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Robot assistant for dental implantology 4th

4th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2001

作者： Boesecke, R. Brief, J. Raczkowsky, J. Schorr, O. Daueber, S. Krempien, R. Treiber, M. Wetter, T. Hassfeld, S. TaMed GmbH Hufschmiedstr. ¼ WieslochD-69168 Germany Department of Oral and Maxillofacial Surgery University Hospital Heidelberg Germany Department of Radiology University Hospital Heidelberg Germany Institute of Real-Time Computer Systems and Robotics University of Karlsruhe Germany Department of Medical Informatics University Hospital Heidelberg Germany

ISBN: (纸本)3540426973

We introduce a method to apply a preoperative 3D plan for inserting dental implants with an assisting medical robot. The treatment plan is based on the 3D visualization of the CT data of the patient.s maxilla and mandible, and supplies the location of the implants in the patient.s coordinates. The plan is then transferred to the surgical robot.s coordinate system. The robot guides the tool, a drill guide. Position, orientation, and depth of the initial drilling is defined with the tool held by the robot while the surgeon drills. The robot assists the dentist, and the optimal treatment plan will be applied directly to the patient. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Drills

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End user specication of RoboCup teams 3rd

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3rd Robot World Cup Soccer Games and Conferences, RoboCup 1999

作者： Scerri, Paul Ydrén, Johan Real-time Systems Laboratory Department of Computer and Information Science Linköpings Universitet LinköpingS-581 83 Sweden Institute for Computer Science Linkpings Universitet Sweden

ISBN: (纸本)9783540410430

Creating complex agents for simulation environments has long been the exclusive realm of AI experts. However it is far more desirable that experts in the particular application domain, rather than AI experts, are empowered to specify agent behavior. In this paper an approach is presented that allows domain experts to specify the high-level team strategies of agents for RoboCup. The domain experts’ specications are compiled into behavior based agents. The 1999 RoboCup World Cup provided an interesting basis for evaluation of the approach. We found that for RoboCup it is not necessary to allow a user to change low level aspects of the agents’ behavior in order for them to create a range of different, interesting teams. We also found that the modular nature of behavior based architectures make them an ideal target architecture for compiling enduser specications. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Artificial intelligence

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3D norm data: The first step towards semiautomatic virtual craniofacial surgery

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computer Aided Surgery 2001年第5期5卷

作者： J. Brief S. Hassfeld S. Däuber A. Pernozzoli J. Münchenberg T. Redlich M. Walz R. Krempien H. Weisser C. Poeckler J. Raczkowsky O. Burgert T. Salb B. Kotrikova U. Rembold H. Wörn R. Dillmann J. Mühling Departments of Oral and Maxillofacial Surgery (J.B. S.H. A.P. T.R. B.K. J.Müh.) and Radiology (R.K.) University of Heidelberg Heidelberg Department of Radiology University of Heidelberg Mannheim (M.W. H.W. C.P.) and Institute of Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe (S.D. J.Mün. J.R. O.B. T.S. U.R. H.W. R.D.) Germany

When planning craniofacial surgical interventions, the ideal appearance of the patient is very important. The final appearance should be as close as possible to that which the patient would have if he/she were without defects. Our first step towards achieving this is to build a database containing sets of three-dimensional CT images that allows for comparison of the shape of a patient with defects to the typical shape of an age- and sex-matched “average” person without defects. We started to collect CT data from patients without pathologies and, in co-operation with two radiology institutes (in Mannheim and Heidelberg), over 100 CT data sets have now been collected and classified according to age and sex. It is necessary to choose an appropriate statistical method to calculate the norm data from the different data sets. Based on the statistical method, an age- and sex-matched “average” model of the anatomy will be created. Comp Aid Surg 5:353–358 (2000). © 2000 Wiley-Liss, Inc.

关键词： 3D norm data virtual healing virtual craniofacial surgery

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On the performance of a biologically motivated visual control strategy for robotic hand-eye coordination

On the performance of a biologically motivated visual contro...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： A. Hauck G. Passig T. Schenk M. Sorg G. Farber Institute for Real-Time Computer Systems Technische Universität München Germany Department of Neurology Ludwig-Maximilians-Universitaet Muenchen Germany

Research has focused on developing control strategies that allow to work with imprecisely calibrated or even uncalibrated robot systems. A popular approach is to close the control loop with visual feedback (visual servoing), even though this requires continuous, high rate image processing. In contrast, we developed a strategy that can compensate calibration errors by integrating sparse visual feedback asynchronously. This strategy was motivated by neuroscientific studies which show that human grasping definitely requires only sparse asynchronous visual feedback, even with disturbed visual input. We analyze the performance of our control strategy on a robotic hand-eye system consisting of a 6 d.o.f. manipulator and a pan-tilt head with a stereo camera system. To analyze thoroughly which calibration errors can be compensated by sparse feedback, we furthermore built a complete simulation model of the real hand-eye system, including the vision modules. Taken together, experimental and simulation results show that calibration errors can be compensated with a very moderate amount of (asynchronous) visual feedback. Thus, the proposed control strategy can indeed be seen as a serious alternative to visual servoing for real robotics applications. This shows that robotics can profit from taking a closer look at the results of neuroscience.

