7 research outputs found
Neural network force control for industrial robots
In this paper, we present a hierarchical force control framework consisting of a high level control system based on neural network and the existing motion control system of a manipulator in the low level. Inputs of the neural network are the contact force error and estimated stiffness of the contacted environment. The output of the neural network is the position command for the position controller of industrial robots. A MITSUBISHI MELFA RV-MI industrial robot equipped with a BL Force/Torque sensor is utilized for implementing the hierarchical neural network force control system. Successful experiments for various contact motions are carried out. Additionally, the proposed neural network force controller together with the master/slave control method are used in dual-industrial robot systems. Successful experiments an carried out for the dual-robot system handling an object
Human Inspired Behavioural Control for Robot-to-Human Object Handover
āļ§āļīāļĻāļ§āļāļĢāļĢāļĄāļĻāļēāļŠāļāļĢāđāļĄāļŦāļēāļāļąāļāļāļīāļ (āļ§āļīāļĻāļ§āļāļĢāļĢāļĄāđāļāļĢāļ·āđāļāļāļāļĨāđāļĨāļ°āđāļĄāļāļēāļāļĢāļāļāļīāļāļŠāđ), 2564Currently, robots play an increasingly important role in human life, as the robots
are capable of safely performing human-robot interactive tasks. As ageing and disability
societies have become a challenge social problem in Thailand and all over the world,
due to the shortage of care workers. Subsequently, to enhance the quality of life of
elderly and disabled people, service robots have been taken into account to support
household chores, particularly passing an object to a human. Therefore, this thesis
focuses on the development of robotic human-like control by initially understanding
how an equivalent human-human interaction can perform object handover naturally,
reliably and safely. The preliminary human-human handover (HHH) tests were carried
out to acknowledge the dynamic behavioural characteristics of the human participants
in HHH. The experimental findings intensively explained human handover strategies,
the interactive force profiles, object handover times, transfer locations, and the
mathematical model of the giverâs arm while regulating the exerted force. The
understanding of HHH behavioural responses leads to the proper design of a
conceptual framework for a robot control system. The substantive tests were
developed, in which a Toyota Human Support Robot (HSR) was implemented based
on human-like behavioural control. Additionally, the robotic impedance control, which
is suitable to control the HRSâs force-position relation while interacting with the human
environment, was used. The optimized impedance parameters were experimentally
identified. The main results show that the performance of the robot impedance control
can be considered acceptable for HHH. This allowed the HSR to successfully pass the
object to the human in a safe, reliable, and timely manner.āļāļąāļāļāļļāļāļąāļāļŦāļļāđāļāļĒāļāļāđāđāļĢāļīāđāļĄāļĄāļĩāļāļāļāļēāļāļāļĩāđāļŠāļģāļāļąāļāļĄāļēāļāļāļķāđāļāļāđāļāļāļēāļĢāļāļģāļĢāļāļāļĩāļ§āļīāļāļāļĢāļ°āļāļģāļ§āļąāļāļāļāļāļĄāļāļļāļĐāļĒāđāļāļąāļ
