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Task Prioritization for Automated Robotic Item Picking
Albert Causo,Zheng-Hao Chong,Ramamoorthy Luxman,Yuan Yik Kok,I-Ming Chen 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper describes a task scheduling method designed for a robotic picking system. The main goal of the system is to fulfill an order, ie, pick all the items in an order list and place them into the order bin, as fast as possible with the least number of unfulfilled items or errors. Picking an item on the list is considered as one task. The system will prioritize and schedule first the tasks with higher chances of being executed successfully. The probability for successful pick is computed from the vision data and grasping information. The items with higher chances of failure to be picked are pushed to the end of the queue. Forty experiments were conducted using randomly generated arrangement of items in a shelf and a randomly generated task order list. The test result shows that the strategy delivers an average fulfillment rate of 90% and an average fulfillment efficiency rate of 71%. The strategy described in this paper could be used to determine items that could be picked with human assistance instead of by robot alone.
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Kasadoruge Dinesh Rangika Perera,Nawarathne Mudiyanselage Metthananda Nawarathne,Vajira Tharanga Samarawickrama,Malinda Peiris Deraniyagala,Wickramadurayala Gedara Eranda Luxman,Anthony Nilesh Ranjeev 대한소아소화기영양학회 2022 Pediatric gastroenterology, hepatology & nutrition Vol.25 No.5
Purpose: The role of endoscopic retrograde cholangiopancreatography (ERCP) in the management of hepatobiliary and pancreatic diseases in the pediatric population was not well defined until recently. Our aim was to determine the feasibility, outcomes, and safety of ERCP in a local pediatric population, particularly using standard adult endoscopes and accessories. Methods: This retrospective study was conducted at the National Hospital of Sri Lanka. Pediatric patients (aged <16 years) who underwent ERCP from January 2015 to December 2020 were included in the study. Data, including patient demographics, indications for the procedure, technical details, and associated complications, were collected from the internal database and patient records maintained at the hospital. Results: The study included 62 patients who underwent a total of 98 ERCP procedures. All the procedures were performed by adult gastroenterologists using standard adult endoscopes and accessories. The mean age was 11.01±3.47 years. Pancreatic diseases were the major indications for most of the procedures (n=81, 82.7%), with chronic pancreatitis being the most common. Seventeen procedures (17.3%) were carried out for biliary diseases. Overall cannulation and technical success rates were 87.8% and 85.7%, respectively. Stent placement was the most common therapeutic intervention (n=66; 67.4%). Post-ERCP pancreatitis was the most common complication, occurring in eight patients (8.2%). Conclusion: ERCP can be successfully and safely performed in pediatric populations using standard adult endoscopes and accessories with complications similar to those of adults. Adult ERCP services can be offered to most pediatric patients without additional costs of pediatric endoscopes and accessories.
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