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IEEE International Conference on robotics and automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration automation

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Configurability Selection of Robotic Arm with Constrained Task and Environment in Laparoscopic Hysterectomy for Uterus Manipulation

Configurability Selection of Robotic Arm with Constrained Ta...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Chen, Wei Wu, Jiahao Zhou, Jianshu Wang, Hesheng Wang, Yudong Cheung, Tak Hong Liu, Yun-Hui Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China China International Peace Maternity and Child Health Hospital Shanghai Jiaotong University School of Medicine Department of Obstetrics and Gynecology Shanghai China Prince of Wales Hospital Chinese University of Hong Kong Department of Obstetrics and Gynaecology Hong Kong

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Multi-link serial robots have gained growing popularity in robot-Assisted surgeries with the advantages of flexibility and versatility. This type of robot has be introduced into the uterus manipulation in laparoscopic hysterectomy (UMLH) to mitigate the disadvantages of our previous robotic uterus manipulator. Compared with the other surgical tasks (e.g. laparoscope manipulation, orthopedic and neurosurgery surgeries), the UMLH has a more narrow workspace and a stringent task requirement. Selecting the proper initial configuration of the robot is a key issue for such kind of surgical operations. In this paper, we develop a scheme to select appropriate initial configurations for the UMLH. Moreover, our method can satisfy both the static RCM and dynamic RCM. In an dynamic RCM, the task path or trajectory depends on the robot initial pose and arbitrary (or indefinite) with respect to the robot base frame. We also proposed a criterion, i.e. configuration-Type task capability (CTTC), to measure the task capability of a given configuration-Type for the dynamic RCMs. Simulations are carried out to validate our scheme. © 2022 IEEE.

关键词： Neurosurgery

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A new approach to study properties of isolated preadipocytes following in vivo exposure to hypoxia

A new approach to study properties of isolated preadipocytes...

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Life in Space for Life on Earth

作者： Helena, Chowdhury H. Jelena, Velebit Markovic Nataša, Radic Vito, Frančic Mekjavic, Igor B. Ola, Eiken Robert, Zorec Laboratory for Neuroendocrinology - Molecular Cell Physiology Institute of Pathophysiology University of Ljubljana Zaloska 4 1000 Ljubljana Slovenia Celica Biomedical Center Technology Park 24 1000 Ljubljana Slovenia Department of Automation Biocybernetics and Robotics Jozef Stefan Institute Jamova 39 1000 Ljubljana Slovenia Department of Environmental Physiology Royal Institute of Technology School of Technology and Health Berzelius v. 13 Stockholm Sweden

ISBN: (纸本)9789290922704

In the present study we developed a novel approach to study the properties of isolated human preadipocytes from subjects exposed to conditions of hypoxia equivalent to an altitude of 4000 m. By using confocal microscopy we studied the expression of dipeptidyl peptidase 4 (DPP4) in preadipocytes from adult normal-weight males. DPP4 is a transmembrane glycoprotein with enzymatic activity that cleaves Nterminal dipeptides from a diverse range of substrates. The activity of DPP4 is implicated in immune response as well as in glucose homeostasis. To gain insights into the pathophysiological role of DPP4 in insulin resistance we here explored DPP4 expression during prolonged exposure to hypoxia, an experimental model of obesity onset. We used here a rapid method to isolate cells from biopsies and immunolabelled them with antibodies. Then cells were prepared for the analysis with confocal microscopy. The results show that a prolonged exposure to hypoxic environment appears to increases the expression of DPP4 on preadipocytes. © 2013 European Space Agency.

关键词： Confocal microscopy

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Corrections to “Model-Based Design of the COAST Guidewire Robot for Large Deflection”

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IEEE robotics and automation Letters 2023年第2期9卷 1155-1157页

作者： Yash Chitalia Achraj Sarma Timothy A. Brumfiel Nancy J. Deaton Maxina Sheft Jaydev P. Desai Healthcare Robotics and Telesurgery (HeaRT) Laboratory Department of Mechanical Engineering University of Louisville Louisville KY USA RoboMed Laboratory at the Georgia Institute of Technology Atlanta GA USA Matician Inc Mountain View CA USA Medical Robotics and Automation Laboratory Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology Atlanta GA USA Harvard-MIT Health Sciences and Technology Cambridge MA USA Georgia Institute of Technology Atlanta GA USA

Presents corrections to the article “Model-Based Design of the COAST Guidewire Robot for Large Deflection.

