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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Christoff M. Heunis Vincenza Belfiore Marilena Vendittelli Sarthak Misra Surgical Robotics Laboratory University of Twente The Netherlands Department of Information Engineering Electronics and Telecommunications and with the Robotics Laboratory at the Department of Computer Control and Management Engineering Sapienza University of Rome Italy

Catheterization instruments are increasingly being improved to accurately diagnose and treat cardiovascular conditions. However, current catheter systems provide limited information about the shape of the catheter and tissue-instrument interaction forces during an intervention. Furthermore, relying on inconsistent feedback of such interaction forces during an intervention may result in tissue injury. This paper presents the first steps to estimate the interaction forces between a catheter and a mock-up arterial environment. We base the proposed method on a Pseudo-Rigid Body approximation of the catheter and integrate three-dimensional shape information provided by Fiber Bragg Grating sensors inside the catheter. The reconstructed forces along the catheter body can be fed back to the surgeon in visual and/or haptic form. In this work, the estimated forces are displayed in real-time in a graphical user interface with the reconstructed catheter shape. Experimental validation demonstrates a root mean square error of 0.03 N and a mean reconstruction error of 0.02 N.

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Online Magnetization Surface Identification for a Switched Reluctance Motor

Online Magnetization Surface Identification for a Switched R...

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International Universities Power engineering Conference (UPEC)

作者： Alecksey Anuchin Andrei Bogdanov Galina Demidova Evgeniy Stolyarov Dimid Surnin Yuriy Vagapov Department of Electric Drives Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Faculty of Art Science and Technology Wrexham Glyndwr University Wrexham UK

ISBN: (数字)9781728110783

ISBN: (纸本)9781728110790

The precise control of switched reluctance motor requires information about the magnetization surface as a function of rotor angular position and current. The surface can be obtained performing offline tests; however, it demands specialized mechanical equipment and time for commissioning. Moreover, the magnetization surface may be changed with the varying of the rotor and stator temperatures, which affect their dimensions and, therefore, the airgap variation. That is why the online estimation of the magnetization surface is desirable. This paper proposes the identification method operating in parallel with the model predictive current control system utilizing the magnetization map. Any error between the referenced and obtained currents is used to correct the reference points of the two-dimensional array representing the magnetization surface. The proposed method was examined using a simulation model and operated online in parallel with the primary control system driving the electrical machine.

关键词： Magnetization Reluctance motors Rotors Pulse width modulation Couplings Torque

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Force-based Feedback for Haptic Device of Mobile Assembly Robot

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Aleksandr Lukin Galina L. Demidova Anton Rassõlkin Toomas Vaimann Hamid Roozbahani Faculty of Control System and Robotics ITMO University Saint Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallin Estonia Laboratory of Intelligent Machines Lappeenranta University of Technology Lappeenranta Finland

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device.

关键词： Manipulators Robot sensing systems Robot kinematics Haptic interfaces Software

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Efficient MedSAMs: Segment Anything in Medical Images on Laptop

