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Online Tracking of Migrating and Proliferating Cells Imaged with Phase-Contrast Microscopy

Online Tracking of Migrating and Proliferating Cells Imaged ...

引用

IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Kang Li E.D. Miller L.E. Weiss P.G. Campbell T. Kanade Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Department of Biomedical Engineering Carnegie Mellon University Pittsburgh PA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA Institute for Complex Engineered Systems Carnegie Mellon University Pittsburgh PA USA

Automated visual-tracking of cell population in vitro using phase-contrast time-lapse microscopy is vital for the quantitative and systematic study of cell behaviors, including spatiotemporal quantification of migration, proliferation, and apoptosis. The low image quality, high and varying density of the cell culture, and the complexity of cell behaviors pose many challenges to existing tracking techniques. This paper presents a fully-automated multitarget tracking system that can simultaneously track hundreds of cells and efficiently cope with these challenges. The approach exploits a fast topology-constrained level-set method in conjunction with a stochastic motion filter, with a careful formulation that makes it suitable for real-time tracking during acquisition. Our methodology was applied to human tissue cell tracking in vitro under various imaging conditions and yielded a 88.4% tracking accuracy.

关键词： Microscopy Object detection Biomedical engineering In vitro Stochastic processes Filters Tracking Extracellular Shape Detectors

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Chitosan for Biofunctionalization of Microsystems

Chitosan for Biofunctionalization of Microsystems

引用

IEEE/NLM Life Science systems and Applications Workshop

作者： Stephan T. Koev Michael A. Powers Vlad Badilita Hyunmin Yi William E. Bentley Gregory F. Payne Gary W. Rubloff Reza Ghodssi Institute for Systems Research ISR University of Maryland College Park MD USA University System of Maryland Adelphi MD US Department of Materials Science and Engineering University of Maryland College Park MD USA Department of Chemical Engineering University of Maryland College Park MD 20742 University of Maryland Biotechnology Institute (UMBI) University of Maryland College Park MD 20742 Bioengineering Graduate Program University of Maryland College Park MD 20742 University of Maryland College Park MD USA University of Maryland Biotechnology Institute College Park MD USA Institute for Systems Research (ISR) University of Maryland College Park MD 20742 Department of Materials Science and Engineering University of Maryland College Park MD 20742 Department of Electrical and Computer Engineering University of Maryland College Park MD 20742 Institute for Systems Research (ISR) University of Maryland College Park MD 20742

ISBN: (纸本)1424402778

We present the use of the polysaccharide chitosan for immobilizing biomolecules on microfabricated device surfaces. The main advantages of chitosan are its abundance of primary amine groups and its ability to be electrodeposited. Biomolecules are easily attached to chitosan 's amines by standard glutaraldehyde chemistry. The electrodeposition of chitosan allows accurate spatial and temporal control of biomolecule placement. We have demonstrated this biofunctionalization method for two different bioMEMS devices: a biophotonic sensor and a micromechanical biosensor. We have successfully assembled probe DNA on each of them and detected hybridization with target DNA as a demonstration of sensor operation. Here, we briefly present the fabrication procedure and testing results for both of these bioMEMS sensing devices

关键词： DNA Biosensors Molecular biophysics Probes Micromechanical devices Optical sensors Optical surface waves Optical interferometry Assembly Biomedical optical imaging

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Robust Control Design for the Mass-Damper Type Anti-Sway System

Robust Control Design for the Mass-Damper Type Anti-Sway Sys...

引用

SICE Annual Conference

作者： Young-bok Kim Masao Ikeda Jin-ho Suh Guisheng Zhai Seong-hoon Han Faculty of Mechanical Engineering Pukyong National University Busan South Korea Department of Computer-Controlled Mechanical Systems Osaka University Osaka Japan Pohang Institute of Intelligent Robotics PIRO Pohang South Korea Department of Mechanical Engineering Osaka Prefecture University Osaka Japan Department of Electrical Engineering Graduate School Dong-A University Busan South Korea

In the previous studies, we suggested a new type of swing motion control system for the crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In the papers, to identify the usefulness and validity of the proposed system, we applied several control strategies. In the results, good control performance and valuable results had been achieved. In this paper, we evaluate and check the system in the point of more real application. For an example, the transportation process of RTG to handle the cargos is considered. In this case, undesirable sway motion might be occurred. To suppress this motion, a pursueable strategy (approach) is introduced. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world

关键词： Robust control Cranes Motion control Containers Control systems Mechanical engineering Intelligent robots Marine vehicles Transportation Mechanical systems

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BioImplantable Bone Stress Sensor

BioImplantable Bone Stress Sensor

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

作者： J.F. Alfaro L.E. Weiss P.G. Campbell M.C. Miller C. Heyward J.S. Doctor G.K. Fedder Robotics Institute Carnegie Mellon University Pittsburgh PA USA Institute for Complex Engineered Systems and Department of Biomedical Engineering Carnegie Mellon University Pittsburgh PA USA School of Health Sciences Duquesne University Pittsburgh PA USA Department of Biological Sciences Duquesne University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The clinical management of skeletal trauma and disease relies on radiographic imaging to infer bone quality. However, bone strength does not necessarily correlate well with image intensity. There is a need for a safe and convenient way to measure bone strength in situ. This paper presents a new technique to directly measure bone strength in situ at a microlevel scale through a microelectromechanical system (MEMS) sensor. The proposed MEMS stress sensor comprises an array of piezoresistive sensor "pixels" to detect stress across the interfacial area between the MEMS chip and bone with resolution to 100 Pa, in 1 sec averaging. The sensors are located within a textured surface to accommodate sensor integration into bone. From initial research, surface topography with 30-60 /mum features was found to be conducive to guiding new cell growth. Finite element analysis has led to a sensor design for normal and shear stress detection

