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Execution Engine for Robotic Surgery Support Functions in an Unmanned Operating Room

Execution Engine for Robotic Surgery Support Functions in an...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Shilpa Gulati Edwin H. Jung Chetan Kapoor Robotics Research Group University of Texas Austin USA

An unmanned robotic operating room consists of a tele-operated surgical robot and various other subsystems that perform surgery support functions such as dispensing tools and supplies. Execution Engine for such an operating room has to coordinate the subsystems to perform surgery support functions. A support function consists of a series of tasks along with other constructs such as conditional statements. A task, in turn, is composed of subsystem level actions connected by complex synchronization constraints. Previous research has focused on developing a language for specifying tasks and modeling the constraints between them. We present an approach where a task is specified as a data-structure rather than a language. This has the advantage of implicitly encoding the synchronization constraints in the data-structure itself, making it easy to write, debug and maintain task programs. We model a task as a directed acyclic graph and propose an algorithm to execute the task graph. The algorithm is general and language independent, thus eliminating the need for a special purpose language to specify tasks. We discuss implementation results on an emulated system.

关键词： Engines Surgery Robot kinematics Medical robotics Surges Robotics and automation Intelligent robots USA Councils Hardware Collaborative software

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Geometric Theory and control of Linear Parameter Varying Systems

Geometric Theory and Control of Linear Parameter Varying Sys...

引用

International symposium on Applied computational intelligence and Informatics ( SACI)

作者： Jozsef Bokor Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Linear Parameter Varying (LPV) systems appear in a form of LTI state space representations where the elements of the A(ρ) , B(ρ) , C(ρ) matrices depend on an unknown but at any time instant measurable vector parameter ρ ϵ 𝒑. This paper describes a geometric view of LPV systems. Geometric concepts and tools of invariant subspaces and algorithms for LPV systems affine in the parameters will be presented and proposed. Application of these results will be shown and referenced in solving various analysis (controllability/observability) problems, controller design and fault detection problems associated to LPV systems.

关键词： control systems Nonlinear systems Vectors control system analysis Optimal control State-space methods Time measurement Observability Functional analysis Performance analysis

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A Probabilistic Model of MOSAIC

A Probabilistic Model of MOSAIC

引用

ieee symposium on Foundations of computational intelligence, FOCI

作者： Satoshi Osaga Jun-ichiro Hirayama Takashi Takenouchi Shin Ishii Graduate School of Information Science Nara Institute of Science and Technology Ikoma Nara Japan

Humans can generate accurate and appropriate motor commands in various and even uncertain environments. MOSAIC (MOdular Sellection And Identification for control) was formerly proposed for describing such human ability, but it includes some complex and heuristic procedures which make the model's understandability hard. In this article, we present an alternative and probabilistic model of MOSAIC (p-MOSAIC) as a mixture of normal distributions, and an online EM-based learning method for its predictors and controllers. Theoretical consideration shows that the learning rule of p-MOSAIC corresponds to that of MOSAIC except for some points mostly related to the controller learning. Experimental studies using synthetic datasets have shown some practical advantages of p-MOSAIC. One is that the learning rule of p-MOSAIC makes the estimation of 'responsibility' stable. Another is that p-MOSAIC realizes accurate control and robust parameter learning in comparison to the original MOSAIC especially in noisy environments, due to the direct incorporation of the noise into the model

关键词： Humans Motor drives Predictive models control systems computational intelligence Working environment noise Weight control Information science Appropriate technology Gaussian distribution

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A Genetic Algorithm Based on Stochastic Crossover for DHCP

A Genetic Algorithm Based on Stochastic Crossover for DHCP

引用

ieee symposium on Foundations of computational intelligence, FOCI

作者： Marco Carpentieri Dipai timento-di Fisica E. R. Caianiello (DF) Universitá degli Studi di Salerno Italy

We introduce a genetic model based on stochastic crossover to solve the Hamiltonian cycle problem (DHCP) for random digraphs containing a random Hamiltonian cycle. The genetic model represents a new decision computational method inspired by the remark that DHCP can be formulated as determining the compatibility of a quadratic system over the finite field GF(2). A (simple) genetic algorithm based on the stochastic crossover is experimentally compared with a randomized algorithm based on the Angulin and Valiant classic technique designed to find Hamiltonian cycles in random digraphs

关键词： Genetic algorithms Stochastic processes Biological cells Algorithm design and analysis Design optimization computational intelligence Galois fields Adaptive control Merging Application specific integrated circuits

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Design and Simulation Research on a New Type of Suspension for Lunar Rover

Design and Simulation Research on a New Type of Suspension f...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Chen Bai-chao Wang Rong-ben Yang Lu Jin Li-sheng Guo Lie Transportation College Jilin University Changchun China

This article proposes a new type of suspension for lunar rover. The suspension is mainly constructed by a positive quadrilateral levers mechanism and a negative quadrilateral levers mechanism. The suspension is designed based on following factors: Climbing up obstacles, adapting terrain, traveling smoothly, and distributing equally the load of cab to wheels. In the article, firstly the structure of the new suspension is described, secondly the kinematics of the levers is analyzed, and the relational equations of the suspension levers are established, so the distortion capability of the suspension is known. In order to test the capability of suspension, we design a prototype rover with the new suspension and take a test of climbing obstacles, and the result indicates that the prototype rover with new type of suspension has excellent capability to climb up obstacles with keeping cab smooth. Based on the shortcoming found in test, we optimize the levers mechanism, and then establish the rover models with the new type of suspension and with Rocker-Bogie suspension based on ADAMS, and then the capability compare on simulation is followed. The further researching work for this new developed suspension is being carried out now so as to improve its overall performances. China has been determined to carry out the lunar exploration project in the near future. The proposed new type of suspension would provide a valuable technical support to it.