āđāļāļ·āđāļāļāļĄāļēāļāļēāļāļŦāļļāđāļāļĒāļāļāđāļŠāļēāļĄāļēāļĢāļāļāļģāļāļēāļāļĢāđāļ§āļĄāļāļąāļāļāļąāļāļĄāļāļļāļĐāļĒāđāđāļāļŦāļĨāļēāļĒāļĢāļđāļāđāļāļāđāļāđāļāļĒāđāļēāļāļāļĨāļāļāļ āļąāļĒ āļāļĩāļāļāļąāđāļāļāļāļ§āđāļē
āļŠāļąāļāļāļĄāļāļđāđāļŠāļđāļāļāļēāļĒāļļāđāļĨāļ°āļāļāļāļīāļāļēāļĢāļāļĨāļēāļĒāđāļāđāļāļāļąāļāļŦāļēāđāļŦāļāđāļāļĩāđāļŠāđāļāļāļĨāļāđāļāļāļĢāļ°āđāļāļĻāđāļāļĒāđāļĨāļ°āļāļąāđāļ§āđāļĨāļāđāļāļ·āđāļāļāļāļēāļāļāļēāļ
āđāļāļĨāļāļāļāļāļđāđāļĨ āđāļāļ·āđāļāļĒāļāļĢāļ°āļāļąāļāļāļļāļāļ āļēāļāļāļĩāļ§āļīāļāļāļāļāļāļđāđāļŠāļđāļāļāļēāļĒāļļāđāļĨāļ°āļāļđāđāļāļīāļāļēāļĢ āļāļķāļāđāļĢāļīāđāļĄāļĄāļĩāļāļēāļĢāļāļīāļāļēāļĢāļāļēāļāļģāļŦāļļāđāļāļĒāļāļāđ
āļāļĢāļīāļāļēāļĢāđāļāļ·āđāļāļŠāļāļąāļāļŠāļāļļāļāļāļēāļāļāđāļēāļ āđāļāļĒāđāļāļāļēāļ°āļāļĒāđāļēāļāļĒāļīāđāļāļāļēāļĢāļŠāđāļāļŠāļīāđāļāļāļāļāđāļŦāđāđāļāđāļĄāļāļļāļĐāļĒāđāļāļąāļāļāļąāđāļāļ§āļīāļāļĒāļēāļāļīāļāļāļāđāļāļĩāđāļāļķāļ
āļĄāļļāđāļāđāļāđāļāđāļāļāļĩāđāļāļēāļĢāļāļąāļāļāļēāļāļēāļĢāļāļ§āļāļāļļāļĄāļŦāļļāđāļāļĒāļāļāđ āđāļāļĒāđāļĢāļīāđāļĄāļāđāļāļĻāļķāļāļĐāļēāļāļēāļĢāļāļ§āļāļāļļāļĄāđāļāļīāļāļāļĪāļāļīāļāļĢāļĢāļĄāđāļāļāļēāļĢ
āļāļāļīāļŠāļąāļĄāļāļąāļāļāđāļĢāļ°āļŦāļ§āđāļēāļāļĄāļāļļāļĐāļĒāđāļāļąāļāļĄāļāļļāļĐāļĒāđāļāļĩāđāļŠāļēāļĄāļēāļĢāļāļŠāđāļāļ§āļąāļāļāļļāļĢāļ°āļŦāļ§āđāļēāļāļāļąāļāđāļāđāļāļĒāđāļēāļāđāļāđāļāļāļĢāļĢāļĄāļāļēāļāļīāđāļĨāļ°āļāļĨāļāļāļ āļąāļĒ
āđāļāļĒāļāļēāļĢāļāļāļŠāļāļāļāļēāļĢāļŠāđāļāļ§āļąāļāļāļļāļĢāļ°āļŦāļ§āđāļēāļāļĄāļāļļāļĐāļĒāđāļāļąāļāļĄāļāļļāļĐāļĒāđāđāļāļ·āđāļāļāļāđāļ (Human-Human Handover : HHH)
āđāļĢāļīāđāļĄāļāļēāļāļāļēāļĢāļĻāļķāļāļĐāļēāļĨāļąāļāļĐāļāļ°āļāļĪāļāļīāļāļĢāļĢāļĄāļāļēāļĢāļŠāđāļāđāļāļāđāļāļāļēāļĄāļīāļāļāļāļāļāļđāđāđāļāđāļēāļĢāđāļ§āļĄāļāļēāļĢāļāļāļĨāļāļāđāļ HHH āļāļĨāļāļĩāđāđāļāđ
āļāļēāļāļāļēāļĢāļāļāļĨāļāļāļŠāļēāļĄāļēāļĢāļāļāļāļīāļāļēāļĒāļāļĪāļāļīāļāļĢāļĢāļĄāļāļēāļĢāļŠāđāļāļ§āļąāļāļāļļāļāļāļāļĄāļāļļāļĐāļĒāđāļāļĒāđāļēāļāļĨāļ°āđāļāļĩāļĒāļ, āļĢāļđāļāđāļāļāđāļĢāļāļāļāļīāļŠāļąāļĄāļāļąāļāļāđ,
āđāļ§āļĨāļēāđāļāļāļēāļĢāļŠāđāļāļĄāļāļāļ§āļąāļāļāļļ, āļāļģāđāļŦāļāđāļāļāļēāļĢāļāđāļēāļĒāđāļāļ, āđāļĨāļ°āđāļāļāļāļģāļĨāļāļāļāļēāļāļāļāļīāļāļĻāļēāļŠāļāļĢāđāļāļāļāđāļāļāļāļāļāļāļđāđāļŠāđāļāļāļāļ°
āļŠāđāļāļ§āļąāļāļāļļ āđāļāļĒāļāļĨāļāļēāļāļāļēāļĢāļĻāļķāļāļĐāļēāļāļēāļĢāļāļāļāļŠāļāļāļāļāđāļāļāļĪāļāļīāļāļĢāļĢāļĄāļāļāļ HHH āļāļ°āļāļģāđāļāļŠāļđāđāļāļēāļĢāļāļāļāđāļāļāļāļĢāļāļ
āđāļāļ§āļāļīāļāļāļĩāđāđāļŦāļĄāļēāļ°āļŠāļĄāļŠāļģāļŦāļĢāļąāļāļĢāļ°āļāļāļāļ§āļāļāļļāļĄāļŦāļļāđāļāļĒāļāļāđāļŠāļģāļŦāļĢāļąāļāļŦāļļāđāļāļĒāļāļāđāļŠāđāļāļāļāļāđāļŦāđāļĄāļāļļāļĐāļĒāđ (Human-Robot
Handover : HRH) āļāļēāļāļ§āļīāļāļąāļĒāļāļĩāđāļāļģāļŦāļļāđāļāļĒāļāļāđāļāļĢāļīāļāļēāļĢāļāļĩāđāļĄāļĩāļāļ·āđāļāļ§āđāļē Human Support Robot (HSR) āđāļāļāļēāļĢ
āļāļāļĨāļāļ āđāļāļĒāļĄāļĩāļāļļāļāļāļĢāļ°āļŠāļāļāđāļāļ·āļāļāđāļāļāļāļēāļĢāļāļ§āļāļāļļāļĄāļāļĪāļāļīāļāļĢāļĢāļĄāļāļēāļĢāļŠāđāļāļ§āļąāļāļāļļāļāļāļāļŦāļļāđāļāļĒāļāļāđāđāļŦāđāļĄāļĩāļāļĪāļāļīāļāļĢāļĢāļĄāļāļĩāđ
āđāļāļĨāđāđāļāļĩāļĒāļāļāļąāļāļĄāļāļļāļĐāļĒāđ āļāđāļ§āļĒāļāļēāļĢāļāļ§āļāļāļļāļĄāđāļāļāļāļīāļĄāļāļīāđāļāļāļāđāļāļĩāđāđāļŦāļĄāļēāļ°āļŠāļģāļŦāļĢāļąāļāļāļ§āļāļāļļāļĄāļāļģāđāļŦāļāđāļāļāļāļ HSR āļāļĩāđāļāļķāđāļāļāļĒāļđāđ
āļāļąāļāđāļĢāļāļāļāļīāļŠāļąāļĄāļāļąāļāļāđāļāļāļ°āļāļĩāđāļāļāļīāļŠāļąāļĄāļāļąāļāļāđāļāļąāļāļĄāļāļļāļĐāļĒāđ āļāđāļēāļāļēāļĢāļēāļĄāļīāđāļāļāļĢāđāļāļīāļĄāļāļīāđāļāļāļāđāļāļĩāđāđāļŦāļĄāļēāļ°āļŠāļĄāļāđāļāļāļēāļĢāļāļ§āļāļāļļāļĄ
āļāļĪāļāļīāļāļĢāļĢāļĄāļāļēāļĢāļŠāđāļāļ§āļąāļāļāļļāļāļāļāļŦāļļāđāļāļĒāļāļāđ HSR āļāļđāļāļĢāļ°āļāļļāđāļāļāļēāļĢāļāļāļĨāļāļ āđāļāļĒāļāļĨāļāļēāļāļāļēāļĢāļāļāļĨāļāļāđāļĨāļ°āļāļēāļĢāļĒāļāļĄāļĢāļąāļ