arXiv

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arXiv 2024年

作者： Ma, Jun Li, Feifei Kim, Sumin Asakereh, Reza Le, Bao-Hiep Nguyen-Vu, Dang-Khoa Pfefferle, Alexander Wei, Muxin Gao, Ruochen Lyu, Donghang Yang, Songxiao Purucker, Lennart Marinov, Zdravko Staring, Marius Lu, Haisheng Dao, Thuy Thanh Ye, Xincheng Li, Zhi Brugnara, Gianluca Vollmuth, Philipp Foltyn-Dumitru, Martha Cho, Jaeyoung Mahmutoglu, Mustafa Ahmed Bendszus, Martin Pflüger, Irada Rastogi, Aditya Ni, Dong Yang, Xin Zhou, Guang-Quan Wang, Kaini Heller, Nicholas Papanikolopoulos, Nikolaos Weight, Christopher Tong, Yubing Udupa, Jayaram K. Patrick, Cahill J. Wang, Yaqi Zhang, Yifan Contijoch, Francisco McVeigh, Elliot Ye, Xin He, Shucheng Haase, Robert Pinetz, Thomas Radbruch, Alexander Krause, Inga Kobler, Erich He, Jian Tang, Yucheng Yang, Haichun Huo, Yuankai Luo, Gongning Kushibar, Kaisar Amankulov, Jandos Toleshbayev, Dias Mukhamejan, Amangeldi Egger, Jan Pepe, Antonio Gsaxner, Christina Luijten, Gijs Fujita, Shohei Kikuchi, Tomohiro Wiestler, Benedikt Kirschke, Jan S. de la Rosa, Ezequiel Bolelli, Federico Lumetti, Luca Grana, Costantino Xie, Kunpeng Wu, Guomin Puladi, Behrus Martín-Isla, Carlos Lekadir, Karim Campello, Victor M. Shao, Wei Brisbane, Wayne Jiang, Hongxu Wei, Hao Yuan, Wu Li, Shuangle Zhou, Yuyin Wang, Bo AI Collaborative Centre University Health Network Department of Laboratory Medicine and Pathobiology University of Toronto Vector Institute Toronto Canada Peter Munk Cardiac Centre University Health Network Toronto Canada Toronto General Hospital Research Institute University Health Network Department of Computer Science University of Toronto University Health Network Vector Institute Toronto Canada University of Science Vietnam National University Ho Chi Minh City Viet Nam Institute of Computer Science University of Freiburg Freiburg Germany School of Medicine and Health Harbin Institute of Technology Harbin China Division of Image Processing Department of Radiology Leiden University Medical Center Leiden Netherlands Department of System and Control Engineering School of Engineering Institute of Science Tokyo Formerly Tokyo Institute of Technology Tokyo Japan Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu China School of Electrical Engineering and Computer Science University of Queensland Brisbane Australia School of Cyberspace Hangzhou Dianzi University Hangzhou China Division for Computational Radiology and Clinical AI The Department of Neuroradiology University Hospital Bonn Germany Division for Computational Radiology and Clinical AI The Department of Neuroradiology University Hospital Bonn Germany Department of Neuroradiology Heidelberg University Hospital Heidelberg Germany Division for Computational Radiology and Clinical AI Department of Neuroradiology University Hospital Bonn Germany School of Biomedical Engineering Shenzhen University Shenzhen China School of Biological Science and Medical Engineering Southeast University Nanjing China Department of Urology Cleveland Clinic Cleveland United States Department of Computer Science University of Minnesota Minneapolis United St

Promptable segmentation foundation models have emerged as a transformative approach to addressing the diverse needs in medical images, but most existing models require expensive computing, posing a big barrier to their adoption in clinical practice. In this work, we organized the first international competition dedicated to promptable medical image segmentation, featuring a large-scale dataset spanning nine common imaging modalities from over 20 different institutions. The top teams developed lightweight segmentation foundation models and implemented an efficient inference pipeline that substantially reduced computational requirements while maintaining state-of-the-art segmentation accuracy. Moreover, the post-challenge phase advanced the algorithms through the design of performance booster and reproducibility tasks, resulting in improved algorithms and validated reproducibility of the winning solution. Furthermore, the best-performing algorithms have been incorporated into the open-source software with a user-friendly interface to facilitate clinical adoption. The data and code are publicly available to foster the further development of medical image segmentation foundation models and pave the way for impactful real-world applications. © 2024, CC BY-NC-SA.

关键词： Open source software

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MyoPS: A Benchmark of Myocardial Pathology Segmentation Combining Three-Sequence Cardiac Magnetic Resonance Images

