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New design techniques for globally convergent simultaneous localization and mapping: Analysis and implementation

Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017

作者： Lourenço, Pedro Guerreiro, Bruno Batista, Pedro Oliveira, Paulo Silvestre, Carlos Laboratory for Robotics and Engineering Systems Institute for Systems and Robotics Lisbon Portugal Department of Electrical and Computer Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9783319553719

This chapter presents an overview of algorithms deeply rooted in a sensor-based approach to the SLAM problem that provide global convergence guarantees and allow for the use of partially observable landmarks. The presented algorithms address the more usual range-and-bearing SLAM problem, either in 2-D using a LiDAR or in 3-D using an RGB-D camera, as well as the range-only and bearing-only SLAM problems. For each of these formulations a nonlinear system is designed, for which state and output transformations are considered together with augmented dynamics, in such a way that the underlying system structure can be regarded as linear time-varying for observability analysis and filter design purposes. This naturally allows for the design of Kalman filters with, at least, globally asymptotically stable error dynamics, for which several experimental and simulated trials are presented to highlight the performance and consistency of the obtained filters. © Springer International Publishing AG 2017.

关键词： Kalman filters

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Analysis by finite element method of dynamic characteristics of the external ear canal in neonates

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Journal of Biomechanical science and Engineering 2017年第2期12卷 16-00596-16-00596页

作者： Murakoshi, Michio Takeda, Shohei Wada, Hiroshi Department of Mechanical Engineering Kagoshima University 1-21-40 Korimoto Kagoshima890-0065 Japan Department of Bioengineering and Robotics Tohoku University 6-6-01 Aoba-yama Sendai980-8579 Japan Department of Intelligent Information Systems Faculty of Science and Technology Tohoku Bunka Gakuen University 6-45-1 Kunimi Sendai981-8551 Japan

Although early diagnosis and treatment of hearing disorders in neonates is highly effective for realization of lin- guistic competence and intellectual development, the diagnostic accuracy in the initial period of life is low. To overcome this problem, extensive research studies to diagnose the neonatal hearing with tympanometry, multi- frequency tympanometry, the wideband acoustic transfer function technique, the sweep frequency impedance (SFI) technique and others have been conducted. However, since the results obtained are not consistent with those ob- tained in adults/children, diagnosis of hearing in neonates has been problematic. The difference in the dynamic characteristics of the hearing apparatus between adults/children and neonates, especially due to the morphologi- cal difference in the external ear canal, has been suggested as a possible reason for such problem. However, the dynamics of the neonatal hearing system has not yet been clarified. In the present study, therefore, three types of finite-element models of the neonatal external ear were developed and their dynamic characteristics (i.e., natural frequencies and mode shapes) were investigated. Frequency analyses of the constructed models revealed that the neonatal external ear canal wall has a resonance of around 0.3 kHz and that this resonance leads to the volume change of such canal. This result suggests that the neonatal external ear canal wall may exhibit intrinsic oscillatory behavior if conventional tympanometry with a probe tone of 226 Hz is performed, affecting the diagnostic data in neonates. © 2017 The Japan Society of Mechanical Engineers.

关键词： Audition

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Load cell for active pantograph solution based on the Fiber-Bragg grating sensor

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AIP Conference Proceedings 2018年第1期2029卷

作者： Paweł Zdziebko Piotr Kurowski Adam Martowicz Tadeusz Uhl 1AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics al. Mickiewicza 30 30-059 Kraków Poland

One of the solutions for improving quality of a railway pantograph-catenary contact during a high speed run is to implement an active control in the pantograph system. The goal of the control is to adjust an actual uplift force exerted by a pantograph on a contact line to reduce fluctuations observed in the reaction force course. While the closed-loop control is conducted, the actual contact force has to be measured. The paper presents a new design of the load cell dedicated for that purpose. The shape of the designed and manufactured device was chosen to allow for easy implementation in a pantograph construction. The load cell is based on the Fiber-Bragg grating sensor, since more popular techniques based on electric quantities measurements may be disturbed by strong electromagnetic field which is present in the vicinity of pantograph-catenary interface. The paper discusses the results of sensor validation procedure.

