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arXiv 2025年

作者： Zhou, Haoying Yang, Hao Deguet, Anton Fichera, Loris Wu, Jie Ying Kazanzides, Peter Department of Robotics Engineering Worcester Polytechnic Institute MA United States Laboratory for Computational Sensing and Robotics JHU MD United States Department of Computer Science Vanderbilt University TN United States Department of Computer Science Johns Hopkins University MD United States

The da Vinci Research Kit (dVRK, also known as dVRK Classic) is anopen-source teleoperated surgical robotic system whose hardware is obtainedfrom the first generation da Vinci Surgical System (Intuitive, Sunnyvale, CA,USA). The dVRK has greatly facilitated research in robot-assisted surgery overthe past decade and helped researchers address multiple major challenges inthis domain. Recently, the dVRK-Si system, a new version of the dVRK which usesmechanical components from the da Vinci Si Surgical System, became available tothe community. The major difference between the first generation da Vinci andthe da Vinci Si is in the structural upgrade of the Patient Side Manipulator(PSM). Because of this upgrade, the gravity of the dVRK-Si PSM can no longer beignored as in the dVRK Classic. The high gravity offset may lead to relativelylow control accuracy and longer response time. In addition, althoughsubstantial progress has been made in addressing the dynamic modelidentification problem for the dVRK Classic, further research is required onmodel-based control for the dVRK-Si, due to differences in mechanicalcomponents and the demand for enhanced control performance. To address theseproblems, in this work, we present (1) a novel full kinematic model of thedVRK-Si PSM, and (2) a gravity compensation approach based on the dynamic modelidentification. © 2025, CC BY.

关键词： Surgical equipment

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Towards experimental insight into magnetic flux distribution within the air gap of permanent magnet synchronous drive

Towards experimental insight into magnetic flux distribution...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Hubert Milanowski Adam Krzysztof Piłat Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This report explores the experimental identification of magnetic flux density within the motor air gap, focusing on the development of a robot-based approach to automate the scanning procedure. Emphasis is placed on analyzing the distribution of magnetic flux within the motor’s spatial air gap, as well as the amplification of harmonics resulting from changes in air gap orientation. Drawing upon experimental findings, a model is proposed to illustrate the three-dimensional distribution of magnetic flux within the gap.

关键词： Solid modeling Magnetic flux density Automation Atmospheric modeling Air gaps Rotors Drives

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Theoretical and Computational Investigation on Aerospike Nozzle Equipped with Exhaust Plumes for Supersonic Flow Regimes 1

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International Conference on Mechanical engineering, INCOME 2023

作者： Bindal, Rohi Kattyayan, Shivansh Sonawane, Chandrakant R. Dhanwani, Payal Thombre, Simran Joshi, Vedant Mishra, Ankit Kumar Department of Computer Science Engineering Symbiosis Institute of Technology Maharashtra Pune India Department of Mechanical Engineering Symbiosis Institute of Technology Maharashtra Pune India Department of Aeronautical Engineering Bhagwan Arihant Institute of Technology Gujarat Surat India Department of Aerospace Engineering Sastra University Tamil Nadu Thanjavur India Department of Robotics and Automation Symbiosis Institute of Technology Maharashtra Pune India Department of Research and Development ASTROEX RESEARCH ASSOCIATION Uttar Pradesh Deoria India

ISBN: (数字)9789819738748

ISBN: (纸本)9789819738731

Aerospike nozzles are widely used in aerospace applications due to their high performance, low cost, and low maintenance. They have been widely used to improve the performance of aerospike engines. This paper presents a computational and numerical analysis of the flow behavior of an aerospike nozzles equipped with exhaust plumes under different operating conditions, contributing to the better study and understanding of fluid dynamics for the aerospike nozzles in the field of aerospace engineering. The study uses a three-dimensional, axisymmetric model to simulate the flow within the nozzle, and the results are later used in order to generate better contours and performance. An iterative test has been carried out which in turn used for optimization loop which involves changes in contour shape, spike height, or spike angle to achieve better flow expansion and reduce pressure losses. The paper also discusses the potential future research directions, such as investigating unsteady flow phenomena or exploring advanced turbulence models for more accurate predictions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Aerospace applications

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An Energy-Efficient Mobile Agent-Based Data Aggregation Scheme for Wireless Body Area Networks

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computers, Materials & Continua 2022年第3期70卷 5929-5948页

作者： Gulzar Mehmood Muhammad Zahid Khan Muhammad Fayaz Mohammad Faisal Haseeb Ur Rahman Jeonghwan Gwak Department of Computer Science&Information Technology University of MalakandChakdara Dir Lower23021Pakistan Department of Computer Science University of Central AsiaNarynKyrgyzstan Department of Software Korea National University of TransportationChungju27469Korea Department of Biomedical Engineering Korea National University of TransportationChungju27469Korea Department of AI Robotics Engineering Korea National University of TransportationChungju27469Korea Department of IT and Energy Convergence(BK21 FOUR) Korea National University of TransportationChungju27469Korea

