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The Smart Hospital: Data and AI Challenges

The Smart Hospital: Data and AI Challenges

2023 IEEE EMBS Special Topic Conference on Data Science and Engineering in Healthcare, Medicine and Biology, IEEECONF 2023

作者： Plati, Daphni K. Konstantakopoulos, Fotios S. Kalatzis, Theofanis Manousos, Dimitrios Kassiotis, Thomas Di Luzio, Francesco Scotto Tagliamonte, Nevio Luigi Zollo, Loredana Tsiknakis, Manolis Fotiadis, Dimitrios I. University of Ioannina Unit of Medical Technology and Intelligent Information Systems Materials Science and Engineering Department Greece Forth Biomedical Research Institute IoanninaGR 45110 Greece Forth Institute of Computer Science Crete HeraklionGR 70013 Greece Campus Bio-Medico University Research Unit of Advanced Robotics and Human-Centred Technologies Rome Italy

ISBN: (纸本)9798350383386

Healthcare systems generally constitute a combination of healthcare facilities and providers that collaborate in order to offer a complete range of healthcare services. As the primary providers of healthcare, hospitals hold an essential place in the healthcare system. This study introduces three novel automated Artificial Intelligence (AI) systems by using the robotic platform of the TIAGo robot: (i) an image-based system that monitors the food consumption of the patients and provides information regarding their energy intake to prevent malnutrition;(ii) a rehabilitation system that monitors patients as they perform prescribed exercises to prevent loss of mobility, and (iii) a monitoring system for the correctness of the oxygen therapy in terms of the proper positioning of the oxygen mask to prevent hypoxia complications. A well-designed observational clinical study is planned to evaluate and validate the utility and effectiveness of the proposed AI systems in improving patient stay in the hospital. For the abovementioned systems, three novel datasets were *** Relevance: Through the implementation of AI systems, the proposed research intends to provide specialists with an extra tool to aid in the monitoring of hospitalized patients, thus helping to prepare the way for the Smart Hospital. © 2023 IEEE.

关键词： Hospitals

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Design of magnetorheological brake with adjustable interdigitated comb for lower limb prostheses and exoskeletons

Design of magnetorheological brake with adjustable interdigi...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Shi, Qiuyu Zhao, Xuan Liao, Haisu Lin, Yongji Huang, Ruisen Wu, Xinyu Gao, Fei Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Shatin 999077 Hong Kong

ISBN: (纸本)9798350325706

Magnetorheological (MR) fluids-based devices such as MR dampers and brakes can output a continuously controllable damping force via modulating the magnitude of the applied magnetic field. Owing to low energy consumption and fast response, recently vast MR dampers and brakes are widely studied and explored for lower limb prostheses and exoskeletons. This paper proposed a novel MR brake with adjustable interdigitated comb for lower limb prostheses. Through actively adjusting the area the of the comb engagement, the maximum viscous and field-induced damping torque can be increased or decreased. Because of that, the dynamic adjustment interval of the output damping torque can be increased to meet the function requirements of the prosthetic knee in different walking modes. Magnetic analysis via ANSYS is performed to check the magnetic density of the MR fluid under different excitations. Mathematical models of the damping torque are built. Finally, a prototype of the novel MR brake is fabricated. © 2023 IEEE.

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Rail-Guided Multi-Robot System for the Cooperative Manipulation of Cross-Scale Targets

Rail-Guided Multi-Robot System for the Cooperative Manipulat...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Han Tao Huaping Wang Yaozhen Hou Siyu Guo Kaijun Lin Maolin Wang Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology China Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

In the field of biomedicine, contact micromanipulations are mostly based on multi-robot coordinated operations to achieve mechanical contact interactions with a single type of target in a specific task scenario, which has advantages such as high repeatability, high precision and high stability. With the rapid development of biomedical technology, the increasingly complex biological micromanipulation process has been transformed from a single task to a task sequence of several subtasks, which puts forward higher requirements for the coordination, flexibility, operation accuracy and so on. However, due to the immutable configuration of the end-effector, most microrobotic manipulation systems have a fixed operation dimension, which makes it difficult to include the whole processing of complex tasks and meet the differentiated needs of different operational tasks and objectives. Therefore, this paper proposes a formation control based multi-robot dynamical reconfiguration collaborative micromanipulation to meet the dynamic requirements of multi-process complex tasks. By combining macro multi-robot formation control with collaborative micromanipulation, the dynamical reconfiguration of the end-effector under different manipulation tasks is realized. It can execute efficient and precise manipulation on fragile micro-objects ranging from 50 $\mu \mathrm{m}$ and 1000 $\mu \mathrm{m}$, and provide a new idea for accomplishing the whole processing of complex tasks, such as biological microassembly.

