In this Chapter we report on the efforts carried out at the robotics Laboratory ALTAIR of the University of Verona (Italy) towards the development of a high performance architecture for bilateral, i.e. force reflectin...
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Recently, more and more intelligent robotic systems have been embedded into the Internet for service, security, and entertainment, including distributed mobile robots. These networked robots have captured the interest...
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A component based software engineering approach does not per se ensure that independently developed components finally fit together. The reason is that general purpose component based approaches still provide far too ...
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The authors of several well-known robot software systems met at the ICRA 2005 workshop on the Principle and Practice of Software Development in robotics. The meeting was held to examine the role of software engineerin...
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Prostate Brachytherapy is the implantation of radioactive seeds into the prostate as a treatment for prostate cancer. The success rate of the procedure is directly related to the physician's level of experience. I...
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ISBN:
(纸本)9783540481102
Prostate Brachytherapy is the implantation of radioactive seeds into the prostate as a treatment for prostate cancer. The success rate of the procedure is directly related to the physician's level of experience. In addition, minor deviations in seed alignment caused by gland compression/retraction, gland edema (swelling) and needle deflections can create significant areas of over or under dosage to the gland and/or injury to surrounding nerves and organs, leading to increased morbidity. Therefore, reductions in brachytherapy complication rates will be dependent on improving the tools physicians use for training to improve the accuracy of needle guidance and deployment of 'seeds' within the prostate gland. Through our novel approach of using two C-ARM fluoroscopes, we propose a reality-based approach for estimating needle and soft tissue interaction for the purpose of eventually developing an accurate seed placement training simulator with haptic feedback for prostate brachytherapy. By recording implanted fiducial movement and needle-soft tissue interaction forces, we can: extract the local effective modulus during puncture events, quantify tissue deformation, obtain an approximate cutting force, and build a finite element model to provide accurate haptic feedback in the training simulator for needle insertion tasks.
The real world is full of unexpected changes, contingencies and opportunities. Thus it is virtually impossible to perfectly specify in advance all the conditions, states and outcomes for all the possible actions. The ...
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The theory of behavioral communication for humanoid robots that interact with humans is discussed in this paper. For behavioral communication, it is fundamental for a humanoid robot to recognize the meaning of the who...
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ISBN:
(纸本)9783540481102
The theory of behavioral communication for humanoid robots that interact with humans is discussed in this paper. For behavioral communication, it is fundamental for a humanoid robot to recognize the meaning of the whole body motion of a human. According to the previous works, it call be done in the symbolic level by adopting the proto-symbol space defined by the Hidden Markov Models based oil the mimesis theory. The generation of robot motions from the proto-symbols is also to be done ill the same framework. In this paper, we first introduce the meta protosymbols that stochastically represent and become signifiants of the interaction of a robot and a human. The meta proto-symbols are a little more abstract analogy of the proto-symbols and recognize/generate the relationship of the two. A hypothesis is then proposed as the principle of fundamental communication. The experimental result follows.
Software development for autonomous field robots can be quite challenging due to the difficulties associated with testing and evalution of the robot and its components. Software for the mobile robot must undergo exten...
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This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acou...
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ISBN:
(纸本)9783540481102
This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.
Component-Based Software Engineering (CBSE) is an approach that has arisen in the software engineering community in the last decade. It aims to shift the emphasis in system-building from traditional programming to com...
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