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IEEE MIT Undergraduate Research Technology Conference (URTC)

作者： Evan Buckley Joshua Geyster Benjamin Larkin Ulkuhan Guler Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA

This article presents the design of a miniaturized, minimally-invasive blood pH sensing device for medical point-of-care applications. Blood pH is a vital marker for determining respiratory and metabolic health. Abnormal blood pH levels indicate that the body’s natural buffer system is out of balance, which may imply serious health issues, such as kidney damage, pneumonia, or heart failure. This work utilizes an Ion Sensitive Field Effect Transistor (ISFET) to measure the pH of a liquid solution with a future focus on blood pH measurements. We designed a readout circuit to convert the changing threshold voltage of the ISFET, based on the solution’s pH level, to a pH measurement displayed on the device’s screen in real-time. With its portable size and its ability to accurately measure with a minimal amount of solution, this device may be a more convenient alternative for home use when compared to the current state-of-the-art blood pH measurement techniques.

关键词： Electrodes Pulmonary diseases Point of care Size measurement Threshold voltage Real-time systems Sensors

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Realistic Data Generation for 6D Pose Estimation of Surgical Instruments

arXiv

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arXiv 2024年

作者： Barragan, Juan Antonio Zhang, Jintan Zhou, Haoying Munawar, Adnan Kazanzides, Peter Department of Computer Science Johns Hopkins University BaltimoreMD21218 United States Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01608 United States

Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments is critical to enable the automatic execution of surgical maneuvers based on visual feedback. In recent years, supervised deep learning algorithms have shown increasingly better performance at 6D pose estimation tasks;yet, their success depends on the availability of large amounts of annotated data. In household and industrial settings, synthetic data, generated with 3D computer graphics software, has been shown as an alternative to minimize annotation costs of 6D pose datasets. However, this strategy does not translate well to surgical domains as commercial graphics software have limited tools to generate images depicting realistic instrument-tissue interactions. To address these limitations, we propose an improved simulation environment for surgical robotics that enables the automatic generation of large and diverse datasets for 6D pose estimation of surgical instruments. Among the improvements, we developed an automated data generation pipeline and an improved surgical scene. To show the applicability of our system, we generated a dataset of 7.5k images with pose annotations of a surgical needle that was used to evaluate a state-of-the-art pose estimation network. The trained model obtained a mean translational error of 2.59 mm on a challenging dataset that presented varying levels of occlusion. These results highlight our pipeline’s success in training and evaluating novel vision algorithms for surgical robotics applications. Copyright © 2024, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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Cross-Modality Registration using Bone Surface Pointcloud for Robotic Ultrasound-Guided Spine Surgery

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Journal of Medical Robotics Research 2025年第0期

作者： Ma, Xihan Zhang, Xiao Wang, Yang Nycz, Christopher J. Sungarian, Arno Ji, Songbai Huang, Xinming Zhang, Haichong K. Department of Robotics Engineering Worcester Polytechnic Institute 100 Institute Rd. Worcester 01609 MA United States Department of Electrical and Computer Engineering Worcester Polytechnic Institute 100 Institute Rd. Worcester 01609 MA United States Memorial Medical Center University of Massachusetts 55 N Lake Ave. Worcester 01655 MA United States Department of Biomedical Engineering Worcester Polytechnic Institute 100 Institute Rd. Worcester 01609 MA United States

Image guidance using preoperative magnetic resonance imaging (MRI) and intraoperative ultrasound (US) can improve the outcome of spine surgery. Employing a robotic US system (RUSS) allows the automated acquisition of large 3D US volumes, facilitating accurate registration. However, such registration remains challenging due to the cross-modality discrepancy. To address this issue, we present a pipeline that extracts spine pointclouds from MRI and 3D US to perform per-vertebra registration. Experiments showed a registration accuracy of 1.82 mm in terms of residual root mean square error and 7.02 mm in terms of Chamfer distance. The pipeline exhibits superior robustness to suboptimal initial conditions compared with the two baseline methods. It also demonstrated good time efficiency under real-time conditions, demonstrating the potential applicability in RUSS-guided spine surgeries. © World Scientific Publishing Company.

关键词： cross-modality registration image-guided intervention robotic ultrasound Spine surgery ultrasound

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Optimizing Magnetic Induction Sensors for Non-Obtrusive Vital Signs Monitoring: Impact of Current Control on Operational Quality

Optimizing Magnetic Induction Sensors for Non-Obtrusive Vita...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Mahdi Momeni Adrian Radomski Ulkuhan Guler Daniel Teichmann SDU Health Informatics and Technology The Maersk Mc-Kinney Moller Institute University of Southern Denmark Denmark Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

This paper investigates the advancement of magnetic induction-based heart and respiration rate sensing by actively controlling the coil current. This is realized through the implementation of a current-starved inverter mechanism. Experiments show a notable level of accuracy of the proposed circuit in measuring heart and respiration activity when compared to a reference sensor. The direct manipulation of current levels was found to have a direct impact on the signal strength. Incrementing the overall current within the proposed circuit from 60 mA to 100 mA resulted in an augmentation of the output amplitude of the heart rate signal from 8.5 mV to 27 mV, accompanied by a marginal enhancement in beat-to-beat interval accuracy. Moreover, the proposed sensor demonstrates noteworthy precision in monitoring the respiratory rate when compared with the reference sensor under different current values, exhibiting the same trend in signal strength. This finding offers valuable insight for the development of future power-optimized magnetic induction sensors with enhanced robustness.

