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Rotation invariant features for HArdI

Rotation invariant features for HARDI

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23rd international conference on Information Processing in Medical Imaging, IPMI 2013

作者： Schwab, Evan Çetingül, H. Ertan Afsari, Bijan Yassa, Michael A. Vidal, René Center for Imaging Science Johns Hopkins University United States Department of Psychological and Brain Sciences Johns Hopkins University United States Imaging and Computer Vision Siemens Corporation Corporate Technology United States

ISBN: (纸本)9783642388675

Reducing the amount of information stored in diffusion MRI (dMRI) data to a set of meaningful and representative scalar values is a goal of much interest in medical imaging. Such features can have far reaching applications in segmentation, registration, and statistical characterization of regions of interest in the brain, as in comparing features between control and diseased patients. Currently, however, the number of biologically relevant features in dMRI is very limited. Moreover, existing features discard much of the information inherent in dMRI and embody several theoretical shortcomings. This paper proposes a new family of rotation invariant scalar features for dMRI based on the spherical harmonic (SH) representation of high angular resolution diffusion images (HArdI). These features describe the shape of the orientation distribution function extracted from HArdI data and are applicable to any reconstruction method that represents HArdI signals in terms of an SH basis. We further illustrate their significance in white matter characterization of synthetic, phantom and real HArdI brain datasets. © 2013 Springer-Verlag.

关键词： Magnetic resonance imaging

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Relative pose estimation for an integrated UGV-UAV robot system

Relative pose estimation for an integrated UGV-UAV robot sys...

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6th international conference on Intelligent robotics and applications, ICIRA 2013

作者： Jeong, Yongseop Kweon, In So Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642408519

We have designed an integrated system of an UGV (Unmanned Ground Vehicle) and an UAV(Unmanned Aerial Vehicle), and propose a sensor-based relative pose estimation method for this system. Most of service robots are wheeled robots which can be easily controlled. However, due to the development of aerial vehicle technologies including sensors and wireless communication, recent UAVs can have lower weight, longer flight time and stabilized control system. Merging an UGV and an UAV for certain service can be a better choice for personal or public services, especially for effective surveillance. In this paper, a commercial μUAV and a low-price, sensor-equipped mobile base are integrated to provide surveillance service. A fish-eye camera and an ultrasonic range finder sensor are utilized to estimate relative translation between two robots. Attitude and heading reference systems in both robots are utilized to estimate relative rotation between them. The probabilistic filter is applied to compensate sensor or camera measurement noises. The robustness of the proposed system is verified by a quad-camera stereo capture system. Also, practical application is provided with a scenario which performs the homing of the UAV from arbitrary location. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Cameras

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Towards Online Trajectory Generation Considering robot Dynamics and Torque Limits

Towards Online Trajectory Generation Considering Robot Dynam...

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IEEE/RSJ international conference on Intelligent robots and Systems

作者： Robert Katzschmann Torsten Kroger Tamim Asfour Oussama Khatib Artificial Intelligence Laboratory at Stanford University Stanford CA 94305-9010 USA High Performance Humanoid Technologies Lab Institute for Anthropomatics Karlsruhe Institute of Technology (KIT) Adenauerring 2 D-76131 Karlsruhe Germany

ISBN: (纸本)9781467363563

Generating robot motion trajectories instantaneously in the moment unforeseen sensor events happen is very essential for many real-world robot applications. Using a previous work on online trajectory generation as a basis, this paper proposes an alternative approach that also considers dynamic models. The former class of algorithms does not take into account dynamically changing acceleration capabilities based on maximum actuator forces/torques. This paper extends target velocity-based algorithms of the previous approach by taking into consideration the entire system dynamics when generating trajectories online within one control cycle (typically 1 ms or less). The extension includes the acceleration capabilities of a robot at every discrete time step assuming constant values for the maximum actuator forces/torques, thus allowing the generation of adaptive trajectory profiles during the motion of the robot. Several real-world experimental results using a seven-degree-of-freedom lightweight robot arm underline the relevance of this extension.

关键词： robot dynamics Acceleration performance trajectory Torque robot System dynamics algorithms robot applications actuators

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The Role of Entertainment and External Values in Consumer`s Intention to Use Social Network Mobile

The Role of Entertainment and External Values in Consumer`s ...