Due to the advancement in wireless technology and miniaturization,Wireless Body Area Networks(WBANs)have gained enormous popularity,having various applications,especially in the healthcare *** are intrinsically resource-constrained;therefore,they have specific design and development *** such highly desirable requirement is an energy-efficient and reliable Data Aggregation(DA)mechanism for *** efficient and reliableDAmay ultimately push the network to operate without much human intervention and further extend the network *** conventional client-serverDAparadigm becomes unsuitable and inefficient for WBANs when a large amount of data is generated in the ***,in most of the healthcare applications(patient’s critical conditions),it is highly important and required to send data as soon as possible;therefore,reliable data aggregation in WBANs is of great *** tackle the shortcomings of the client-serverDAparadigm,theMobile Agent-Basedmechanismproved to be a more workable *** aMobile Agent-Based mechanism,a taskspecific mobile agent(code)traverses to the intended sources to gather *** agents travel on a predefined path called itinerary;however,planning a suitable and reliable itinerary for a mobile agent is also a challenging issue *** paper presents a new Mobile Agent-Based DA scheme for WBANs,which is energy-efficient and ***,in the proposed scheme,the network is divided into clusters,and cluster-heads are ***,a mobile agent is generated from the base station to collect the required data from cluster *** the case,if any fault occurs in the existing itinerary,an alternate itinerary is planned in real-time without compromising the network *** our simulation-based validation,we have found that the proposed system delivers significantly improved fault-tolerance and reliability with energy-efficiency and extended network lifetime in WBANs.

关键词： WBANs mobile-agent data aggregation reliability

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Toward Life-Long Creative Problem Solving: Using World Models for Increased Performance in Novelty Resolution 13

Toward Life-Long Creative Problem Solving: Using World Model...

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13th International Conference on Computational Creativity, ICCC 2022

作者： Gizzi, Evana Lin, Wo Wei Castro, Mateo Guaman Harvey, Ethan Sinapov, Jivko Department of Computer Science Tufts University MA United States Department of Electrical and Computer Engineering Tufts University MA United States The Robotics Institute Carnegie Mellon University PA United States

ISBN: (纸本)9789895416042

Creative problem solving (CPS) is a skill which enables innovation, often times through repeated exploration of an agent’s world. In this work, we investigate methods for life-long creative problem solving (LLCPS), with the goal of increasing CPS capability over time. We develop two world models to facilitate LLCPS which use sub-symbolic action and object information to predict symbolic meta-outcomes of actions. We experiment with three CPS scenarios run sequentially and in simulation. Results suggest that LLCPS is possible through the use of a world model, which can be trained on CPS exploration trials, and used to guide future CPS exploration. © 2022 Proceedings of the 13th International Conference on Computational Creativity, ICCC 2022. All rights reserved.

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Improving the ROS 2 Navigation Stack with Real-Time Local Costmap Updates for Agricultural Applications

arXiv

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arXiv 2024年

作者： Sani, Ettore Sgorbissa, Antonio Carpin, Stefano The Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy The Department of Computer Science and Engineering University of California MercedCA United States

The ROS 2 Navigation Stack (Nav2) has emerged as a widely used software component providing the underlying basis to develop a variety of high-level functionalities. However, when used in outdoor environments such as orchards and vineyards, its functionality is notably limited by the presence of obstacles and/or situations not commonly found in indoor settings. One such example is given by tall grass and weeds that can be safely traversed by a robot, but that can be perceived as obstacles by LiDAR sensors, and then force the robot to take longer paths to avoid them, or abort navigation altogether. To overcome these limitations, domain specific extensions must be developed and integrated into the software pipeline. This paper presents a new, lightweight approach to address this challenge and improve outdoor robot navigation. Leveraging the multiscale nature of the costmaps supporting Nav2, we developed a system that using a depth camera performs pixel level classification on the images, and in real time injects corrections into the local cost map, thus enabling the robot to traverse areas that would otherwise be avoided by the Nav2. Our approach has been implemented and validated on a Clearpath Husky and we demonstrate that with this extension the robot is able to perform navigation tasks that would be otherwise not practical with the standard components. © 2024, CC BY.

关键词： Air navigation

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Development of Detection Lung Disease Stand Alone System Based on Convolutional Neural Network (CNN)

Development of Detection Lung Disease Stand Alone System Bas...

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International Conference of computer and Informatics engineering (IC2IE)

作者： Edgar Caesar Liewarnata Yosica Mariana Sofyan Tan Suryadiputra Liawatimena Winda Astuti Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Product Design Program Industrial Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Department BINUS Graduate Program – Master of Computer Science Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798331505530

ISBN: (纸本)9798331505547

Lung disease, especially Tuberculosis (TBC), placed the highest death rate in Indonesia. Tuberculosis (TB) in Indonesia is ranked second after India. Therefore, it is important to reduce or early detection of the lung disease, to prevent this disease and speed up handling. The system can recognize the disease lung identification, and the system applied as standalone system. In this work, the Convolutional Neural Network (CNN) approach for identifying diseases lung identification is proposed. The Mel Frequency Cepstral Coefficient (MFCC) applied to process the stethoscope sounds which will used as input to the CNN. The performance of the proposed system has been investigated and resulted. The accuracy of 99% and 98%, for training and testing accuracy respectively. Furthermore, the system accurately detects lung diseases identification.

