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Podgorelec D, Uran S, Nerat A, Bratina B, Pečnik S, Dimec M, Žaberl F, Žalik B, Šafarič R. LiDAR-Based Maintenance of a Safe Distance between a Human and a Robot Arm. Sensors (Basel) 2023; 23:s23094305. [PMID: 37177509 PMCID: PMC10181461 DOI: 10.3390/s23094305] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/21/2023] [Revised: 04/20/2023] [Accepted: 04/23/2023] [Indexed: 05/15/2023]
Abstract
This paper demonstrates the capabilities of three-dimensional (3D) LiDAR scanners in supporting a safe distance maintenance functionality in human-robot collaborative applications. The use of such sensors is severely under-utilised in collaborative work with heavy-duty robots. However, even with a relatively modest proprietary 3D sensor prototype, a respectable level of safety has been achieved, which should encourage the development of such applications in the future. Its associated intelligent control system (ICS) is presented, as well as the sensor's technical characteristics. It acquires the positions of the robot and the human periodically, predicts their positions in the near future optionally, and adjusts the robot's speed to keep its distance from the human above the protective separation distance. The main novelty is the possibility to load an instance of the robot programme into the ICS, which then precomputes the future position and pose of the robot. Higher accuracy and safety are provided, in comparison to traditional predictions from known real-time and near-past positions and poses. The use of a 3D LiDAR scanner in a speed and separation monitoring application and, particularly, its specific placing, are also innovative and advantageous. The system was validated by analysing videos taken by the reference validation camera visually, which confirmed its safe operation in reasonably limited ranges of robot and human speeds.
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Affiliation(s)
- David Podgorelec
- Faculty of Electrical Engineering and Computer Science, University of Maribor, Koroška cesta 46, SI-2000 Maribor, Slovenia
| | - Suzana Uran
- Faculty of Electrical Engineering and Computer Science, University of Maribor, Koroška cesta 46, SI-2000 Maribor, Slovenia
| | - Andrej Nerat
- Faculty of Electrical Engineering and Computer Science, University of Maribor, Koroška cesta 46, SI-2000 Maribor, Slovenia
| | - Božidar Bratina
- Faculty of Electrical Engineering and Computer Science, University of Maribor, Koroška cesta 46, SI-2000 Maribor, Slovenia
| | - Sašo Pečnik
- Faculty of Electrical Engineering and Computer Science, University of Maribor, Koroška cesta 46, SI-2000 Maribor, Slovenia
| | - Marjan Dimec
- FOKUS TECH d.o.o., Ulica Zofke Kvedrove 9, SI-3000 Celje, Slovenia
| | - Franc Žaberl
- FANUC ADRIA d.o.o., Ipavčeva ulica 21, SI-3000 Celje, Slovenia
| | - Borut Žalik
- Faculty of Electrical Engineering and Computer Science, University of Maribor, Koroška cesta 46, SI-2000 Maribor, Slovenia
| | - Riko Šafarič
- Faculty of Electrical Engineering and Computer Science, University of Maribor, Koroška cesta 46, SI-2000 Maribor, Slovenia
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Hu L, Wei Y, Tu X, Zeng F, Lin P, Wang X. [Analysis and Research on Intelligent Management and Control System of Reusable Medical Devices]. Zhongguo Yi Liao Qi Xie Za Zhi 2023; 47:154-157. [PMID: 37096468 DOI: 10.3969/j.issn.1671-7104.2023.02.008] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/03/2023]
Abstract
Focusing on the influencing factors of the operation and processing process of reusable medical devices, the management problems of reusable medical devices are analyzed from the processing processes of device assembly, packaging, handover, inventory and information recording. In the specific practice of designing the intelligent management and control system of reusable medical devices, the medical processes in different periods from device addition, packaging, disinfection, transfer, transportation, distribution, recycling to scrapping are integrated into the intelligent service system. Through the changes of medical device treatment, this study comprehensively explores the innovative ideas and specific problems in the construction of intelligent process system of hospital disinfection supply center.