arXiv

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arXiv 2022年

作者： Li, Lei Wu, Fuping Wang, Sihan Luo, Xinzhe Martín-Isla, Carlos Zhai, Shuwei Zhang, Jianpeng Liu, Yanfei Zhang, Zhen Ankenbrand, Markus J. Jiang, Haochuan Zhang, Xiaoran Wang, Linhong Arega, Tewodros Weldebirhan Altunok, Elif Zhao, Zhou Li, Feiyan Ma, Jun Yang, Xiaoping Puybareau, Elodie Oksuz, Ilkay Bricq, Stephanie Li, Weisheng Punithakumar, Kumaradevan Tsaftaris, Sotirios A. Schreiber, Laura M. Yang, Mingjing Liu, Guocai Xia, Yong Wang, Guotai Escalera, Sergio Zhuang, Xiahai School of Data Science Fudan University Shanghai China School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Departament de Matemàtiques & Informàtica Universitat de Barcelona Barcelona Spain Computer Vision Center Universitat Autònoma de Barcelona Spain School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China School of Computer Science and Engineering Northwestern Polytechnical University Xi'An China College of Electrical and Information Engineering Hunan University Changsha China National Engineering Laboratory for Robot Visual Perception and Control Technology Changsha China College of Physics and Information Engineering Fuzhou University Fuzhou China Comprehensive Heart Failure Center Wuerzburg University Hospitals Wuerzburg Germany School of Engineering University of Edinburgh Edinburgh United Kingdom School of Robotics Xi'an Jiaotong-Liverpool University Suzhou China Department of Electrical and Computer Engineering University of California Los Angeles United States Department of Radiology and Diagnostic Imaging University of Alberta Edmonton Canada Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecomm-Unications Chongqing China ImViA Laboratory Université Bourgogne Franche-Comté Dijon France Computer Engineering Department Istanbul Technical University Istanbul Turkey Le Kremlin-Bicêtre France Department of Mathematics Nanjing University of Science and Technology Nanjing China Department of Mathematics Nanjing University Nanjing China

Assessment of myocardial viability is essential in diagnosis and treatment management of patients suffering from myocardial infarction, and classification of pathology on myocardium is the key to this assessment. This work defines a new task of medical image analysis, i.e., to perform myocardial pathology segmentation (MyoPS) combining three-sequence cardiac magnetic resonance (CMR) images, which was first proposed in the MyoPS challenge, in conjunction with MICCAI 2020. The challenge provided 45 paired and pre-aligned CMR images, allowing algorithms to combine the complementary information from the three CMR sequences for pathology segmentation. In this article, we provide details of the challenge, survey the works from fifteen participants and interpret their methods according to five aspects, i.e., preprocessing, data augmentation, learning strategy, model architecture and post-processing. In addition, we analyze the results with respect to different factors, in order to examine the key obstacles and explore potential of solutions, as well as to provide a benchmark for future research. We conclude that while promising results have been reported, the research is still in the early stage, and more in-depth exploration is needed before a successful application to the clinics. Note that MyoPS data and evaluation tool continue to be publicly available upon registration via its homepage (***/zhuangxiahai/0/myops20/). © 2022, CC BY-NC-SA.

关键词： Magnetic resonance imaging

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Data rate limits for the remote state estimation problem ⁎

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IFAC-PapersOnLine 2020年第2期53卷 4955-4960页

作者： C. Kawan A. Matveev A. Pogromsky Institute of Informatics Ludwig-Maximilians-Universität München Germany Department of Mathematics and Mechanics Saint Petersburg University St. Petersburg Russia Department of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands Department of Control Systems and Industrial Robotics Saint-Petersburg National Research University of Information Technologies Mechanics and Optics (ITMO) Russia

In the context of control and estimation under information constraints, restoration entropy measures the minimal required data rate above which a system can be regularly observed. The observer here is assumed to receive its state information through a communication channel of a finite bit-rate capacity. In this paper, we provide a new characterization of restoration entropy which does not require to compute any temporal limit, i.e., an asymptotic quantity. Our new formula is based on the idea of finding an adapted Riemannian metric on the state space that allows to ‘see’ the decisive quantity that determines the restoration entropy - a certain type of Lyapunov exponent - in only one step of time.

关键词： Entropy Nonlinear systems First second Lyapunov methods

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Tartanair: A dataset to push the limits of visual slam

arXiv

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arXiv 2020年

作者： Wang, Wenshan Zhu, Delong Wang, Xiangwei Hu, Yaoyu Qiu, Yuheng Wang, Chen Hu, Yafei Kapoor, Ashish Scherer, Sebastian Robotics Institute of Carnegie Mellon University Pittsburgh United States Department of Electronic Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong Control science and engineering Tongji University Shanghai China Microsoft Research Seattle United States

