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检索条件"机构=Department of Automation and Systems Robotics Laboratory"

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Towards a Soft-Tissue Cutting Simulator using the Cohesive Zone Approach

Towards a Soft-Tissue Cutting Simulator using the Cohesive Z...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Kevin Lister Alan Lau Jaydev P. Desai Robotics Automation and Medical Systems (RAMS) Laboratory at the University of Maryland Department of Mechanical Engineering at Drexel University

ISBN: (纸本)9781424441211

Advancements in computational techniques have provided the ability to utilize detailed models in surgical training systems. The development of more complicated procedures coupled with reduced training time for medical residents has driven the need for accurate reality-based medical simulators. Extensive research has been conducted in the area of modeling general deformation of biological tissue;however few studies have focused on the physical properties of specific tool tissue interactions such as cutting. This paper presents a fracture mechanics based method to model the scalpel cutting of porcine liver by implementing a cohesive zone approach. Using in vivo cutting data, the parameters of the cohesive zone model are defined for the scalpel cutting process of soft biological tissues.

关键词： Blades Force Materials Biological system modeling Loading Liver Computational modeling

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A Topological View of Estimation from Noisy Relative Measurements

A Topological View of Estimation from Noisy Relative Measure...

引用

2011 American Control Conference (ACC)

作者： Pooya Molavi Ali Jadbabaie Department of Electrical and Systems Engineering and General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA

In this paper we study the problem of estimating the state of sensors in a sensor network from noisy pairwise relative measurements. The underlying sensor network is typically modeled by a graph whose edges correspond to pairwise relative measurements and nodes represent sensors. Using tools from algebraic topology and cohomology theory, we present a new model in which the higher order relations between measurements are captured as simplicial complexes. This allows us to address the fundamental tension between two conflicting goals: finding estimates that are close to obtained measurements, and at the same time are consistent around any sequence of pairwise measurements that form a cycle. By defining a measure of inconsistency around each cycle, we present a one-parameter family of algorithms that solves the estimation problem by identifying and removing the smallest fraction of measurements that make the estimates globally inconsistent. We demonstrate that the inconsistencies are due to topological obstructions and can be decomposed into local and global components that have interesting geometric interpretations. Furthermore, we show that the proposed algorithm is naturally distributed and will provably result in consistent estimates, and more importantly, recovers two sparse estimation algorithms as special cases.

关键词： Sensors Estimation Noise measurement Cost accounting Vectors Distortion measurement Noise

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Deposition of carbon nanoparticles using optically induced dielectrophoretic force

Deposition of carbon nanoparticles using optically induced d...

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International Solid-State Sensors, Actuators and Microsystems Conference

作者： Wang, S.E. Dong, Z.L. Qu, Y.L. Lee, G.B. Li, W.J. State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Graduate University Chinese Academy of Sciences China Department of Engineering Science National Cheng Kung University Taiwan Centre for Micro and Nano Systems Chinese Univerisity of Hong Kong Hong Kong

ISBN: (纸本)9781457701573

A new method which allows assembly of carbon nanoparticles (CNPs) into predesigned patterns by using optically induced dielectrophoretic (ODEP) force is presented in this study. Theoretical analysis of ODEP working principle and operational regimes are investigated. Moreover, experimental parameters including AC frequency and solution conductivity are optimized for manipulating micro/nano particles. Finally, experimental results clearly demonstrate that CNP patterns and arrays with arbitrary geometry (including a 16×16 array covering an area of 0.4×0.4 mm2) can be successfully realized. Our results proved that ODEP is a highly-effective, low-cost, reconfigurable, and parallel manipulating approach for potential applications in fabricating CNPs sensors and micro-printing. © 2011 IEEE.

关键词： Nanoparticles

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Aggregate Observational Distinguishability is Necessary and Sufficient for Social Learning

Aggregate Observational Distinguishability is Necessary and ...

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IEEE Conference on Decision and Control

ISBN: (纸本)9781612848006

We study a model of information aggregation and social learning recently proposed by Jadbabaie, Sandroni, and Tahbaz-Salehi, in which individual agents try to learn a correct state of the world by iteratively updating their beliefs using private observations and beliefs of their neighbors. No individual agent's private signal might be informative enough to reveal the unknown state. As a result, agents share their beliefs with others in their social neighborhood to learn from each other. At every time step each agent receives a private signal, and computes a Bayesian posterior as an intermediate belief. The intermediate belief is then averaged with the beliefs of neighbors to form the individual's belief at next time step. We find a set of necessary and sufficient conditions under which agents will learn the unknown state and reach consensus on their beliefs without any assumption on the private signal structure. The key enabler is a result that shows that using this update, agents will eventually forecast the indefinite future correctly.

关键词： Silicon Bayesian methods Social network services Probability distribution Yttrium Computational modeling Vectors

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SPARTAN system: Towards a low-cost and high-performance vision architecture for space exploratory rovers

SPARTAN system: Towards a low-cost and high-performance visi...

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International Conference on Computer Vision Workshops (ICCV Workshops)

作者： Ioannis Kostavelis Evangelos Boukas Lazaros Nalpantidis Antonios Gasteratos Marcos Aviles Rodrigalvarez Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Advanced Space Systems and Technologies GMV Innovating Solutions Madrid Spain

The “SPAring robotics Technologies for Autonomous Navigation” (SPARTAN) activity of the European Space Agency (ESA) aims to develop an efficient, low-cost and accurate vision system for the future Martian exploratory rovers. The interest on vision systems for space robots has been steadily growing during the last years. The SPARTAN system considers an optimal implementation of computer vision algorithms for space rover navigation and is designated for application to a space exploratory robotic rover, such as the ExoMars. The goal of the present work is the development of an appropriate architecture for the vision system. Thus, the arrangement and characteristics of the rover's vision sensors will be defined and the required computer vision modules will be presented. The analysis will be performed taking into consideration the constraints defined by ESA about the SPARTAN system.