关键词： Biological control systems Robots Neurofeedback Calibration Control systems Visual servoing Feedback loop Image processing Humans Performance analysis

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Fault detection and identification in a mobile robot using multiple model estimation and neural network

Fault detection and identification in a mobile robot using m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Goel G. Dedeoglu S.I. Roumeliotis G.S. Sukhatme Robotics Research Laboratory Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

We propose a method to detect and identify faults in wheeled mobile robots. The idea behind the method is to use adaptive estimation to predict the outcome of several faults, and to learn them collectively as a failure pattern. Models of the system behavior under each type of fault are embedded in multiple parallel Kalman filter (KF) estimators. Each KF is tuned to a particular fault and predicts, using its embedded model, the expected values for the sensor readings. The residual, the difference between the predicted readings (based on certain assumptions for the system model and the sensor models) and the actual sensor readings, is used as an indicator of how well each filter is performing. A backpropagation neural network processes this set of residuals as a pattern and decides which fault has occurred, that is, which filter is better tuned to the correct state of the mobile robot. The technique has been implemented on a physical robot and results from experiments are discussed.

关键词： Fault detection Fault diagnosis Mobile robots Neural networks Filters Predictive models Tires Mechanical sensors Intelligent robots Robot sensing systems

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Strong practical stability for a class of 2D linear systems

Strong practical stability for a class of 2D linear systems

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D. Owens Institute of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Institute of Computer Science and Electronics Technical University of Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield UK

Linear repetitive processes are a distinct class of 2D linear systems of both theoretical and practical interest. The stability theory for these processes currently consists of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. This paper develops the concept of strong practical stability for such cases.

关键词： Linear systems Asymptotic stability computer science State-space methods robotics and automation Software engineering systems engineering and theory Metals industry Iterative algorithms Electrical equipment industry

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Sonar-based feature recognition and robot navigation using a neural network

Sonar-based feature recognition and robot navigation using a...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Goel G.S. Sukhatme Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA University of Southern California Los Angeles CA US

An efficient strategy based on an artificial neural network is presented to enable a mobile robot to move autonomously and build a rough map of its environment. The paper describes a technique based on a neural network which uses data from sonars to recognize features online. Our method is systematic, simple and yields very good results. Moreover, it is generalizable in the sense that one can train the robot to recognize particular features of interest. We have implemented and tested this technique successfully on-board a mobile robot which uses a 68332 processor and does not have support for floating point arithmetic and file structure. Once trained, the robot can recognize the features on the fly and react to them appropriately.

关键词： Neural networks Mobile robots Artificial neural networks Robot sensing systems Intelligent robots Sonar detection Acoustic reflection Sonar navigation Target tracking robotics and automation

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Implementing real-time scheduling daemon in general purpose operating system Unix

Implementing real-time scheduling daemon in general purpose ...

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IEEE International Conference on Embedded and real-time Computing systems and Applications (RTCSA)

作者： Jin-Ho Kim Sang-Wook Kim Dae-Yong Kim Wan Choi Advanced Information Technology Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea Department of Computer Science Kangwon University Chunchon South Korea Department of Information and Telecommunications Engineering Kangwon University Chunchon South Korea Real-Time Database Group Electronics and Telecommunications Research Institute Daejeon South Korea

In this paper, we propose a method implementing real-time scheduling in the Unix, a general-purpose operating system (GPOS), by considering the deadline of real-time tasks. Our approach employs a special task called the scheduling daemon, which deals with all the real-time tasks in a system and makes just one task become a ready-to-run state and other sleep states. This causes the Unix scheduler to deal with only one real-time task as a rule, and thus bypasses time sharing-based scheduling strategy of the Unix. Therefore, all the real-time tasks are scheduled by the strategy of the scheduling daemon. We implement the scheduling daemon on the Unix, and build a real-time platform in order that application programmers develop real-time systems more effectively. Moreover, we show the superiority of our approach through extensive experiments.

关键词： Operating systems real time systems time sharing computer systems Sleep Programming profession Processor scheduling computer science Data engineering Information technology Databases

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Workshop on software and performance [Guest Editors' Introduction]

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IEEE Transactions on Software Engineering 2000年第12期26卷 1121-1121页

作者： A.M.K. Cheng P. Clements M. Woodside Department of Computer Science University of Houston Houston TX USA Software Engineering Institute Carnegie Mellon University Pittsburgh PA USA Real-Time and Distributed Systems Group Department of Systems and Computer Engineering Carleton University Ottawa ONT Canada

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