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Affiliation(s)
- Ling Hu
- Chongqing Traditional Chinese Medicine Hospital, Chongqing, 400021
| | - Yang Wei
- Chongqing Traditional Chinese Medicine Hospital, Chongqing, 400021
| | - Xiaofeng Tu
- Chongqing Traditional Chinese Medicine Hospital, Chongqing, 400021
| | - Fanli Zeng
- Department of Anesthesiology, Chongqing People's Hospital, Chongqing, 401147
| | - Ping Lin
- Intelligent Logistics Research Institute of Chongqing Pinsheng Technology Co. Ltd., Chongqing, 401123
| | - Xiaoting Wang
- Intelligent Logistics Research Institute of Chongqing Pinsheng Technology Co. Ltd., Chongqing, 401123
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Xiang C, Wang W, Zhu Q, Xue D, Zhao X, Li M, Wang D. Flexible and Super-Sensitive Moisture-Responsive Actuators by Dispersing Graphene Oxide into Three-Dimensional Structures of Nanofibers and Silver Nanowires. ACS Appl Mater Interfaces 2020; 12:3245-3253. [PMID: 31867950 DOI: 10.1021/acsami.9b20365] [Citation(s) in RCA: 16] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Smart actuators with excellent flexibility, sensitive responsiveness, large-scale bending-deformation, and rapid deformation-recovery performance have been sought after by researchers. Two-dimensional graphene oxide (GO) is considered as an ideal candidate for humidity-responsive actuators because of its excellent moisture sensitivity. Herein, a flexible membrane-based actuator was prepared by evenly dispersing GO sheets into a three-dimensional network formed by one-dimensional PVA-co-PE nanofibers (NFs) and silver nanowires (AgNWs). The three-dimensional interlaced pore structure of the AgNWs/NFs/GO composite membrane ensured its larger contact area (19.33 m2/g), faster moisture exchange rate, and large bending deformation under moisture stimulation. In addition, a new explanation for the spatial distribution of adsorbed water molecules and their actuating effect on the bending behaviors of composite membranes is proposed. The adsorbed water lies between the interlayer and surface layer of the composite membrane. The interlayer water molecules make the film volume expand, resulting in a large bending angle of the membrane. On the other hand, the water on the surface layers of the membrane only leads to the change in film weight, having little effect on the bending behavior. Moreover, to make the soft actuator more practical and multifunctional, a conductive AgNWs-NFs/GO bilayer membrane-based actuator was prepared by layered spraying of a AgNW on the NFs/GO membrane, which can be directly used in switching control circuits. The novel flexible membrane-based actuators are of great significance for the soft robot and intelligent control systems in the future.
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Affiliation(s)
- Chenxue Xiang
- Hubei Key Laboratory of Advanced Textile Materials & Application, Hubei International Scientific and Technological Cooperation Base of Intelligent Textile Materials & Application , Wuhan Textile University , Wuhan 430200 , China
| | - Wen Wang
- College of Chemistry, Chemical Engineering and Biotechnology , Donghua University , Shanghai 201620 , China
| | - Qing Zhu
- College of Chemistry, Chemical Engineering and Biotechnology , Donghua University , Shanghai 201620 , China
| | - Dan Xue
- College of Chemistry, Chemical Engineering and Biotechnology , Donghua University , Shanghai 201620 , China
| | - Xu Zhao
- Hubei Key Laboratory of Advanced Textile Materials & Application, Hubei International Scientific and Technological Cooperation Base of Intelligent Textile Materials & Application , Wuhan Textile University , Wuhan 430200 , China
| | - Mufang Li
- Hubei Key Laboratory of Advanced Textile Materials & Application, Hubei International Scientific and Technological Cooperation Base of Intelligent Textile Materials & Application , Wuhan Textile University , Wuhan 430200 , China
| | - Dong Wang
- Hubei Key Laboratory of Advanced Textile Materials & Application, Hubei International Scientific and Technological Cooperation Base of Intelligent Textile Materials & Application , Wuhan Textile University , Wuhan 430200 , China
- College of Chemistry, Chemical Engineering and Biotechnology , Donghua University , Shanghai 201620 , China
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Chen J, Abbod M, Shieh JS. Integrations between Autonomous Systems and Modern Computing Techniques: A Mini Review. Sensors (Basel) 2019; 19:E3897. [PMID: 31509997 PMCID: PMC6767179 DOI: 10.3390/s19183897] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/12/2019] [Revised: 08/26/2019] [Accepted: 08/29/2019] [Indexed: 11/17/2022]
Abstract
The emulation of human behavior for autonomous problem solving has been an interdisciplinary field of research. Generally, classical control systems are used for static environments, where external disturbances and changes in internal parameters can be fully modulated before or neglected during operation. However, classical control systems are inadequate at addressing environmental uncertainty. By contrast, autonomous systems, which were first studied in the field of control systems, can be applied in an unknown environment. This paper summarizes the state of the art autonomous systems by first discussing the definition, modeling, and system structure of autonomous systems and then providing a perspective on how autonomous systems can be integrated with advanced resources (e.g., the Internet of Things, big data, Over-the-Air, and federated learning). Finally, what comes after reaching full autonomy is briefly discussed.
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Affiliation(s)
- Jerry Chen
- Department of Mechanical engineering, Yuan Ze University, Taoyuan 32003, Taiwan.
| | - Maysam Abbod
- Department of Electronic and Computer Engineering, Brunel University London, Uxbridge UB8 3PH, UK.
| | - Jiann-Shing Shieh
- Department of Mechanical engineering, Yuan Ze University, Taoyuan 32003, Taiwan.
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