关键词： Heart rate Current control Accuracy Power demand Inverters Robustness Sensors Biomedical monitoring Monitoring Magnetic circuits

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Uncertainty Quantification for Recursive Estimation in Adaptive Safety-Critical Control

Uncertainty Quantification for Recursive Estimation in Adapt...

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American Control Conference (ACC)

作者： Max H. Cohen Makai Mann Kevin Leahy Calin Belta Department of Mechanical and Civil Engineering California Institute of Technology Pasadena CA Massachusetts Institute of Technology Lincoln Laboratory Lexington MA Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA Department of Electrical and Computer Engineering University of Maryland College Park MD

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

In this paper, we present a framework for online parameter estimation and uncertainty quantification in the context of adaptive safety-critical control. The key insight enabling our approach is that the parameter estimate generated by the continuous-time recursive least squares (RLS) algorithm at any point in time is an affine transformation of the initial parameter estimate. This property allows for parameterizing such estimates using objects that are closed under affine transformation, such as zonotopes, and enables the efficient propagation of such set-based estimates as time progresses. We illustrate how such an approach facilitates the synthesis of safety-critical controllers for systems with parametric uncertainty and additive disturbances using control barrier functions, and demonstrate the utility of our approach through illustrative examples.

关键词： Uncertainty Parameter estimation Additives Control systems Recursive estimation

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Autonomous Search of Semantic Objects in Unknown Environments

arXiv

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arXiv 2023年

作者： Qian, Zhentian Fu, Jie Xiao, Jing Robotics Engineering Department Worcester Polytechnic Institute WorcesterMA United States Department of Electrical and Computer Engineering University of Florida GainesvilleFL United States

This paper addresses the problem of enabling a robot to search for a semantic object, i.e., an object with a semantic label, in an unknown and GPS-denied environment. For the robot in the unknown environment to detect and find the target semantic object, it must perform simultaneous localization and mapping (SLAM) at both geometric and semantic levels using its onboard sensors while planning and executing its motion based on the ever-updated SLAM results. In other words, the robot must be able to conduct simultaneous localization, semantic mapping, motion planning, and execution in real-time in the presence of sensing and motion uncertainty. This is an open problem as it combines semantic SLAM based on perception and real-time motion planning and execution under uncertainty. Moreover, the goals of the robot motion change on the fly depending on whether and how the robot can detect the target object. We propose a novel approach to tackle the problem, leveraging semantic SLAM, Bayesian Networks, Markov Decision Process, and Real-Time Dynamic Programming. The results in simulation and real experiments demonstrate the effectiveness and efficiency of our approach. © 2023, CC BY.

关键词： Semantics

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InfantMotion2Vec: Unlabeled Data-Driven Infant Pose Estimation Using a Single Chest IMU

InfantMotion2Vec: Unlabeled Data-Driven Infant Pose Estimati...

引用

International Workshop on Wearable and Implantable Body Sensor Networks (BSN)

作者： Mohammad Nur Hossain Khan Nancy L. McElwain Mark Hasegawa-Johnson Bashima Islam Department of Electrical and Computer Engineering Worcester Polytechnic Institute Department of Human Development and Family Studies University of Illinois Beckrnan Institute for Advanced Science and Technology University of Illinois Department of Electrical and Computer Engineering University of Illinois

ISBN: (数字)9798331530143

ISBN: (纸本)9798331530150

Early identification of neuro-developmental risks in infants is crucial for timely intervention and improved quality of life. Current screening methods are costly, intrusive, and limited by artificial environments or require the infant to wear multiple sensors. To address these challenges, we propose a novel approach leveraging inertial measurement units (IMUs) to monitor infants' spontaneous motor abilities in natural settings. Our method introduces a hierarchical semi-supervised classifier and the InfantMotion2Vec embedding to capture detailed motion patterns, accommodating a wide age range (up to 36 months) while minimizing reliance on labeled data and cumbersome sensor setups. We collected labeled IMU data from 25 families and unlabeled data from 42 families using a single wearable sensor. Pretraining an embedding network using unlabeled data with a hierarchical pose estimator resulted in a 26% increase in F1-score and a 77.7% increase in Cohen's Kappa score compared to using only labeled data. The InfantMotion2Vec embedding adequately handles highly unbalanced labeled data, demonstrating its effectiveness in infant posture classification.