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2013 3rd international conference on Management and Artificial intelligence(ICMAI2013)

作者： Kyusung Hwang Euehun Lee School of management science Korea Advanced Institute of Science and Technology Geseong-dong Yuseng-guDaejeon 305-701 Republic of Korea

While people use more social network mobile games, research on SNMG is gaining more attention. This article presents results of entertainment and external drivers function in intention of social network mobile game and we suggest a research model that extend TAM model by adapting values from social network mobile game nature. Structural Equation Modeling (SEM) was used to measure relationships. We found that three factors, social norm, conditional value and perceived entertainment positively influence to intention. In conclusion, firms would use result of research to develop more favorable social network mobile game applications by reflecting values explored in this paper.

关键词： technology Acceptance Model (TAM), Social Network Mobile Game (SNMG), Perceived Entertainment.

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Construction of multi-scale common brain networks based on DICCCOL

Construction of multi-scale common brain networks based on D...

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23rd international conference on Information Processing in Medical Imaging, IPMI 2013

作者： Ge, Bao Guo, Lei Zhu, Dajiang Zhang, Tuo Hu, Xintao Han, Junwei Liu, Tianming College of Physics and Information Technology Shaanxi Normal University Xi'an China School of Automation Northwestern Polytechnical University Xi'an China Cortical Architecture Imaging and Discovery Lab. Department of Computer Science University of Georgia Athens GA United States

ISBN: (纸本)9783642388675

Modeling the human brain as a network has been widely considered as a powerful approach to investigating the brain's structural and functional systems. However, many previous approaches focused on a single scale of brain network and the multi-scale nature of brain networks has been rarely explored yet. This paper put forward a novel framework to construct multi-scale common networks of brains via multi-scale spectral clustering of fiber connections among DICCCOLs. Specifically, the recently developed and publicly released DICCCOLs provide the nodal structural and functional correspondence across individuals, and thus the employed multi-scale spectral clustering algorithm divided the DICCCOL landmarks and their connections into sub-networks with correspondences on multiple scales. Experimental results showed the promise of the constructed multi-scale networks in applications of structural and functional connectivity mapping. As an application example, these multi-scale networks are used to guide the identification of multi-scale common fiber bundles across individuals and to facilitate the bundle's functional role analysis, which could enable other tract-based and network-based analyses in the future. © 2013 Springer-Verlag.

关键词： Clustering algorithms

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Robust dense endoscopic stereo reconstruction for minimally invasive surgery

Robust dense endoscopic stereo reconstruction for minimally ...

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15th international conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2012

作者： Bernhardt, Sylvain Abi-Nahed, Julien Abugharbieh, Rafeef Biomedical Signal and Image Computing Lab. University of British Columbia Vancouver BC Canada Qatar Robotic Surgery Centre Qatar Science and Technology Park Qatar

ISBN: (纸本)9783642366192

robotic assistance in minimally invasive surgical interventions has gained substantial popularity over the past decade. Surgeons perform such operations by remotely manipulating laparoscopic tools whose motion is executed by the surgical robot. One of the main tools deployed is an endoscopic binocular camera that provides stereoscopic vision of the operated scene. Such surgeries have notably garnered wide interest in renal surgeries such as partial nephrectomy, which is the focus of our work. This operation consists of the localization and removal of tumorous tissue in the kidney. During this procedure, the surgeon would greatly benefit from an augmented reality view that would display additional information from the different imaging modalities available, such as pre-operational CT and intra-operational ultrasound. In order to fuse and visualize these complementary data inputs in a pertinent way, they need to be accurately registered to a 3D reconstruction of the imaged surgical scene topology captured by the binocular camera. In this paper we propose a simple yet powerful approach for dense matching between the two stereoscopic camera views and for reconstruction of the 3D scene. Our method adaptively and accurately finds the optimal correspondence between each pair of images according to three strict confidence criteria that efficiently discard the majority of outliers. Using experiments on clinical in-vivo stereo data, including comparisons to two state-of-the-art 3D reconstruction techniques in minimally invasive surgery, our results illustrate superior robustness and better suitability of our approach to realistic surgical applications. © 2013 Springer-Verlag.