āļāļēāļāļāļđāđāđāļāđāļēāļĢāđāļ§āļĄāļāļēāļĢāļāļāļĨāļāļāļāļāļ§āđāļē āļāļēāļĢāļāļ§āļāļāļļāļĄāđāļāļāļāļīāļĄāļāļīāđāļāļāļāđāļŠāļēāļĄāļēāļĢāļāļāļ§āļāļāļļāļĄāđāļŦāđāļŦāļļāđāļāļĒāļāļāđāļĄāļĩāļāļĪāļāļīāļāļĢāļĢāļĄāļāļēāļĢ
āļŠāđāļāļ§āļąāļāļāļļāļāļĩāđāđāļāļĨāđāđāļāļĩāļĒāļāļāļąāļāļĄāļāļļāļĐāļĒāđāđāļāđāļāļąāļāļāļąāđāļāļāļēāļāļ§āļīāļāļąāļĒāļāļĩāđāļāļĨāđāļēāļ§āđāļāđāļ§āđāļēāļŠāļēāļĄāļēāļĢāļāļāļģāđāļŦāđāļŦāļļāđāļāļĒāļāļāđHSR āļŠāļēāļĄāļēāļĢāļāļŠāđāļāļ§āļąāļāļāļļ
āđāļŦāđāđāļāđāļĄāļāļļāļĐāļĒāđāđāļāđāļāļĒāđāļēāļāđāļāđāļāļāļĢāļĢāļĄāļāļēāļāļī āđāļĨāļ°āļāļĨāļāļāļ āļą
Lungs cancer nodules detection from ct scan images with convolutional neural networks
Lungs cancer is a life-taking disease and is causing a problem around
the world for a long time. The only plausible solution for this type of disease is
the early detection of the disease because at preliminary stages it can be treated
or cured. With the recent medical advancements, Computerized Tomography
(CT) scan is the best technique out there to get the images of internal body
organs. Sometimes, even experienced doctors are not able to identify cancer just
by looking at the CT scan. During the past few years, a lot of research work is
devoted to achieve the task for lung cancer detection but they failed to achieve
accuracy. The main objective of this piece of this research was to find an
appropriate method for classification of nodules and non-nodules. For classification, the dataset was taken from Japanese Society of Radiological Technology
(JSRT) with 247 three-dimensional images. The images were preprocessed into
gray-scale images. The lung cancer detection model was built using Convolutional Neural Networks (CNN). The model was able to achieve an accuracy of
88% with lowest loss rate of 0.21% and was found better than other highly
complex methods for classification
Force-controlled Transcranial Magnetic Stimulation (TMS) robotic system
The use of robots to assist neurologists in Transcranial Magnetic Stimulation (TMS) has the potential to improve the long term outcome of brain stimulation. Although extensive research has been carried out on TMS robotic system, no single study exists which adequately take into account the control of interaction of contact force between the robot and subjectâs head. Thus, the introduction of force feedback control is considered as a desirable feature, and is particularly important when using an autonomous robot manipulator. In this study, a force-controlled TMS robotic system has been developed, which consists of a 6 degree of freedom (DOF) articulated robot arm, a force/torque sensor system to measure contact force and real-time PC based control system. A variant of the external force control scheme was successfully implemented to carry out the simultaneous force and position control in real-time. A number of engineering challenges are addressed to develop a viable system for TMS application; simultaneous real-time force and position tracking on subjectâs head, unknown/varies environment stiffness and motion compensation to counter the force-controlled instability problems, and safe automated robotic system. Simulation of a single