关键词： Body sensor networks Measurement units Pose estimation Inertial navigation Motors Wearable sensors Monitoring

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SAFE: Sound Analysis for Fall Event detection using machine learning

引用

Smart Health 2025年 35卷

作者： Garcia, Antony Huang, Xinming Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester 01609 MA United States Department of Electrical Engineering Technological University of Panama Panama City 0819 Panama

This study evaluates the application of machine learning (ML) and deep learning (DL) algorithms for fall detection using sound signals. The work is supported by the Sound Analysis for Fall Events (SAFE) dataset, comprising 950 audio samples, including 475 fall events recorded with a grappling dummy to simulate realistic scenarios. Decision tree-based ML algorithms achieved a classification accuracy of 93% at lower sampling rates, indicating that critical features are preserved despite reduced resolution. DL models, using spectrogram-based feature extraction, reached accuracies up to 99%, surpassing traditional ML methods in performance. Linear models also achieved high accuracy (up to 97%) in various spectrogram techniques, emphasizing the separability of audio features. These results establish the viability of sound-based fall detection systems as efficient and accurate solutions. © 2024

关键词： Audio classification Deep learning Fall detection Feature extraction Machine learning Spectrogram analysis

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Pilot-wave dynamics: Using dynamic mode decomposition to characterize bifurcations, routes to chaos, and emergent statistics

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Physical Review E 2023年第3期108卷 034213-034213页

作者： J. Nathan Kutz André Nachbin Peter J. Baddoo John W. M. Bush Department of Applied Mathematics and Electrical and Computer Engineering University of Washington Seattle Washington 98195 USA Department of Mathematical Sciences Worcester Polytechnic Institute Worcester Massachusetts 01742 USA Department of Mathematics Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA

We develop a data-driven characterization of the pilot-wave hydrodynamic system in which a bouncing droplet self-propels along the surface of a vibrating bath. We consider drop motion in a confined one-dimensional geometry and apply the dynamic mode decomposition (DMD) in order to characterize the evolution of the wave field as the bath's vibrational acceleration is increased progressively. Dynamic mode decomposition provides a regression framework for adaptively learning a best-fit linear dynamics model over snapshots of spatiotemporal data. Thus, DMD reduces the complex nonlinear interactions between pilot waves and droplet to a low-dimensional linear superposition of DMD modes characterizing the wave field. In particular, it provides a low-dimensional characterization of the bifurcation structure of the pilot-wave physics, wherein the excitation and recruitment of additional modes in the linear superposition models the bifurcation sequence. This DMD characterization yields a fresh perspective on the bouncing-droplet problem that forges valuable new links with the mathematical machinery of quantum mechanics. Specifically, the analysis shows that as the vibrational acceleration is increased, the pilot-wave field undergoes a series of Hopf bifurcations that ultimately lead to a chaotic wave field. The established relation between the mean pilot-wave field and the droplet statistics allows us to characterize the evolution of the emergent statistics with increased vibrational forcing from the evolution of the pilot-wave field. We thus develop a numerical framework with the same basic structure as quantum mechanics, specifically a wave theory that predicts particle statistics.

关键词： Dynamical systems

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Sound Tagging in Infant-centric Home Soundscapes

Sound Tagging in Infant-centric Home Soundscapes

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IEEE International Conference on Connected Health: Applications, Systems and engineering Technologies (CHASE)

作者： Mohammad Nur Hossain Khan Jialu Li Nancy L. McElwain Mark Hasegawa–Johnson Bashima Islam Department of Electrical and Computer Engineering Worcester Polytechnic Institute Department of Electrical and Computer Engineering University of Illinois Department of Human Development and Family Studies University of Illinois Beckman Institute for Advanced Science and Technology University of Illinois

ISBN: (数字)9798350345018

ISBN: (纸本)9798350345025

Certain environmental noises have been associated with negative developmental outcomes for infants and young children. Though classifying or tagging sound events in a domestic environment is an active research area, previous studies focused on data collected from a non-stationary microphone placed in the environment or from the perspective of adults. Further, many of these works ignore infants or young children in the environment or have data collected from only a single family where noise from the fixed sound source can be moderate at the infant's position or vice versa. Thus, despite the recent success of large pre-trained models for noise event detection, the performance of these models on infant-centric noise soundscapes in the home is yet to be explored. To bridge this gap, we have collected and labeled noises in home soundscapes from 22 families in an unobtrusive manner, where the data are collected through an infant-worn recording device. In this paper, we explore the performance of a large pre-trained model (Audio Spectrogram Transformer [AST]) on our noise-conditioned infant-centric environmental data as well as publicly available home environmental datasets. Utilizing different training strategies such as resampling, utilizing public datasets, mixing public and infant-centric training sets, and data augmentation using noise and masking, we evaluate the performance of a large pre-trained model on sparse and imbalanced infant-centric data. Our results show that fine-tuning the large pre-trained model by combining our collected dataset with public datasets increases the F1-score from 0.11 (public datasets) and 0.76 (collected datasets) to 0.84 (combined datasets) and Cohen's Kappa from 0.013 (public datasets) and 0.77 (collected datasets) to 0.83 (combined datasets) compared to only training with public or collected datasets, respectively.

关键词： Training Performance evaluation Pediatrics Working environment noise Noise Tagging Transformers

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