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检索条件"机构=Computational Robotics Lab in the Department of Computer Science"

共 1406 条记录，以下是41-50 订阅

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Heat transfer analysis of TiO2-H2O based nanofluid flow across a porous stretching sheet with heat source/sink using Response Surface Methodology

Heat transfer analysis of TiO2-H2O based nanofluid flow acro...

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2024 International Conference on Thermofluids and Manufacturing science, ICTMS 2024

作者： Reshmi, V.P. Nagaraja, K.V. Shankara Department of Computer Science &engineering Amrita School of Computing Amrita Vishwa Vidyapeetham Bengaluru India Computational Science Lab Amrita School of Engineering Amrita Vishwa Vidyapeetham Bengaluru India Department of Civil Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Bengaluru India

Efforts are focused on optimizing thermal energy control and utilization within the system. The analysis is done on heat transmission characteristics of a TiO2.H2O nanofluid flowing over a stretching sheet with an integrated heat source/sink. Sensitivity analysis is performed using Response Surface Methodology (RSM) to understand heat transfer behaviour effectively. Governing equations are transformed into ordinary differential equations using suitable similarity variables. Mathematical formulation for steady two-dimensional flow of nanofluid in a porous medium along with a stretching sheet is established, and numerical outcomes are optimized using RSM. Influence of porous medium (A), volume fraction (φ), and heat source/sink (Hs) on Nusselt number (Nu) and skin friction factor (Cf) is analyzed through normal, response surface, and contour plots and it is found that for increasing Hs decreases Nu for higher φ values. © Published under licence by IOP Publishing Ltd.

关键词： Porous materials

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Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections

Design and Evaluation of a Needle Manipulation System with E...

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International Symposium on Medical robotics (ISMR)

作者： Chang Chang Junling Mei Yanzhou Wang Lidia Al-Zogbi Simon Leonard Amit Jain Iulian Iordachita Department of Mechanical Engineering Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Computer Science Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Orthopaedic Surgery Johns Hopkins University School of Medicine Baltimore MD USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

This paper presents a flexible needle guidance system and its workflow that enables registration of computed tomography (CT) and electromagnetic (EM) tracking systems with a finite element (FE) simulator for needle-based percutaneous spinal injections. CT is used only pre- and postoperatively for surgical planning and confirmation, while EM tracking is combined intraoperatively with an FE-based needle controller to track the planned needle trajectory and avoid obstacles. Evaluation of the proposed system using a multi-layer soft tissue phantom shows an average targeting accuracy of 0.4 mm.

关键词： Target tracking Medical robotics Computed tomography Biological tissues Phantoms Needles Trajectory Planning Finite element analysis Electromagnetics

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An Augmented Reality Measurement Tool for the da Vinci Research Kit

An Augmented Reality Measurement Tool for the da Vinci Resea...

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International Symposium on Medical robotics (ISMR)

作者： Shiyue Wang Jing-Fen Wang Yubin Koh Haoying Zhou Anton Deguet Peter Kazanzides Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Computer Science Purdue University West Lafayette IN USA Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Computer Science Johns Hopkins University Baltimore MD USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

We present an augmented reality surgical robotics console for the da Vinci Research Kit (dVRK) that integrates a real-time distance measurement tool to enhance spatial awareness during robotic-assisted surgical procedures through an interactive system. The system integrates an RViz-based interface with ROS topics, enabling virtual cursor visualization and interactive controls for precise measurements on tissue or phantom models. It supports two distinct measurement approaches: (1) a virtual measurement capability, where the operator uses the two Master Tool Manipulators (MTMs) to drive virtual 3D measurement cursors in the stereo display (a “masters as mice” mode), and (2) a physical measurement tool, where the user teleoperates one or more Patient Side Manipulators (PSMs) to touch two features and report the intervening distance. We conduct a user study on virtual (MTM) and teleoperation (PSM) modes to assess performance and accuracy and gather user feedback. The results show a Root Mean Square Error (RMSE) of 2.19 mm to 7.25 mm across different modes and tasks. This work underscores the importance of such systems for enhancing accuracy and usability in endoscopic surgery, where spatial awareness and intraoperative assessment are critical. Code is available at https://***/capricieuxV/RVinci_***.

