这使它成为一个理想的自动化案例。在汽车行业，涂装已经实现自动化，但建筑行业尚未实现自动化。然而，人们迫切需要一种能够移动到住宅内墙喷漆的移动机器人。在本研究中，我们旨在设计和实现一个自动喷漆移动机器人。所提出的墙壁喷漆机器人的概念设计包括喷漆机构、喷枪和超声波传感器。喷枪连接到具有线性运动的滑轮机构上。超声波传感器用于在喷枪达到一定限度时对其进行检测。直流电机根据超声波传感器条件顺时针和逆时针旋转。实验结果表明，该机器人能够在垂直和水平方向上平滑地绘制墙壁。喷枪结构的速度在0.07m/s的容许速度下，这是可以增加的，但为了提供没有任何间隙的高质量涂装，选择当前速度作为最合适的速度，而不会对工作过程造成任何损害。

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引用次数: 4

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