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Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations

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IFAC-PapersOnLine 2017年第1期50卷 3598-3605页

作者： Batista P. Petit N. Silvestre C. Oliveira P. Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Instituto Superior Técnico Universidade de Lisboa Portugal MINES ParisTech PSL Research University CAS – Centre automatique et systémes 60 bd St Michel Paris 75272 France Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau Macau Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Portugal

Uniform complete observability and controllability are key concepts for the design of state observers and controllers for linear time-varying systems. While the definitions of these properties are simple, it is more often that not very difficult to show they hold for a particular system. This paper presents alternative simpler sufficient conditions. Examples are shown that illustrate the improvement over previous results, the fact that the new conditions are not necessary, and a practical application. © 2017

关键词： linear time-varying systems uniform complete controllability uniform complete observability

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Common Limitations of Image Processing Metrics: A Picture Story

arXiv

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arXiv 2021年

作者： Reinke, Annika Tizabi, Minu D. Sudre, Carole H. Eisenmann, Matthias Rädsch, Tim Baumgartner, Michael Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Bankhead, Peter Benis, Arriel Blaschko, Matthew Buettner, Florian Cardoso, M. Jorge Chen, Jianxu Cheplygina, Veronika Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Engelhardt, Sandy Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hamprecht, Fred Hashimoto, Daniel A. Heckmann-Nötzel, Doreen Hirsch, Peter Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kavur, A. Emre Kenngott, Hannes Kleesiek, Jens Kleppe, Andreas Koehler, Sven Kofler, Florian Kopp-Schneider, Annette Kooi, Thijs Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moher, David Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Noyan, M. Alican Petersen, Jens Polat, Gorkem Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Rieke, Nicola Riegler, Michael A. Rivaz, Hassan Saez-Rodriguez, Julio Sánchez, Clara I. Schroeter, Julien Saha, Anindo Selver, M. Alper Sharan, Lalith Shetty, Shravya Smeden, Maarten V.A.N. Stieltjes, Bram Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. Calster, Ben V.A.N. Varoquaux, Gaël Wiesenfarth, Manuel Yaniv, Ziv R. Jäger, Paul Maier-Hein, Lena Division of Intelligent Medical Systems and HI Helmholtz Imaging Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Intelligent Medical Systems Heidelberg Germany NCT Heidelberg DKFZ University Medical Center Heidelberg Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Division of Medical Image Computing Heidelberg Germany Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montréal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Institute of Genetics and Cancer University of Edinburgh Edinburgh United Kingdom Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Kasteelpark Arenberg 10 - box 2441 Leuven3001 Belgium Frankfurt/Mainz DKFZ UCT Frankfurt-Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany Frankfurt Cancer Insititute Germany Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for St

While the importance of automatic image analysis is continuously increasing, recent meta-research revealed major flaws with respect to algorithm validation. Performance metrics are particularly key for meaningful, objective, and transparent performance assessment and validation of the used automatic algorithms, but relatively little attention has been given to the practical pitfalls when using specific metrics for a given image analysis task. These are typically related to (1) the disregard of inherent metric properties, such as the behaviour in the presence of class imbalance or small target structures, (2) the disregard of inherent data set properties, such as the non-independence of the test cases, and (3) the disregard of the actual biomedical domain interest that the metrics should reflect. This living dynamically document has the purpose to illustrate important limitations of performance metrics commonly applied in the field of image analysis. In this context, it focuses on biomedical image analysis problems that can be phrased as image-level classification, semantic segmentation, instance segmentation, or object detection task. The current version is based on a Delphi process on metrics conducted by an international consortium of image analysis experts from more than 60 institutions worldwide. © 2021, CC BY.

关键词： Medical imaging

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Evaluation of structure stability with the use of remote load

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IOP Conference Series: Materials science and Engineering 2019年第1期710卷

作者： Szymon Molski Paweł Lonkwic Hubert Ruta Tomasz Krakowski AGH University of Science and Technology The Faculty of Mechanical Engineering and Robotics Department of Machine and Transport Engineering A. Mickiewicza Av. 30 30-059 Cracow Poland The State School of Higher Education in Chełm The Institute of Technical Sciences and Aviation 54 Pocztowa Street 22-100 Chełm Poland

It is a quite common practice to place the load at some distance from the machine restraint. In such a case, it is possible to evaluate the values of stresses and displacements by means of numerical analyses. This article presents the numerical analysis results for the carrying structure of the friction lift power unit with the use of the remote load. The impact of the remote load on the strain of the lift power unit carrying structure is also described. Attention is paid to the places of excessive strain of the structure.

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Simply and low coast electromyography signal amplifier

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Diagnostyka 2017年第4期18卷 69-77页

作者： Barański, Robert Grzeczka, Anna AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza 30 Kraków30-059 Poland Gdańsk University of Technology Faculty of Mechanical Engineering Narutowicza 11/12 Gdańsk80-233 Poland

Recently, there has been a noticeable increase in interest in solutions utilizing electrical signals accompanying muscle activity. Electromyography (EMG) is a technique for recording, analysis and evaluating the electrical activity produced by striated muscle. Its great popularity is due, among other, to the ability to measure with non-invasive electrodes (called as sEMG surface electromyography). However, the limitations of this method are the high costs of specialized measuring equipment, and in particular the systems of bioelectric signal preamplifier circuits. The work presents the design of a low budget EMG signal amplifier. It has been designed and validated in accordance with ISEK (International Society of Electrophysiology and Kinesiology) and SENIAM (Surface ElectroMyGraphy for Non-Invasive Assessment of Muscles).