关键词： Augmented reality

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Research on human - robot collaboration in rescue robotics

Research on human - Robot collaboration in rescue robotics

引用

3rd international conference on Swarm intelligence, ICSI 2012

作者： Tong, Haibo Zhang, Rubo Liu, Guanqun College of Computer Science and Technology Harbin Engineering University Harbin China

ISBN: (纸本)9783642309755

This paper presents a human-robot collaboration framework which describes a comprehensive structure of rescue robots which are expected to collaborate with human in urban search and rescue (USAR). We develop a victim's autonomous search and rescue robotic system based on biomimetic sensing technology and discuss the information flow model and control mode transition between human and robot. The intelligence control architecture used for human-robot collaboration is also proposed. Experiments indicate that this system makes the collaboration convenient and the rescue robotics utilizing the intelligence control architecture search and discover victims promptly and efficiently. © 2012 Springer-Verlag.

关键词： Biomimetics

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Modeling synchronization/communication patterns in vision-based robot control applications using ASMs

引用

3rd international conference on Abstract State Machines, Alloy, B, VDM, and Z, ABZ 2012

作者： Luzzana, Andrea Rossetti, Mattia Righettini, Paolo Scandurra, Patrizia Italy Italy

ISBN: (纸本)9783642308840

This paper proposes the use of the Abstract State Machine method for a rigorous foundation in modeling and validating Vision-Based robot Control applications. We show how to tailor control tasks definitions and associated synchronization/communication patterns in rigorous and abstract terms by using control state ASMs and an extension of the classical flowchart notation to allow the definition/instantiation of recurring design solutions and to improve model traceability. © 2012 Springer-Verlag.

关键词： Computer vision

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"Fuzzy Based Automated Mobile Controlled Rescue robot"

"Fuzzy Based Automated Mobile Controlled Rescue Robot"

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3rd IEEE international conference on Computational intelligence and Computing Research (ICCIC)

作者： Srivathsan, L. Velmurugan, P. Sivashankar, K. Chandru, M. Anna Univ Sri Sairam Engn Coll Madras 600025 Tamil Nadu India

ISBN: (纸本)9781467324816;9781467313445

Of late natural and man made calamities became unmanageable. Notwithstanding the fact that Government takes all steps to protect and reduce the impact of calamity, Right from the ancient times only humans are being used for these rescue operations. However, over the past decade or so, the autonomous systems role has changed - the emergence of smart munitions and precision aerial bombardment has resulted in the human entering tough urban combat situations to mop up any remains of calamities. Our system is the first of several such programs that are looking at revamping the rescuers gear. Our system basically has two modes. One mode is the automatic mode and the other mode is user control mode. The automatic mode makes the robot to detect the obstacles and move without any human intervention using Fuzzy Logic. In certain unavoidable circumstances the control comes to user who can control the operations of the robot from remote location using a mobile phone. The user can control the robot by seeing the video through 3G technology. It also helps to provide medical aid for needy. Our system can also be used to detect and defuse the fire, human life detection during earth quakes. Thus our aim is to provide a robotic system that can act as a savior during natural and man made calamities.

关键词： Fuzzy Logic DTMF Fuzzification DeFuzzification

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Systematic study of binocular depth finding using two web cameras

Systematic study of binocular depth finding using two web ca...

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3rd international conference on Computer and Communication technology (ICCCT)

作者： Krishna, Saumitra Kansal, Sachin Makhal, Abhijit Chakraborty, Pavan Nandi, G. C. Indian Inst Informat Technol Robot & Artificial Intelligence Lab Allahabad Uttar Pradesh India

ISBN: (纸本)9780769548722

A stereovision sensor system for depth measurement has been developed in our department. Stereo cameras attached to a robot can perform several tasks effectively, such as calculating distance of an object or that of a person by using depth map, which can further lead to achieve a bigger goal of grasping or manipulation of objects. We have calibrated the cameras and applied rectification algorithm to the images to develop the stereo pair. While taking the data we have observed that due to divergence of cameras, the calculated distances were larger than the actual distances. We concluded that a further improved system can be developed which can take care of this systematic error and achieve more accurate results.

关键词： Stereo Calibration Stereo Rectification OpenCV Triangulation Depth Bouguet's algorithm Disparity

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