关键词： Moon Wheels Testing Educational institutions Equations Prototypes Roads Transportation computational intelligence Robotics and automation

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Variants of Differential Evolution for Multi-Objective Optimization

Variants of Differential Evolution for Multi-Objective Optim...

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ieee symposium on computational intelligence in Multi-Criteria Decision-Making, MCDM

作者： Karin Zielinski Rainer Laur Institute for Electromagnetic Theory and Microelectronics (ITEM) University of Brethemen Germany

In multi-objective optimization not only fast convergence is important, but it is also necessary to keep enough diversity so that the whole Pareto-optimal front can be found. In this work four variants of differential evolution are examined that differ in the selection scheme and in the assignment of crowding distance. The assumption is checked that the variants differ in convergence speed and amount of diversity. The performance is shown for 1000 consecutive generations, so that different behavior over time can be detected

关键词： Genetic mutations Chromium Convergence Testing computational intelligence Decision making Constraint optimization Microelectronics Electric variables control Random variables

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A Functional-Link-Based Fuzzy Neural Network for Temperature control

A Functional-Link-Based Fuzzy Neural Network for Temperature...

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ieee symposium on Foundations of computational intelligence, FOCI

作者： Cheng-Hung Chen Chin-Teng Lin Cheng-Jian Lin Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Computer Science and Information Engineering Chao Yang University of Technology Taichung Taiwan

This study presents a functional-link-based fuzzy neural network (FLFNN) structure for temperature control. The proposed FLFNN controller uses functional link neural networks (FLNN) that can generate a nonlinear combination of the input variables as the consequent part of the fuzzy rules. An online learning algorithm, which consists of structure learning and parameter learning, is also presented. The structure learning depends on the entropy measure to determine the number of fuzzy rules. The parameter learning, based on the gradient descent method, can adjust the shape of the membership function and the corresponding weights of the FLNN. Simulation result of temperature control has been given to illustrate the performance and effectiveness of the proposed model

关键词： Fuzzy neural networks Fuzzy control Temperature control Neural networks Input variables Artificial neural networks Mathematical model Entropy Adaptive control Polynomials

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A Dynamic Graph Model for Analyzing Streaming News Documents

A Dynamic Graph Model for Analyzing Streaming News Documents

引用

ieee symposium on computational intelligence and Data Mining (CIDM)

作者： Elizabeth Leeds Hohman David J. Marchette Naval Surface Warfare Center Dahlgren VA USA

In this paper we consider the problem of analyzing streaming documents, in particular streaming news stories. The system is designed to extract statistics from the document, incorporate these into a graph-based model, and discard the document to reduce storage requirements. The model is defined in terms of a changing lexicon and sub-lexicons at each node in the graph, with the nodes of the graph representing topics. An approximation to the TFIDF term weighting is introduced. We illustrate the methodology on a dataset of news articles, and discuss the dynamic nature of the model

关键词： Text processing Frequency computational intelligence Data mining Statistics Text categorization Keyboards Feeds Electronic mail Traffic control

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Using Data Mining to Enhance Automated Planning and Scheduling

Using Data Mining to Enhance Automated Planning and Scheduli...

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ieee symposium on computational intelligence and Data Mining (CIDM)

作者： Jeremy Frank NASA Ames Research Center Moffett Field CA USA

Automated planning is a combinatorial problem that is important to many NASA endeavors, including ground operations and control applications for unmanned and manned space flight. There is significant value to integrating planning and data mining to create better planners. We describe current work in this area, covering uses of data mining to speed up planners, improve the quality of plans returned by planners, and learn domain models for automated planners. The central contribution of this paper is a snap shot of the state of the art in integrating these technologies and a summary of challenges and open research issues

关键词： Data mining Processor scheduling NASA Space missions computational intelligence Postal services Sorting Pattern analysis Telescopes Mars

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Efficient model learning for dialog management 07

Efficient model learning for dialog management

引用

HRI 2007: 2007 ACM/ieee Conference on Human-Robot Interaction - Robot as Team Member

作者： Doshi, Finale Roy, Nicholas CSAIL MIT 32 Vassar Street Cambridge MA 02139

ISBN: (纸本)1595936173

Intelligent planning algorithms such as the Partially Observable Markov Decision Process (POMDP) have succeeded in dialog management applications [10, 11, 12] because they are robust to the inherent uncertainty of human interaction. Like all dialog planning systems, however, POMDPs require an accurate model of the user (e.g., what the user might say or want). POMDPs are generally specied using a large probabilistic model with many parameters. These parameters are difficult to specify from domain knowledge, and gathering enough data to estimate the parameters accurately a priori is expensive. In this paper, we take a Bayesian approach to learning the user model simultaneously with dialog manager policy. At the heart of our approach is an efficient incremental update algorithm that allows the dialog manager to replan just long enough to improve the current dialog policy given data from recent interactions. The update process has a relatively small computational cost, preventing long delays in the interaction. We are able to demonstrate a robust dialog manager that learns from interaction data, out-performing a hand-coded model in simulation and in a robotic wheelchair application. Copyright 2007 ACM.

关键词： Intelligent control

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