Intelligent Autonomous-Robot Control for Medical Applications

Farkh, Rihem; Marouani, Hayet Farida; jaloud, Khaled Al; Alhuwaimel, Saad; Quasim, Mohammad Tabrez; Fouad, Yasser

doi:10.32604/cmc.2021.015906

Cited by 15 publications

(10 citation statements)

References 10 publications

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“…Farkh et al used quadric surfaces with unknown but bounded coefficients to approximate the uneven surface and proposed spanning function method, integral backstepping method, and Lyapunov redesign technology to solve the robust stability of wheeled robots moving on uncertain uneven surfaces. In this study, the research on surface approximation and stability control of wheeled robot is completed [5]. Jung and Lee proposed a practical fuzzy lateral control law and proved its global asymptotic stability.…”

Section: Literature Reviewmentioning

confidence: 99%

Taekwondo Trajectory Tracking Based on Multitarget Detection Algorithm

Zhang

2022

Mobile Information Systems

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In order to further improve the effect of fuzzy PID controller applied to joint robot trajectory tracking control, a Taekwondo trajectory tracking method based on multitarget detection algorithm is proposed in this study. Firstly, a fuzzy PID controller for trajectory tracking of joint robot is designed. Secondly, considering the two optimization objectives of controller output torque and trajectory tracking control deviation, an improved multiobjective PSO algorithm is designed to optimize the membership function and fuzzy rules of fuzzy PID controller. Finally, the multiobjective PSO algorithm and the improved multiobjective PSO algorithm are used to optimize the trajectory tracking fuzzy PID controller. The vector sets of the two optimization objectives are obtained, and the optimization results are compared and analyzed. The simulation results show that the simulation step length is t = 0.01 s, and the total simulation time is 10 s. Using the controller, the simulation values and output torque values of each joint angle at each time can be obtained, which are used to calculate the two objective function values in the optimization algorithm. According to the process, the optimization algorithm parameters are set, and the control simulation system designed above is run to complete the improved multiobjective PSO optimization of the trajectory tracking fuzzy PID controller of the joint robot. Conclusion. The improved multiobjective PSO algorithm has better nondominated solution set, which verifies the effectiveness and superiority of the algorithm to optimize the robot trajectory tracking fuzzy PID controller.

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Section: Literature Reviewmentioning

confidence: 99%

Taekwondo Trajectory Tracking Based on Multitarget Detection Algorithm

Zhang

2022

Mobile Information Systems

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“…Remarkable advancements in the field of robotics have been observed recently. Most tech giants, as well as universities, have made it possible to implement robotic applications that work alongside frontline healthcare workers in order to combat this pandemic [ 18 , 19 ].…”

Section: Robots Serving In Healthcare Environmentsmentioning

confidence: 99%

Applications of Healthcare Robots in Combating the COVID-19 Pandemic

Raje

Reddy

Jerbi

et al. 2021

Applied Bionics and Biomechanics

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Due to the increasing number of COVID-19 cases, there is a remarkable demand for robots, especially in the clinical sector. SARS-CoV-2 mainly propagates due to close human interactions and contaminated surfaces, and hence, maintaining social distancing has become a mandatory preventive measure. This generates the need to treat patients with minimal doctor-patient interaction. Introducing robots in the healthcare sector protects the frontline healthcare workers from getting exposed to the coronavirus as well as decreases the need for medical personnel as robots can partially take over some medical roles. The aim of this paper is to highlight the emerging role of robotic applications in the healthcare sector and allied areas. To this end, a systematic review was conducted regarding the various robots that have been implemented worldwide during the COVID-19 pandemic to attenuate and contain the virus. The results obtained from this study reveal that the implementation of robotics into the healthcare field has a substantial effect in controlling the spread of SARS-CoV-2, as it blocks coronavirus propagation between patients and healthcare workers, along with other advantages such as disinfection or cleaning.

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“…Current studies on mobile robots centric applications include several research domains such as indoor logistics [2], search and rescue [3,4], molecular robotics [5,6] and health [7][8][9]. Among these research domains, healthcare related studies gained much attention and popularity since the beginning of ongoing COVID-19 pandemic.…”

Section: Mobile Robots In Healthcarementioning

confidence: 99%

“…Among these research domains, healthcare related studies gained much attention and popularity since the beginning of ongoing COVID-19 pandemic. Common applications of mobile robots in healthcare include medical examination, patient surveillance [7,8] and medical transportation [9] but these applications mostly deal with single robots. Multi robot systems can provide an efficient way to perform healthcare services fluently.…”

Section: Mobile Robots In Healthcarementioning

confidence: 99%

Blokzincir Destekli Mobil Robotların Sağlık Hizmetinde Uygulanması: Kullanım Örnekleri, Araştırma Zorlukları ve Gelecek Trendler

Şen

Okumuş

Kocamaz

2022

Türk Doğa Ve Fen Dergisi

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Using service robots in healthcare is gaining importance in case of emergent situations like pandemics where human labour is considered risky. Multi robot systems of mobile robots have the potential to perform simple but vital tasks in healthcare. However, centralized control with a server computer of these systems carry the risks of single point of failure and ineffective operation of robots, thus decentralized control with blockchain integration offers a better solution. We mention research challenges regarding blockchain powered multi robot systems of mobile robots from use case, blockchain technology and its integration into current computing systems used in medical centers aspects. Then we propose a method for decentralized management and task distribution in a multi robot system by using Hyperledger Fabric as a permissioned blockchain platform and give common use case scenarios. In this system, tasks are assigned to robots depending on the selection of nearest available robots to the task target. Each robot runs the smart contract containing the task assignment method, so that data traffic for the task assignment process is distributed among the network, instead of stacking up on a single line as in a centralized system. Future research issues and directions for future works are also stated as a conclusion.

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Intelligent Autonomous-Robot Control for Medical Applications

Cited by 15 publications

References 10 publications

Taekwondo Trajectory Tracking Based on Multitarget Detection Algorithm

Taekwondo Trajectory Tracking Based on Multitarget Detection Algorithm

Applications of Healthcare Robots in Combating the COVID-19 Pandemic

Blokzincir Destekli Mobil Robotların Sağlık Hizmetinde Uygulanması: Kullanım Örnekleri, Araştırma Zorlukları ve Gelecek Trendler

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