A Platform for Developing Robotic Navigation Strategies in a Deformable, Dynamic Environment

Prendergast, J. Micah; Formosa, Gregory A.; Rentschler, Mark E.

doi:10.1109/lra.2018.2827168

Cited by 20 publications

(7 citation statements)

References 23 publications

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“…The authors have used Kalman filter for improving the estimation of the pose using the experimental model of robotics. There are various associated studies where computer vision has been used for navigation application [22]- [30]. Next, discusses about the identified research problems that has been not addressed yet.…”

Section: Introductionmentioning

confidence: 99%

An autonomous navigational system using GPS and computer vision for futuristic road traffic

Ramasamy

Kabadi²

2022

IJECE

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Navigational service is one of the most essential dependency towards any transport system and at present, there are various revolutionary approaches that has contributed towards its improvement. This paper has reviewed the global positioning system (GPS) and computer vision based navigational system and found that there is a large gap between the actual demand of navigation and what currently exists. Therefore, the proposed study discusses about a novel framework of an autonomous navigation system that uses GPS as well as computer vision considering the case study of futuristic road traffic system. An analytical model is built up where the geo-referenced data from GPS is integrated with the signals captured from the visual sensors are considered to implement this concept. The simulated outcome of the study shows that proposed study offers enhanced accuracy as well as faster processing in contrast to existing approaches.

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Section: Introductionmentioning

confidence: 99%

An autonomous navigational system using GPS and computer vision for futuristic road traffic

Ramasamy

Kabadi²

2022

IJECE

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“…By controlling the direction and intensity of the external magnetic field, the capsule endoscope is actuated inside the body. The magnetically-actuated capsule endoscope could explore the intestine to some extent by active motion, However, it may cause some damage to the internal surface of the intestine, due to its fast speed [ 12 ]. In addition, the small magnetic driven force, insufficient positioning accuracy, and inability of expanding intestinal folds limit the range of the inspection area.…”

Section: Introductionmentioning

confidence: 99%

The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases

et al. 2020

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Intestinal-related diseases all around the world are increasing nowadays, and gradually become stubborn diseases threatening human health, and even lives. Diagnosis methods have attracted more and more attention. This article concerns a non-invasive way, a novel micro-robot, to diagnose intestinal diseases. This proposed micro-robot is a swallowable device, 14 mm in diameter, like a capsule. In order to make it possible for the micro-robot to move forward, backward, or anchor itself at a suspicious lesion point in the intestine with different lumen diameter sections, two key mechanisms have been proposed. One is an expanding mechanism with two-layer folded legs for anchoring. The designed expanding mechanism could realize a large variable diameter ratio, upwards of 3.43. In addition, a pair of specific annular gears instead of a traditional pinion drive is devised not only saving limited space, but also reducing energy loss. The other mechanism is a telescoping mechanism, possessing a self-locking lead screw nut system, which is used to obtain axial motion of the micro-robot. Then, the kinematics and dynamics of the micro-robot are analyzed. After that, the following experiments, including force tests and locomotion tests, are constructed. A good match is found between the theoretical results and the experimental data. Finally, in vitro experiments are performed with a prototype to verify the safety and reliability of the proposed micro-robot in porcine intestine.

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“…Considering the actual operation conditions, in order to minimize the operation time, raising the locomotion efficiency of the robot is very important. The driven type of the expanding mechanism mainly includes the magnetic driven type [10,11,12,13,14] and the micromotor drive type [15,16,17,18,19]. The magnetically driven type expanding mechanism adopts an off-board power supply, which greatly reduces the power required by the on-board load.…”

Section: Introductionmentioning

confidence: 99%

A Novel Expanding Mechanism of Gastrointestinal Microrobot: Design, Analysis and Optimization

et al. 2019

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In order to make the gastrointestinal microrobot (GMR) expand and anchor in the gastrointestinal tract reliably, a novel expanding mechanism of the GMR is proposed in this paper. The overlapping expanding arm is designed to be used to increase the variable diameter ratio (ratio of fully expanded diameter to fully folded diameter) to 3.3, which makes the robot more adaptable to the intestinal tract of different sections of the human body. The double-layer structure of the expanding arm increases the contact area with the intestine, reducing the risk of intestinal damage. The kinematics and mechanical model of the expanding arm are established, and the rigid velocity, rigid acceleration, and expanding force of the expanding arm are analyzed. The elastodynamics model of the expanding arm is established. Through the finite element analysis (FEA), the velocity, acceleration, and the value and distribution of the stress of the expanding arm under elastic deformation are obtained. Based on the elastodynamics analysis, the structure of the expanding arm is optimized. By the structure optimization, the thickness of the expanding mechanism is reduced by 0.4mm, the weight is reduced by 31%, and the stress distribution is more uniform. Through the mechanical test, the minimum expanding force of the expanding mechanism is 1.3 N and the maximum expanding force is 6.5 N. Finally, the robot is tested in the rigid pipeline and the isolated intestine to verify the reliability and safety of the expanding mechanism.

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A Platform for Developing Robotic Navigation Strategies in a Deformable, Dynamic Environment

Cited by 20 publications

References 23 publications

An autonomous navigational system using GPS and computer vision for futuristic road traffic

An autonomous navigational system using GPS and computer vision for futuristic road traffic

The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases

A Novel Expanding Mechanism of Gastrointestinal Microrobot: Design, Analysis and Optimization

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