关键词： Visualization Three-dimensional displays Medical robotics Accuracy Surgery Manipulators Real-time systems Usability Root mean square Augmented reality

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Soft Measures for Extracting Causal Collective Intelligence 1

Soft Measures for Extracting Causal Collective Intelligence

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1st Workshop on NLP for science, NLP4science 2024

作者： Berijanian, Maryam Dork, Spencer Singh, Kuldeep Millikan, Michael Riley Riggs, Ashlin Swaminathan, Aadarsh Gibbs, Sarah L. Friedman, Scott E. Brugnone, Nathan Department of Computational Mathematics Science & Engineering Michigan State University United States Department of Computer Science Michigan State University United States Complex & Social Systems Lab Two Six Technologies United States University of South Alabama United States SIFT United States

ISBN: (纸本)9798891761858

Understanding and modeling collective intelligence is essential for addressing complex social systems. Directed graphs called fuzzy cognitive maps (FCMs) offer a powerful tool for encoding causal mental models, but extracting high-integrity FCMs from text is challenging. This study presents an approach using large language models (LLMs) to automate FCM extraction. We introduce novel graph-based similarity measures and evaluate them by correlating their outputs with human judgments through the Elo rating system. Results show positive correlations with human evaluations, but even the best-performing measure exhibits limitations in capturing FCM nuances. Fine-tuning LLMs improves performance, but existing measures still fall short. This study highlights the need for soft similarity measures tailored to FCM extraction, advancing collective intelligence modeling with NLP. © 2024 Association for computational Linguistics.

关键词： computational linguistics

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ASFM: Augmented Social Force Model for Legged Robot Social Navigation 23

ASFM: Augmented Social Force Model for Legged Robot Social N...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Ægidius, Sebastian Chacón-Quesada, Rodrigo Delfaki, Andromachi Maria Kanoulas, Dimitrios Demiris, Yiannis Imperial College London Personal Robotics Lab Department of Electrical and Electronic Engineering LondonSW7 2AZ United Kingdom University College London Robot Perception and Learning Lab Department of Computer Science Gower Street LondonWC1E 6BT United Kingdom Ai Centre Department of Computer Science Ucl United Kingdom Archimedes/Athena Rc Greece

ISBN: (纸本)9798350373578

Social navigation in robotics primarily involves guiding mobile robots through human-populated areas, with pedestrian comfort balanced with efficient path-finding. Although progress has been seen in this field, a solution for the seamless integration of robots into pedestrian settings remains elusive. In this paper, a social force model for legged robots is developed, utilizing visual perception for human localization. In particular, an augmented social force model is introduced, incorporating refined interpretations of repulsive forces and avoidance behaviors based on pedestrian actions, alongside a target following mechanism. Experimental evaluation on a quadruped robot, through various scenarios, including interactions with oncoming pedestrians, crowds, and obstructed paths, demonstrates that the proposed augmented model significantly improves upon previous baseline methods in terms of chosen path length, average velocity, and time-to-goal for effective and efficient social navigation. The code isopen-source, while video demonstrations can be found on the project's webpage: https://***/ASFM/ © 2024 IEEE.

关键词： Mobile robots

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Better Hit the Nail on the Head than Beat around the Bush: Removing Protected Attributes with a Single Projection

Better Hit the Nail on the Head than Beat around the Bush: R...