关键词： Electromyography

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High-precision microinjection of microbeads into C. elegans trapped in a suction microchannel

High-precision microinjection of microbeads into C. elegans ...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Nakajima, Masahiro Ayamura, Yuki Takeuchi, Masaru Hisamoto, Naoki Pastuhov, Strahil Hasegawa, Yasuhisa Fukuda, Toshio Huang, Qiang Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Graduate School of Science Nagoya University Nagoya Aichi Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China

ISBN: (纸本)9781509046331

This study presents the high-precision microinjection of fluorescent micro-gel beads into Caenorhabditis elegans trapped in a suction microchannel. In our previous works, we demonstrated survival microinjection by a conventional micromanipulation technique. However, the focal planes differed between the tip of the microinjection tool and the target axon inside the C. elegans body. To resolve this problem, we here propose a suction microchannel that traps C. elegans during the microinjection operation. The focal plane of the target nerve axon matches that of the fluorescent microbead in the microinjection tool, enabling high-precision microinjection into the interior of the C. elegans body under a microscopic view. In an experimental evaluation, the positioning accuracy of the injection into C. elegans was within the target accuracy (15 μm). The head-flrst navigation alignment of C. elegans along the microchannel was controlled by electrotaxis. Injection of the fluorescent micro-gel bead into the C. elegans body was quantitatively confirmed by confocal microscopy. © 2017 IEEE.

关键词： Microchannels

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Nonlinear dynamics in the Einstein-Gauss-Bonnet gravity

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Physical Review D 2017年第4期96卷 044009-044009页

作者： Hisa-aki Shinkai Takashi Torii Department of Information Systems Faculty of Information Science & Technology Osaka Institute of Technology Kitayama Hirakata City Osaka 573-0196 Japan Department of System Design Faculty of Robotics & Design Osaka Institute of Technology Kita-ku Osaka City Osaka 530-8568 Japan

We numerically investigated how nonlinear dynamics depends on the dimensionality and on the higher-order curvature corrections in the form of Gauss-Bonnet (GB) terms. We especially monitored the processes of appearances of a singularity (or black hole) in two models: (i) a perturbed wormhole throat in spherically symmetric space-time, and (ii) colliding scalar pulses in plane-symmetric space-time. We used a dual-null formulation for evolving the field equations, which enables us to locate the trapping horizons directly, and also enables us to follow close to the large-curvature region due to its causal integrating scheme. We observed that the fate of a perturbed wormhole is either a black hole or an expanding throat depending on the total energy of the structure, and its threshold depends on the coupling constant of the GB terms (αGB). We also observed that a collision of large scalar pulses will produce a large-curvature region, of which the magnitude also depends on αGB. For both models, the normal corrections (αGB>0) work for avoiding the appearance of singularity, although it is inevitable. We also found that in the critical situation for forming a black hole, the existence of the trapped region in the Einstein-GB gravity does not directly indicate the formation of a black hole.

关键词： Alternative gravity theories General relativity Gravity in dimensions other than four Singularities In general relativity

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Displacements in mechanical systems due to random inputs in a mine hoist installation

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Engineering Transactions 2017年第3期65卷 513-522页

作者： Wolny, Stanislaw AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of the Strength and Fatigue of Materials and Structures Al. Mickiewicza 30 Kraków30-059 Poland

Conveyances, cages and skips are typical components of hoisting installations in mines. The Authors emphasises the fact that already at the stage of design utmost care must be taken to reduce the skip’s own mass, at the same time improving its reliability through controlling the deformations of its structural elements. That requires, however, a thorough analysis of the state of stress in the conveyance’s load-bearing elements due to real loads acting both during the normal duty cycles and under the emergency conditions. Real loads acting upon the load bearing elements of the conveyance were determined following the analysis of displacements of selected points of the conveyance’s structure. For the purpose of calculation procedure, the conveyance is substituted by a triple mass model whose dynamic motion equations are based on an assumption that horizontal displacements of the skip mass are induced by random irregularities and misalignments of guiding strings. These equations are solved analytically, yielding the spectral densities of displacements of selected masses. Thus derived formulas and their graphical representations allow for selecting the system’s parameters such that the displacements of the selected model points should not exceed the admissible levels set forth in relevant mining regulations [5]. © 2017, Polish Academy of sciences. All rights reserved.

关键词： Scattering parameters

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