关键词： Viscosity Vibrations Rails Microscopy Collaboration End effectors Formation control

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Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks

Online Multi-Contact Feedback Model Predictive Control for I...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seo Wook Han Maged Iskandar Jinoh Lee Min Jun Kim Intelligent Robotic Systems Laboratory Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Department of Mechanical Engineering KAIST Daejeon Republic of Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the MPC framework. An algorithm called Multi-Contact Particle Filter with Exploration Particle (MCP-EP) is employed to establish real-time feedback of multi-contact information. Then the interaction locations and forces are accommodated in the MPC framework via a spring contact model. Moreover, we achieved real-time control for a 7 degrees of freedom robot without any simplifying assumptions by employing a Differential-Dynamic-Programming algorithm. We achieved 6.8kHz, 1.9kHz, and 1.8kHz update rates of the MPC for 0, 1, and 2 contacts, respectively. This allows the robot to handle unexpected contacts in real time. Real-world experiments show the effectiveness of the proposed method in various scenarios.

关键词： Feedback loop Prediction algorithms Real-time systems Particle filters Task analysis Springs Robots

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State-of-the-art of intelligent minimally invasive surgical robots Masakatsu

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Frontiers of Medicine 2020年第4期14卷 404-416页

作者： G.Fujie Bo Zhang Future Robotics Organization Waseda UniversityTokyo 1620044Japan Beijing Advanced Innovation Centre for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

A number of developed countries are rapidly turning into super-aged ***,the demand for reduced surgical invasiveness and enhanced efficiency in the medical field has increased due to the need to reduce the physical burden on older patients and shorten their recovery *** surgical robot systems offer high precision,high safety,and reduced *** paper presents a review of current intelligent surgical robot *** history of robots and three types of intelligent surgical robots are *** problems with current surgical robot systems are then *** aspects that should be considered in designing new surgical systems are discussed in *** paper ends with a summary of the work and a discussion of future prospects for surgical robot development.

关键词： robot history medical robot surgical robot radiofrequency ablation organ model

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Rehabilitation Training of Spinal Cord Injured Individuals by a Self-Balancing Exoskeleton Robot

Rehabilitation Training of Spinal Cord Injured Individuals b...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Wentao Li Jinke Li Yong He Dingkui Tian Feng Li Jianquan Sun Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China SIAT CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China China Construction Third Bureau First Engineering MEP Co. Ltd. Shenzhen China

Physical therapy plays an important role in the rehabilitation for spinal cord injured individuals, and exoskeleton can assist with this process. In this paper, a self-balancing exoskeleton robot is introduced, which can provide assist not only in gait training, but also in balance training. In addition, it allows individuals walk with it without other assistive devices. This exoskeleton is designed to have a high degree of compatibility with humans. The structure and control system of the exoskeleton is introduced and the forward and inverse kinematic are solved, which enables the robot to perform various rehabilitation training actions as required. Experiments with a male subject have shown that this exoskeleton achieves the predicted results in gait training and balance training.

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Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

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Frontiers of Information Technology & Electronic Engineering 2019年第3期20卷 330-341页

作者： Da-qi ZHU Yun QU Simon X.YANG Laboratory of Underwater Vehicles and Intelligent Systems Shanghai Maritime University Advanced Robotics and Intelligent Systems Laboratory University of Guelph

There is an ocean current in the actual underwater working environment. An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles(AUVs) is proposed for a three-dimensional underwater workspace in the ocean current. Each AUV in the model will be competed, and the shortest path under an ocean current and different azimuths will be selected for task assignment and path planning while guaranteeing the least total consumption. First, the initial position and orientation of each AUV are determined. The velocity and azimuths of the constant ocean current are determined. Then the AUV task assignment problem in the constant ocean current environment is considered. The AUV that has the shortest path is selected for task assignment and path planning. Finally, to prove the effectiveness of the proposed method, simulation results are given.

关键词： Autonomous underwater vehicles Self-organizing neural networks Azimuths Ocean current

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Dynamic Fluorescent Imaging for Robotic Patch Clamp in vivo: Modeling and Control

Dynamic Fluorescent Imaging for Robotic Patch Clamp in vivo:...

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第42届中国控制会议

作者： Ruimin Li Jinyu Qiu Minghui Li Mingzhu Sun Xin Zhao Qili Zhao Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

Fluorescent imaging through fluorescent dye injection is the key technique for lighting the in vivo environment and localizing the target cell in it for patch clamp operation in vivo. At present, manual fluorescent imaging is usually a labor-intensive high-skill requisite work, significantly limiting the application of patch clamp operation in vivo. In this paper, a computational modeling of the diffusion process of the injected fluorescent dye is established using the commercial ANSYS Fluent software. Based on this model, the distribution of the mass fraction, proven to be linearly related to fluorescence intensity,was calculated to simulate the fluorescent field formed by fluorescent dye injection. Further, an ADRC controller was developed to generate feedback-controlled fluorescent fields. With the above model and controller, a mobile fluorescent field, and varying fluorescent field with constant mass fraction at the target position are generated to fulfill the requirement of in vivo environment observation, search and localization of the target cell in patch clamp operation, respectively. The above results prove the feasibility of ADRC-controlled dynamic fluorescent imaging in the patch clamp operation in vivo.

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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