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2022 Conference on Empirical Methods in Natural Language Processing, EMNLP 2022

作者： Haghighatkhah, Pantea Fokkens, Antske Sommerauer, Pia Speckmann, Bettina Verbeek, Kevin TU Eindhoven Department of Mathematics and Computer Science Netherlands Vrije Universiteit Amsterdam Computational Linguistics Text Mining Lab Netherlands

Bias elimination and recent probing studies attempt to remove specific information from embedding spaces. Here it is important to remove as much of the target information as possible, while preserving any other information present. INLP is a popular recent method which removes specific information through iterative nullspace projections. Multiple iterations, however, increase the risk that information other than the target is negatively affected. We introduce two methods that find a single targeted projection: Mean Projection (MP, more efficient) and Tukey Median Projection (TMP, with theoretical guarantees). Our comparison between MP and INLP shows that (1) one MP projection removes linear separability based on the target and (2) MP has less impact on the overall space. Further analysis shows that applying random projections after MP leads to the same overall effects on the embedding space as the multiple projections of INLP. Applying one targeted (MP) projection hence is methodologically cleaner than applying multiple (INLP) projections that introduce random effects. © 2022 Association for computational Linguistics.

关键词： Embeddings

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EfficientNet-SAM: A Novel EffecientNet with Spatial Attention Mechanism for COVID-19 Detection in Pulmonary CT Scans

EfficientNet-SAM: A Novel EffecientNet with Spatial Attentio...

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Ramy Farag Parth Upadhay Jacket Demby’s Yixiang Gao Katherin Garces Montoya Seyed Mohamad Ali Tousi Gbenga Omotara Guilherme DeSouza Department of Electrical Engineering and Computer Science Vision-Guided and Intelligent Robotics Lab - ViGIR Lab University of Missouri-Columbia

ISBN: (数字)9798350365474

ISBN: (纸本)9798350365481

Manual analysis and diagnosis of COVID-19 through the examination of Computed Tomography (CT) images of the lungs can be time-consuming and result in errors, especially given high volume of patients and numerous images per patient. So, we address the need for automation of this task by developing a new deep learning-based pipeline. Our motivation was sparked by the CVPR Workshop on "Domain Adaptation, Explainability and Fairness in AI for Medical Image Analysis", more specifically, the "COVID-19 Diagnosis Competition (DEF-AI-MIA COV19D)" under the same Workshop. This challenge provides an opportunity to assess our proposed pipeline for COVID-19 detection from CT scan images. The same pipeline incorporates one of the architectures in the EfficientNet "family", but with an added Spatial Attention Mechanism: EfficientNet-SAM. Also, unlike the traditional/past pipelines, which relied on a preprocessing step, our pipeline takes the raw selected input images without any such step, except for an image-selection step to simply reduce the number of CT images required for training and/or testing. Moreover, our pipeline is computationally efficient, as, for example, it does not incorporate a decoder for segmenting the lungs. It also does not combine different models nor combine RNN with a backbone, as other pipelines in the past did. Nevertheless, our pipeline outperformed all approaches presented by other teams in last year’s instance of the same challenge using the validation subset. It also placed 5th in this year’s competition, ranking less than 1.3% below the 1st place and close to 3.5% above the 6th place based on the macro-F1 score.

关键词： COVID-19 Training Visualization Attention mechanisms Computed tomography Conferences Pipelines

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Learning in deep factor graphs with Gaussian belief propagation 24

Learning in deep factor graphs with Gaussian belief propagat...

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Proceedings of the 41st International Conference on Machine Learning

作者： Seth Nabarro Mark Van Der Wilk Andrew J. Davison Dyson Robotics Lab Imperial College London UK Department of Computer Science University of Oxford UK

We propose an approach to do learning in Gaussian factor graphs. We treat all relevant quantities (inputs, outputs, parameters, activations) as random variables in a graphical model, and view training and prediction as inference problems with different observed nodes. Our experiments show that these problems can be efficiently solved with belief propagation (BP), whose updates are inherently local, presenting exciting opportunities for distributed and asynchronous training. Our approach can be scaled to deep networks and provides a natural means to do continual learning: use the BP-estimated posterior of the current task as a prior for the next. On a video denoising task we demonstrate the benefit of learnable parameters over a classical factor graph approach and we show encouraging performance of deep factor graphs for continual image classification.