关键词： Robots

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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2017 IEEE International Conference on robotics and automation, ICRA 2017

作者： Guo, Dejun Wang, Hesheng Chen, Weidong Liu, Ming Xia, Zeyang Leang, Kam K. Lab University of Utah Robotics Center Salt Lake CityUT84112 United States Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Institute of Biomedical and Health Engineering Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781509046331

关键词： Mobile robots

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Portable Baby Incubator Monitoring using Smartphone

Portable Baby Incubator Monitoring using Smartphone

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International Conference on Electrical, Telecommunication and Computer Engineering (ELTICOM)

作者： Nur Sultan Salahuddin Sri Poernomo Sari Nora Trisna Tumewa Aqilla Rahman Musyaffa Arif Wijaya Ema Herawati Satrio Dwi Yudhanto Ambariani Pujiati Faculty of Computer Science and Information Technology Gunadarma University Jakarta Indonesia Faculty of Industrial Technology Gunadarma University Jakarta Indonesia Multimedia And Robotics Laboratory Gunadarma University Depok Indonesia Industrial Automation Laboratory Gunadarma University Depok Indonesia Faculty of Health Sciences and Pharmacy Gunadarma University Depok Indonesia

Most neonatal deaths occur at the age of 0-6 days (78.5%) and prematurity is one of the main causes of infant death in Indonesia, ranking fifth in the number of premature births. A baby incubator is very necessary to help premature babies adapt to their new environment. An incubator is a health care tool for critical/premature neonates that provides warmth and humidity according to the needs of newborns under controlled conditions. A portable baby incubator monitoring system using wifi as a communication medium to monitor babies, equipped with a DS18B20 sensor to measure the baby’s body temperature, an AD8232 sensor to measure the baby’s heartbeat and an ESP32 Cam to capture the baby’s face has been created. The test results showed that this incubator was able to detect the baby’s body temperature, the baby’s heartbeat and take the baby’s face remotely using an Android-based smartphone, weighs around 5.8 kg, has a simple design, can be carried around making it easier for medical personnel to carry out supervision premature baby.

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Image Segmentation of Throat Swab Sampling Based on Mask R-CNN

Image Segmentation of Throat Swab Sampling Based on Mask R-C...

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Chinese automation Congress (CAC)

作者： Xinbing Xu Yongming Yang Yuanyuan Zhou Huanqi Cui Shaoqiang Li Wenliang Guo Shiyue Li Hao Liu School of Information Science and Engineering Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Minimally Invasive Surgical Robot Shenyang China State Key Laboratory of Respiratory Diseases National Clinical Research Center for Respiratory Disease Guangzhou Institute of Respiratory Health The First Affiliated Hospital of Guangzhou Medical University Guangzhou China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

This study aims to provide a feasibility basis for image processing for automatic throat swab robot sampling. For target segmentation and identification in the oral environment, we use a robust instance segmentation algorithm Mask R-CNN. In order to solve the insufficiency of the data used, we use data augmentation methods based on the original data to increase the available effective data. Experiments have proved that good results have been achieved for the segmentation of the throat swab and the posterior pharyngeal wall.

关键词： Image segmentation Robots Tongue Feature extraction Image color analysis Training Annotations

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Automatic Recognition of Social Engagement for Children with Autism Spectrum Disorder

Automatic Recognition of Social Engagement for Children with...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Xinming Wang Xiangdong Zhang Zhiyong Wang Wei Nie Hanlin Zhang Xiu Xu Honghai Liu State Key Laboratory of Robotics and Systems School of Mechanical and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Lishui Maternity and Child Health Care Hospital Center of Medical Prenatal Diagnosis Lishui China Department of Child Health Care Children's Hospital of Fudan University Shanghai China School of Computing University of Portsmouth Portsmouth U.K Peng Cheng Laboratory Shenzhen China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

Estimating children's engagement levels improves their understanding of their social behaviors, since they can reflect their devotion to social interaction with others. This paper proposes an automatic method to recognize children's engagement levels in a triadic social interaction context. First, an overall metric function containing behavior, cognition, and affective dimensions is proposed to estimate children's multidimensional engagement levels. Then, the automatic feature extraction method based on gaze estimation, facial expression recognition, pose estimation, and object recognition models is illustrated to extract features to compute the engagement levels. Videos of 24 children, including 13 children with autism spectrum disorder (ASD), in triadic social interaction were collected for the engagement recognition experiment and cross-group analysis. The experimental results validate the effectiveness of the proposed automatic feature extraction method compared to human observations. Cross-group analyses revealed significant differences in affective engagement between children with ASD and typical developmental (TD) children.

