A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism,...
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A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles of gait.
Lung ultrasound scanning is essential for diagnosing lung diseases. The scan effectiveness critically depends on both longitudinal and transverse scans through intercostal spaces to reduce rib shadowing interference, ...
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Lung ultrasound scanning is essential for diagnosing lung diseases. The scan effectiveness critically depends on both longitudinal and transverse scans through intercostal spaces to reduce rib shadowing interference, as well as maintaining the probe perpendicular to pleura for pathological artifact generation. Achieving this level of scan quality often depends heavily on the experience of doctors. Robotic ultrasound scanning shows promise, but currently lacks a direct path planning method for intercostal scanning, and probe orientation does not consider imaging differences between lungs and solid organs. In this paper, we aim to fully automate two fundamental operations in lung ultrasound scanning: longitudinal and transverse scans. We propose pioneering path planning methods along intercostal spaces and innovative solutions for adaptive probe posture adjustment using real-time pleural line feedback, specifically addressing the unique characteristics of lung ultrasound scanning. This ensures the acquisition of high-quality, diagnostically meaningful ultrasound images. In addition, we develop a robotic lung ultrasound system to validate the proposed methods. Extensive experimental results on two volunteers and a chest phantom confirm the efficacy of our methods, and demonstrate the system’s feasibility in automated lung ultrasound examinations. Our work lays a solid foundation for automated robotic complete lung scanning.
An approach to finding the solution equations for simple manipulators is described which enhances the well known method of Paul, Renaud, and Stevenson, by explicitly making use of known decouplings in the manipulator ...
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Driver assistance systems that monitor driver intent, warn drivers of lane departures, or assist in vehicle guidance are all being actively research and even put into commercial production. It is therefore important t...
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We present an algorithm that allows swarms of robots to navigate in environments containing unknown obstacles, moving towards and spreading along 2D shapes given by implicit functions. Basically, a gradient descent ap...
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We present a novel approach to solving the trajectory planning problem (TPP) in time-varying environments. The essence of our approach lies in a heuristic but natural decomposition of TPP into two subproblems: (1) pla...
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We present a novel approach to solving the trajectory planning problem (TPP) in time-varying environments. The essence of our approach lies in a heuristic but natural decomposition of TPP into two subproblems: (1) planning a path to avoid collision with static obstacles and (2) planning the velocity along the path to avoid collision with moving obstacles. We call the first subproblem the path planning problem (PPP) and the second the velocity planning problem (VPP). Thus, our decomposition is summarized by the equation TPP right arrow PPP + VPP. The symbol right arrow indicates that the decomposition holds under certain assumptions, e.g., when obstacles are moving independently of (i.e., not tracking) the robot. Furthermore, we pose the VPP in path-time space, where time is explicitly represented as an extra dimension, and reduce it to a graph search in this space. In fact, VPP is transformed to a two-dimensional PPP in path-time space with some additional constraints. Algorithms are then presented to solve the VPP with different optimality criteria: minimum length in path-time space, and minimum time. [ABSTRACT FROM AUTHOR]
In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotatin...
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The Contextual Activity Notification Visualization Analysis System (Canvas) provides a user interaction interface for instantaneous feedback of contextual processing units that enable high-level semantic extraction an...
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In this paper, we present a visual learning framework to retrieve a 3D model and estimate its pose from a single image. To increase the quantity and quality of training data, we define our simulation space in the near...
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A mobile platform mounted with Omni-Directional vision Sensor (ODVS) can be used to monitor large areas and detect interesting events such as independently moving persons and vehicles. To avoid false alarms due to ext...
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ISBN:
(纸本)158113780X
A mobile platform mounted with Omni-Directional vision Sensor (ODVS) can be used to monitor large areas and detect interesting events such as independently moving persons and vehicles. To avoid false alarms due to extraneous features, the image motion induced by the moving platform should be compensated. This paper describes a formulation of parametric ego-motion compensation for an ODVS. Omni images give 360 degrees view of surroundings but undergo considerable image distortion. To account for these distortions, the parametric planar motion model is integrated with the transformations into omni image space. Prior knowledge of approximate camera calibration and vehicle speed are integrated with the estimation process using Bayesian approach. Iterative, coarse to fine, gradient based estimation is used to correct the motion parameters for vibrations and other inaccuracies in prior knowledge. Experiments with camera mounted on a mobile platform demonstrate successful detection of moving persons and vehicles. Copyright 2003 ACM.
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