关键词： Cameras Three dimensional displays Robot vision systems Accuracy Mars

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Proposal of educational environments with mobile robots

Proposal of educational environments with mobile robots

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IEEE Conference on robotics, automation and Mechatronics

作者： Silas F. R. Alves Humberto Ferasoli Filho René Pegoraro Marco A. C. Caldeira João M. Rosário Wilson M. Yonezawa Laboratory of Integrated Automation and Robotics Mechanical Project Department Faculty of Mechanical Engineering State University of Campinas Campinas Sao Paulo Brazil Laboratory of Integration of Intelligent Systems and Devices Computer Department Sciences Faculty University of São Paulo State Bauru Brazil

This paper describes an initiative which uses low-cost mobile robots to create robotics courses and learning environment to support the teaching of computing and many other related disciplines. The pursued principle is that lower cost alternatives that can meet the educational needs, since it is accompanied by an environment with friendly software interface. In this sense, the hardware interface was developed to allow the computer to process data from the sensors and actuators of the mobile robot. This architecture is adequate because of the acceptance of students in their use, since the environment is unrolled within a familiar platform to them.

关键词： Robot sensing systems Computer architecture Computers Mobile robots Educational robots

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An equivalent electrical model for numerical analyses of ODEP manipulation

An equivalent electrical model for numerical analyses of ODE...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Wenfeng Liang Shue Wang Yanli Qu Zaili Dong Gwo-Bin Lee Wen J. Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China Chinese Academy and Sciences China Chinese Academy of Sciences Beijing Beijing CN Center of Micro Nano Technology Research National Cheng Kung University Taiwan Centre of Micro and Nano Systems Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

Opticaldielectrophoresis(ODEP)has been explored experimentally with success in manipulating microscale objects in the last 5 years. However, not much theoretical analyses have been performed to understand its operating principles in depth and also determine its limitations as a tool to manipulate micro- and nano-scale objects. In this paper, we present our work on establishing an equivalent electrical model to analyze the important physical interactions when optically induced dielectrophoretic force is used to manipulate micron-sized polystyrene beads. Simulation results show that the ODEP manipulation of microbeads is frequency-dependent and that the electrothermal effect is negligible. Furthermore, the relationship between the frequency of the applied voltage and the maximum manipulation velocity of the microbeads obtained from simulation is consistent with our experimental measurements. In addition, simulation results also show that the minimum radius of a bead that can be manipulated exponentially decreases with respect to the size of the illuminated spot. For instance, when the illuminated spot size is 1 μm, ODEP can theoretically manipulate 100 nm beads - indicating that ODEP can be extended to manipulate nano-scale objects if the illuminated spot size can be significantly reduced.

关键词： Force Conductivity Electric fields Drag Simulation Nanobioscience

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Development of a novel ODEP chip using polymer photoconductive material and FTO electrode

Development of a novel ODEP chip using polymer photoconducti...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Shue Wang Zaili Dong Yanli Qu Lei Zhou Zhu Liu Wenli Zhou Shenglin Jiang Yan Yu G. B. Lee Wen J. Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Electronic Science and Technology Huazhong University of Science and Technology China Wuhan National Laboratory of Optoelectronics Wuhan China Center of Micro Nano Technology Research National Cheng Kung University Taiwan Cent. for Micro and Nano Systems Chinese University of Hong Kong Hong Kong China

A novel ODEP (optical dielectrophoresis) chip using a polymer photoconductive material and fluorine doped tin oxide (FTO) conductive film is demonstrated to manipulate micron-sized polystyrene beads. Instead of using the traditional hydrogenated amorphous silicon (a-Si:H) as photoconductive layers, a thin film of a mixture of poly (3-hexylthiophene) (P3HT) and [6,6]-phenyl C61-butyric acid methylester (PCBM) photoconductive polymer is used in this novel ODEP chip. When the polymer layer is illuminated by a light beam, many electron-hole pairs are created, which increase the conductivity of the polymer. Consequently, localized non-uniform electric field can be generated when an AC bias is applied across the ODEP chip, and localized DEP forces are then generated. The distribution of electrical field induced by a ring-shaped optical electrode is simulated and the maximum trapping velocity is calculated according to Stokes' law for this ODEP chip. The effect of the polymer thickness to the magnitude of the generated DEP force has also been investigated. The maximum trapping velocity and the induced DEP force exerted on 20 μm polystyrene beads are estimated to be 77 μm/s and 15 pN, respectively. Finally, performance of the polymer-based ODEP chip is compared with an a-Si:H-based ODEP chip by trapping and sorting polystyrene beads with identical parameters. The experimental results indicate that the polymer photoconductive material used in our work is promising for rapid fabrication of ODEP chips for microparticles manipulation.

关键词： Force Charge carrier processes Optical imaging Optical films Electric fields Optical polymers

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Simulation Platform for Self-assembly Structures in MRI-guided Nanorobotic Drug Delivery systems

Simulation Platform for Self-assembly Structures in MRI-guid...

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IEEE International Conference on robotics and automation (ICRA)

作者： Vartholomeos, Panagiotis Mavroidis, Constantinos Zenon Automation Technologies S.A. Greece Control Systems Lab. Department of Mechanical Engineering National Technical University of Athens Greece Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States

ISBN: (纸本)9781424450404

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Magnetic resonance imaging

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Conference on Imaging systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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