关键词： Measurement Autism Computer vision Computational modeling Face recognition Pose estimation Feature extraction Object recognition Cybernetics Videos

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Acquiring Large Field-of-View Optical Super-Resolution Images Using Adaptive As-Natural-As-Possible (AANAP) Image Stitching Method

Acquiring Large Field-of-View Optical Super-Resolution Image...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Hui Sun Meng Chen Cong Wu Hao Luo Qingjiu Chen Boliang Jia Guanglie Zhang Wen Jung Li Department of Mechanical Engineering City University of Hong Kong Hong Kong SAR China Hong Kong Centre for Cerebro-cardiovascular Health Engineering (COCHE) State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China City University of Hong Kong Shenzhen Research Institute (CityUSRI) Shenzhen China

Optical super resolution (OSR) is a technique that enhances the spatial resolution of images beyond the diffraction limit of the imaging system. OSR images can provide more details and information compared with conventional optical microscopes that are limited by the diffraction limit of light and thus have a best spatial resolution of about 200 nm. Moreover, the trade-off between magnification and field of view (FOV) hinders capturing large-scale structures and fine details simultaneously. Therefore, novel microscopy techniques that can overcome these limitations and provide high-resolution and large-FOV images of biological samples need to be developed. In this paper, a new method combining microsphere-based optical microscopic super-resolution imaging system and the image stitching method are proposed to improve the resolution and FOV conventional optical microscopy. First, the technique captures multiple images through the microsphere at different positions by moving the samples. Then, the technique stitches together the images using a registration algorithm to form a high-resolution, wide-field image. This technique can overcome the diffraction limit of optical microscopy and achieve sub wavelength resolution with a large FOV. It can be used in various fields of science and engineering, such as cell imaging, tissue imaging, and disease diagnosis.

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Occupational heat strain in outdoor workers: A comprehensive review and meta-analysis

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Temperature 2022年第1期9卷 67-102页

作者： Ioannou, Leonidas G. Foster, Josh Morris, Nathan B. Piil, Jacob F. Havenith, George Mekjavic, Igor B. Kenny, Glen P. Nybo, Lars Flouris, Andreas D. FAME Laboratory Department of Physical Education and Sport Science University of Thessaly Trikala Greece Institute for Exercise and Environmental Medicine Texas Health Presbyterian Hospital Dallas and University of Texas Southwestern Medical Center Dallas TX United States Department of Human Physiology & Nutrition University of Colorado Springs CO United States Department of Nutrition Exercise and Sports August Krogh Building University of Copenhagen Copenhagen Denmark Environmental Ergonomics Research Centre Loughborough Design School Loughborough University Loughborough United Kingdom Department of Automation Biocybernetics and Robotics Jozef Stefan Institute Ljubljana Slovenia Human and Environmental Physiology Research Unit School of Human Kinetics University of Ottawa Ottawa ON Canada

The present comprehensive review (i) summarizes the current knowledge on the impacts of occupational heat stress on outdoor workers, (ii) provides a historical background on this issue, (iii) presents a meta-analysis of published data, (iv) explores inter-individual and intra-individual factors, (v) discusses the available heat mitigation strategies, (vi) estimates physical work capacity, labour productivity, and metabolic rate for the year 2030, and (vii) provides an overview of existing policy and legal frameworks on occupational heat exposure. Meta-analytic findings from 38 field studies that involved monitoring 2,409 outdoor workers across 41 jobs in 21 countries suggest that occupational heat stress increases the core (r = 0.44) and skin (r = 0.44) temperatures, as well as the heart rate (r = 0.38) and urine specific gravity (r = 0.13) of outdoor workers (all p < 0.05). Moreover, it diminishes the capacity of outdoor workers for manual labour (r = −0.82;p < 0.001) and is responsible for more than two thirds of the reduction in their metabolic rate. Importantly, our analysis shows that physical work capacity is projected to be highly affected by the ongoing anthropogenic global warming. Nevertheless, the metabolic rate and, therefore, labour productivity are projected to remain at levels higher than the workers’ physical work capacity, indicating that people will continue to work more intensely than they should to meet their financial obligations for food and shelter. In this respect, complementary measures targeting self-pacing, hydration, work-rest regimes, ventilated garments, and mechanization can be adopted to protect outdoor workers. © 2022 Informa UK Limited, trading as Taylor & Francis Group.

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