关键词： Stress Biosensors Sensor arrays Micromechanical devices Semiconductor device measurement Surface topography Quality management Radio spectrum management Bone diseases Radiography

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Tracking multiple moving objects for mobile robotics navigation

Tracking multiple moving objects for mobile robotics navigat...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： J. Almeida A. Almeida R. Araujo ISR-Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

For mobile vehicle navigation in dynamic environments it is desirable that robots have a model of the dynamic aspects of the world. In this paper we present a method for detection and tracking of multiple moving objects using sensor information. The method uses particle filters to estimate objects states, and sample based joint probabilistic data association filters to perform the assignment of features detected from sensor data to filters. A perception mechanism, based on occupancy grids, is presented to distinguish between mobile features and static objects. Experimental results from a real-time implementation using a laser range sensor are presented demonstrating the feasibility and effectiveness of the presented methods

关键词： Mobile robots Navigation Robot sensing systems Vehicle dynamics Object detection Vehicles Particle filters State estimation computer vision Sensor phenomena and characterization

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State estimation for systems with implicit outputs for the integration of vision and inertial sensors

State estimation for systems with implicit outputs for the i...

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44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

作者： Aguiar, A. Pedro Hespanha, João P. ISR/IST Institute for Systems and Robotics Instituto Superior Técnico Torre Norte 8 Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)0780395689

This paper addresses the state estimation of a system with implicit outputs. We formulate the problem in the so-called deterministic H ∞ filtering setting by computing the value of the state that minimizes the induced L2 -gain from disturbances to estimation error, while remaining compatible with the past observations. To avoid weighting the distant past as much as the present, a forgetting factor is also introduced. We show that, under appropriate observability assumptions, the optimal estimate converges globally asymptotically to the true value of the state in the absence of noise and disturbance. In the presence of noise, the estimate converges to a neighborhood of the true value of the state. We apply these results to the estimation of position and attitude of an autonomous vehicle using measurements from an inertial measurement unit (IMU) and a monocular charged-coupled-device (CCD) camera attached to the vehicle. © 2005 IEEE.

关键词： State estimation

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Real-Time Tracking of Moving Objects Using Particle Filters

Real-Time Tracking of Moving Objects Using Particle Filters

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： A. Almeida J. Almeida Rui Araujo Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

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State Estimation for systems with Implicit Outputs for the Integration of Vision and Inertial Sensors

State Estimation for Systems with Implicit Outputs for the I...

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IEEE Conference on Decision and Control

作者： A.P. Aguiar J.P. Hespanha Instituto Superior Técnico ISR/IST-Institute for Systems and Robotics Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

This paper addressed the state estimation of a system with implicit output. We formulate the problem in the so-called deterministic H ∞ filtering setting by computing the value of the state that minimizes the induced L 2 -gain from disturbances to estimation error, while remaining compatible with the past observations. To avoid weihting the distant past as much as the present, a forgetting factor is also introduced. We show that, under appropriate observability assumptions, the optimal estimate converges globally asymptotically to the true value of the state in the absence of noise and disturbance. In the presence of noise, the esimate converges to a nieghborhood of the true value of the state. We apply these result to the estimation of position and attiude of an autonomous vehicle using measurements from an inertial measurement unit (IMU) and a monocular charged-coupled-device (CCD) camera attached to the vehicle.

关键词： State estimation Sensor systems Remotely operated vehicles Mobile robots Filtering Estimation error Observability Current measurement Position measurement Measurement units

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Stability of switched seesaw systems with application to the stabilization of underactuated vehicles

Stability of switched seesaw systems with application to the...

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IEEE Conference on Decision and Control

作者： A.P. Aguiar J.P. Hespanha A.M. Pascoal Instituto Superior Técnico Torre ISR/IST-Institute for Systems and Robotics Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using hybrid control. To this effect we introduce two new classes of switched systems and provide conditions under which they are input-to-state practically stable (ISpS). These results lead to a control design methodology called switched seesaw control design that allows for the development of nonlinear control laws yielding input-to-state stability, using switching. The range of applicability and the efficacy of the methodology proposed are illustrated via two non-trivial design examples. Namely, stabilization of the extended nonholonomic double integrator (ENDI) and stabilization of an underactuated autonomous underwater vehicle (AUV) in the presence of input disturbances and measurement noise.

关键词： Stability Control systems Control design Nonlinear control systems Nonlinear systems Switched systems Remotely operated vehicles Underwater vehicles Noise measurement Vehicle dynamics

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Exploring information theory for vision-based volumetric mapping

Exploring information theory for vision-based volumetric map...

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作者： Rocha, Rui Dias, Jorge Carvalho, Adriano Faculty of Sciences and Technology Institute of Systems and Robotics Univ. of Coimbra Pole II 3030-290 Coimbra Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal

ISBN: (纸本)0780389123

This article presents an innovative probabilistic approach for building volumetric maps of unknown environments with autonomous mobile robots, which is based on information theory. Each mobile robot uses an entropy gradient-based exploration strategy, with the aim of maximizing information gain when building and improving a 3-D map upon measurements yielded by an on-board stereo-vision sensor. The proposed framework was validated through experiments with a real mobile robot equipped with stereo-vision, in order to be further used on cooperative volumetric mapping with teams of mobile robots. © 2005 IEEE.

关键词： Mobile robots

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