axis force-controlled robotic system has been carried out, which includes a task of maintaining contact on simulated subjectâs head. The results provide a good agreement with parallel experimental tests, which leads to further improvement to the robot force control. An Adaptive Neuro-Fuzzy Force Controller has been developed to provide stable and robust force control on unknown environment stiffness and motion. The potential of the proposed method has been further illustrated and verified through a comprehensive series of experiments. This work also lays important foundations for long term related research, particularly in the development of real-time medical robotic system and new techniques of force control mainly for human-robot interaction. KEY WORDS: Transcranial Magnetic Stimulation, Robotic System, Real-time System, External Force Control Scheme, Adaptive Neuro-Fuzzy Force ControllerEThOS - Electronic Theses Online ServiceGBUnited Kingdo
Force-controlled Transcranial Magnetic Stimulation (TMS) robotic system
The use of robots to assist neurologists in Transcranial Magnetic Stimulation (TMS) has the potential to improve the long term outcome of brain stimulation. Although extensive research has been carried out on TMS robotic system, no single study exists which adequately take into account the control of interaction of contact force between the robot and subjectâs head. Thus, the introduction of force feedback control is considered as a desirable feature, and is particularly important when using an autonomous robot manipulator. In this study, a force-controlled TMS robotic system has been developed, which consists of a 6 degree of freedom (DOF) articulated robot arm, a force/torque sensor system to measure contact force and real-time PC based control system. A variant of the external force control scheme was successfully implemented to carry out the simultaneous force and position control in real-time. A number of engineering challenges are addressed to develop a viable system for TMS application; simultaneous real-time force and position tracking on subjectâs head, unknown/varies environment stiffness and motion compensation to counter the force-controlled instability problems, and safe automated robotic system. Simulation of a single axis force-controlled robotic system has been carried out, which includes a task of maintaining contact on simulated subjectâs head. The results provide a good agreement with parallel experimental tests, which leads to further improvement to the robot force control. An Adaptive Neuro-Fuzzy Force Controller has been developed to provide stable and robust force control on unknown environment stiffness and motion. The potential of the proposed method has been further illustrated and verified through a comprehensive series of experiments. This work also lays important foundations for long term related research, particularly in the development of real-time medical robotic system and new techniques of force control mainly for human-robot interaction. KEY WORDS: Transcranial Magnetic Stimulation, Robotic System, Real-time System, External Force Control Scheme, Adaptive Neuro-Fuzzy Force ControllerEThOS - Electronic Theses Online ServiceGBUnited Kingdo