关键词： Training Accuracy Tuberculosis Pulmonary diseases Lungs Stethoscope Recording Convolutional neural networks Mel frequency cepstral coefficient Testing

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Enhanced Multi-Occupant Tracking Via Fusion of Low-Intrusive Radar and Wearable Ultra-Wideband Devices Using Autoencoders

SSRN

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SSRN 2024年

作者： Polo-Rodríguez, Aurora Anguita-Molina, Miguel Ángel Ruiz, Ignacio Rojas Medina-Quero, Javier Department of Computer Engineering Automation and Robotics University of Granada Granada18071 Spain Department of Computer Science University of Jaén Jaén23071 Spain

This work explores the integration of millimetre wave (mmWave) Radar and minimal configuration of Ultra-Wideband (UWB) devices for enhanced tracking of multiple occupants in real domestic environments. Using a low-cost, non-intrusive, and quickly deployable device setup, our approach addresses the challenges of multi-occupant tracking with a focus on privacy and ease of installation. Initially, mmWave Radar identifies the presence of occupants with high precision but lacks individual recognition and limited sensitivity. By incorporating a minimal configuration of UWB (wearable tags and ambient anchors), we include identification through signal strength measurements, bypassing complex localisation needs. In addition, we propose several autoencoder models to fuse data from these diverse sources. Experiments carried out in two real-world domestic settings that involve up to three inhabitants per room showcase the ability of the proposal to combine mmWave and UWB technologies for indoor multioccupant tracking, suggesting promising applications in smart homes, ambient assisted living, and eHealth. © 2024, The Authors. All rights reserved.

关键词： Millimeter waves

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Single Robot Multitasking Through Dynamic Resource Allocation

Single Robot Multitasking Through Dynamic Resource Allocatio...

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IEEE-RAS International Conference on Humanoid Robots

作者： Tyler Becker Song Jiang David Feil-Seifer Monica Nicolescu Department of Computer Science & Engineering Robotics Research lab University of Nevada Reno Reno NV USA Department of Computer Science & Engineering Socially Assistive Robotics Group University of Nevada Reno Reno NV USA

This paper addresses the problem of dynamic allocation of robot resources to tasks with hierarchical representations and multiple types of execution constraints, with the goal of enabling single-robot multitasking capabilities. Although the vast majority of robot platforms are equipped with more than one sensor (cameras, lasers, sonars) and several actuators (wheels/legs, two arms), which would in principle allow the robot to concurrently work on multiple tasks, existing methods are limited to allocating robots in their entirety to only one task at a time. This approach employs only a subset of a robot's sensors and actuators, leaving other robot resources unused. Our aim is to enable a robot to make full use of its capabilities by having an individual robot multitask, distributing its sensors and actuators to multiple concurrent activities. We propose a new architectural framework based on Hierarchical Task Trees that supports multitasking through a new representation of robot behaviors that explicitly encodes the robot resources (sensors and actuators) and the environmental conditions needed for execution. This architecture was validated on a two-arm, mobile, PR2 humanoid robot, performing tasks with multiple types of execution constraints.

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Iodine-enhanced Liver Vessel Segmentation in Photon Counting Detector-based Computed Tomography using Deep Learning 7

Iodine-enhanced Liver Vessel Segmentation in Photon Counting...

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7th International Conference on Image Formation in X-Ray Computed Tomography

作者： Baek, Sumin Lee, Okkyun Ye, Donghye The Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu42988 Korea Republic of The Department of Electrical and Computer Engineering Marquette University MilwaukeeWI53233 United States

ISBN: (纸本)9781510656697

Liver vessel segmentation is important in diagnosing and treating liver diseases. Iodine-based contrast agents are typically used to improve liver vessel segmentation by enhancing vascular structure contrast. However, conventional computed tomography (CT) is still limited with low contrast due to energy-integrating detectors. Photon counting detector-based computed tomography (PCD-CT) shows the high vascular structure contrast in CT images using multi-energy information, thereby allowing accurate liver vessel segmentation. In this paper, we propose a deep learning-based liver vessel segmentation method which takes advantages of the multi-energy information from PCD-CT. We develop a 3D UNet to segment vascular structures within the liver from 4 multi-energy bin images which separates iodine contrast agents. The experimental results on simulated abdominal phantom dataset demonstrated that our proposed method for the PCD-CT outperformed the standard deep learning segmentation method with conventional CT in terms of dice overlap score and 3D vascular structure visualization. © 2022 SPIE.

关键词： Iodine

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