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Feature Importance Identification for Time Series Classifiers

Feature Importance Identification for Time Series Classifier...

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2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022

作者： Meng, Han Wagner, Christian Triguero, Isaac Lab United Kingdom School of Computer Science Nottingham United Kingdom DaSCI Andalusian Institute in Data Science and Computational Intelligence University of Granada Department of Computer Science and Artificial Intelligence Granada Spain

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Time series classification is a challenging research area where machine learning techniques such as deep learning perform well, yet lack interpretability. Identifying the most important features for such classifiers provides a pathway to improving their interpretability. Several Feature Importance (FI) identification methods remove the contributions of features, i.e. observations at certain time steps of, from the input and evaluate the change in the classification result to measure the importance of features. As time series features cannot simply be deleted, current techniques generally rely on replacing features with constant or random values. While effective, this approach risks unexpected results in the classification and thus feature importance estimation-as the replacements used may be different to what the classifier encountered in the training phase. This is referred to as the Out-Of-Distribution problem. The OOD problem has been recognised in image and language models but have not received much attention in the context of time series classification. This work addresses the OOD problem in FI identification for time series classifiers. Specifically, we propose a method based on Conditional Variational Autoencoder to generate possible sets of within-distribution inputs, which are used to evaluate feature importance through marginalisation. Experiments on publicly accessible datasets are carried out showing that the method identifies the most important features with higher accuracy than existing methods, providing the basis for improved explainability of time series classifiers. © 2022 IEEE.

关键词： Time series

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Exploring Innovations in Autonomous robotics and Mechatronics: Application in Manufacturing and Healthcare 5

Exploring Innovations in Autonomous Robotics and Mechatronic...

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5th International Conference on Smart Electronics and Communication, ICOSEC 2024

作者： Shalini, T.Grace Ganeshabu, L. Chemudugunta, Priyanka Yamsani, Nagendar Kumar, Ch.Ashok Athiraja, A. School of Computing Department of Computational Intelligence Chengalpattu Tamil Nadu Kattankulathur India Rajalakshmi Engineering College Department of Robotics and Automation Thandalam Mevalurkuppam Rajalakshmi Nagar Tamil Nadu Chennai India Karpaga Vinayaga College of Engineering and Technology Department of Robotics and Automation Tamil Nadu Chengalpattu India Sr University Department of School of Computer Science and Artificial Engineering Warangal India Malla Reddy Engineering College Department of Mechanical Engineering Main Campus Hyderabad Telangana Maisammaguda India Telangana Secunderabad India

ISBN: (纸本)9798331504403

Autonomous robotics and mechatronics have drastically changed the manufacturing and healthcare sectors by increasing productivity, precision, and flexibility. This work addresses the pressing need for new methods to advance these sectors by merging intelligent algorithms with autonomous systems. A hybrid strategy was employed, combining Deep Reinforcement Learning (DRL) and Adaptive Control Systems (ACS), to develop and optimize robotic operations. Extensive studies were conducted to assess the success of this strategy, which demonstrated a 25% reduction in operating expenses and a 30% increase in production efficiency in manufacturing settings. The method produced a precision rate of about 99% in the healthcare industry, which is significantly better than the 93% average of current systems. It also reduced patient recovery times by an estimated 20%. These results highlight the improved performance and promise of ACS with DRL combination in autonomous robotics, which may have revolutionary implications for the manufacturing and healthcare industries. The success, highlighted by economic and medical benefits, demonstrates the efficacy of our methodology and provides a strong platform for future developments in autonomous robotics and mechatronics. © 2024 IEEE.

关键词： Deep reinforcement learning

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