We present a challenging dataset, the TartanAir, for robot navigation task and more. The data is collected in photo-realistic simulation environments in the presence of various light conditions, weather and moving objects. By collecting data in simulation, we are able to obtain multi-modal sensor data and precise ground truth labels, including the stereo RGB image, depth image, segmentation, optical flow, camera poses, and LiDAR point cloud. We set up a large number of environments with various styles and scenes, covering challenging viewpoints and diverse motion patterns, which are difficult to achieve by using physical data collection platforms. In order to enable data collection in such large scale, we develop an automatic pipeline, including mapping, trajectory sampling, data processing, and data verification. We evaluate the impact of various factors on visual SLAM algorithms using our data. Results of state-of-the-art algorithms reveal that the visual SLAM problem is far from solved, methods that show good performance on established datasets such as KITTI don't perform well in more difficult scenarios. Although we use the simulation, our goal is to push the limits of Visual SLAM algorithms in the real world by providing a challenging benchmark for testing new methods, as well as large diverse training data for learning-based methods. Our dataset is available at http://***/tartanair-dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Data acquisition

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Corrigendum to 'Foot trajectories and loading rates in a transfemoral amputee for six different commercial prosthetic knees: An indication of adaptability'[Medical engineering and Physics, Volume 68, June 2019, Pages 46-56]

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Medical engineering & physics 2024年 124卷 104030页

作者： Alireza Abouhossein Mohammed I Awad Hafiz F Maqbool Carl Crisp Todd D Stewart Neil Messenger Robert C Richardson Abbas A Dehghani-Sanij David Bradley Department of Ergonomics School of Public Health and Safety Shahid Beheshti University of Medical Sciences *** Tehran Iran Robotics Design and Optimisation Mechanical Engineering University of Leeds School of Mechanical Engineering Leeds LS2 9JT United Kingdom. Electronic address: a.abouhossein@leeds.ac.uk. Faculty of Engineering Ain Shams University Cairo Egypt. Department of Mechatronics & Control Engineering University of Engineering & Technology Lahore Faisalabad Pakistan. Robotics Design and Optimisation Mechanical Engineering University of Leeds School of Mechanical Engineering Leeds LS2 9JT United Kingdom. Institute Medical and Biological Engineering School of Mechanical Engineering University of Leeds Leeds LS2 9JT UK. School of Sport and Exercise Sciences University of Leeds Leeds LS2 9JT UK. Abertay University Bell Street Dundee DD1 1HG UK.

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controlling the Positioning 3D Rotational Piezoelectric Deflector using ERF: An Experimental Study

Controlling the Positioning 3D Rotational Piezoelectric Defl...

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Mechatronics Systems and Materials (MSM)

作者： Sylvester Sedem Djokoto Egidijus Dragašius Vytautas Jūrėnas Arkadiusz Mystkowski Department of Production Engineering Kaunas University of Technology Studentu 56 Kaunas Lithuania Institute of Mechatronics Kaunas University of Technology Studentu 56 Kaunas Lithuania Department of Automatic Control and Robotics Bialystok University of Technology Wiejska 45C Bialystok Poland

The following topics are dealt with: mobile robots; autonomous aerial vehicles; vibrations; neural nets; control engineering computing; finite element analysis; design engineering; learning (artificial intelligence); ... 详细信息

ISBN: (数字)9781728169569

ISBN: (纸本)9781728169576

关键词： Three-dimensional displays Fluids Rotors Electric fields Vibrations Laser beams Mechanical engineering

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Preface

Lecture Notes in Networks and Systems

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Lecture Notes in Networks and Systems 2024年 1076 LNNS卷 v-vii页

作者： Biele, Cezary Kacprzyk, Janusz Kopeć, Wieslaw Możaryn, Jakub Owsiński, Jan W. Romanowski, Andrzej Sikorski, Marcin National Information Processing Institute Warszaw Poland Polish Academy of Sciences Systems Research Institute Warsaw Poland Polish-Japanese Academy of Information Technology Warsaw Poland Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland Institute of Applied Computer Science Faculty of Electrical Electronic Computer and Control Engineering Lódż University of Technology LODZ Poland Department of Applied Informatics in Management Faculty of Management and Economics Gdańsk University of Technology Gdańsk Poland

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