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Photons Plus Ultrasound: Imaging and Sensing 2023

作者： Garje, Yash Tang, Yichuan Jaupi, Enxhi Zhang, Haichong K. Robotics Engineering Department Worcester Polytechnic Institute 100 Institute Rd WorcesterMA01609 United States Biomedical Engineering Department Worcester Polytechnic Institute 100 Institute Rd WorcesterMA01609 United States Computer Science Department Worcester Polytechnic Institute 100 Institute Rd WorcesterMA01609 United States

ISBN: (纸本)9781510658639

Two-dimensional and three-dimensional photoacoustic (PA) visualization is an emerging diagnostic procedure for investigation and research in vascular studies. Current manual/mechanized target scanning techniques involve sweeping the target along the elevation to generate 3D visuals. However, since the linear array probes exhibit poor resolution along the direction orthogonal to its focal plane, these techniques are prone to miss out on the organic structures parallel to the lateral direction. This could result in a misrepresentation of the target and is a critical shortfall of the method. We propose a multiview scanning and compounding technique to overcome the directionality bias and obtain more accurate and isotropic imaging performance. Using electromechanical translatory and rotary stages for multiview data acquisition, we generate a unified 3D visualization. A data processing pipeline illustrates an axial implementation of the Hilbert transform followed by spatial integration of the volumetric data to obtain the output. A 6-directional scanning approach improves the completeness of the structural details. We validated the technique using sub-millimeter-sized balls and wire phantoms. We first observed an enhanced resemblance of the outcome with the actual target in the ball phantom. Secondly, we observed imaging quality improvement with isotropic intensity distribution prominently in the wire phantom. A comparative analysis showed around a 50% reduction in the standard deviation of intensity distribution as compared to conventional unidirectional 3D PA imaging. © 2023 SPIE.

关键词： Phantoms

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Multi-Robot Planning for Filming Groups of Moving Actors Leveraging Submodularity and Pixel Density

arXiv

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arXiv 2024年

作者： Hughes, Skyler Martin, Rebecca Corah, Micah Scherer, Sebastian The Airlab in the Robotics Institute Carnegie Mellon University United States The Department of Computer Science The Colorado School of Mines United States

Observing and filming a group of moving actors with a team of aerial robots is a challenging problem that combines elements of multi-robot coordination, coverage, and view planning. A single camera may observe multiple actors at once, and a robot team may observe individual actors from multiple views. As actors move about, groups may split, merge, and reform, and robots filming these actors should be able to adapt smoothly to such changes in actor formations. Rather than adopt an approach based on explicit formations or assignments, we propose an approach based on optimizing views directly. We model actors as moving polyhedra and compute approximate pixel densities for each face and camera view. Then, we propose an objective that exhibits diminishing returns as pixel densities increase from repeated observation. This gives rise to a multi-robot perception planning problem that we solve via a combination of value iteration and greedy submodular maximization. We evaluate our approach on challenging scenarios modeled after various social behaviors and featuring different numbers of robots and actors and observe that robot assignments and formations arise implicitly given the movements of groups of actors. Simulation results demonstrate that our approach consistently outperforms baselines, and in addition to performing well with the planner’s approximation of pixel densities our approach also performs comparably for evaluation based on rendered views. Overall, the multi-round variant of the sequential planner we propose meets (within 1%) or exceeds formation and assignment baselines in all scenarios. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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Co-designing an Accessible Quadruped Navigation Assistant

Co-designing an Accessible Quadruped Navigation Assistant

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Stacy A. Doore Narit Trikasemsak Alexandra Gillespie Andrea Giudice Rayna Hata Dept of Computer Science Colby College Waterville ME USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are scenarios in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This case study investigated the potential for an industrial quadruped robot to perform guided navigation tasks based on a co-design model. The research was informed by a guide dog handler with over 30 years of experience of non-visual navigation. In order to communicate spatial information between the human-robot team, two interface prototypes were created and pilot tested: a voice-based app and a flexible, responsive guide handle. The pilot user study consisted of sighted participants and our BLV co-designer, who completed simple navigation tasks and a post-study survey about the prototype functionality and their trust in the robot. All participants successfully completed the navigation tasks and demonstrated that the interface prototypes were able to pass spatial information between the human and the robot. Findings of this exploratory study will help to inform human-robot teaming and collaboration. Future work will include expanding the voice-based app to allow the robot to directly communicate obstacles to the handler, adding haptic navigation signals to the handle design, and expanding the user study to include a larger sample of experienced guide dog handlers.

关键词： Surveys Navigation Service robots Prototypes Collaboration Dogs Blindness Haptic interfaces Quadrupedal robots

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Heterogeneous Wireless Access Networks for IoT and E-Health-A Survey 3

Heterogeneous Wireless Access Networks for IoT and E-Health-...

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3rd International Conference on Advancement in Electronics and Communication Engineering, AECE 2023

作者： Salama, Ramiz Altrjman, Chadi Al-Turjman, Fadi Yadav, Satya Prakash Vats, Satvik Ai and Robotics Institute Research Center for Ai and IoT Near East University Department of Computer Engineering Near East Boulevard TRNC Mersin 10 Nicosia99138 Turkey Waterloo University Department of Chemical Engineering ONN2L 3G1 Canada Ai and Robotics Institute Near East University Artificial Intelligence Engineering Dept Mersin10 Nicosia Turkey Department of Computer Science and Engineering Greater Noida201306 India Graphic Era Hill University Department of Computer Science and Engineering Dehradun India

ISBN: (纸本)9798350330724

In a heterogeneous wireless environment, there are many different radio access technologies (RATs), such as Wi-Fi and 2G, 3G, 4G, and 5G, which each have a different degree of coverage and processing power to meet various service requirements. A mobile user may have access to various access networks in such a situation. On the PC of each user, numerous programs with varied Quality of Service (QoS) requirements can operate simultaneously. It would be advantageous for a multi-interface terminal to use two or more interfaces simultaneously in order to improve performance. However, using multiple networks at once could use up more energy than just using one interface. Therefore, energy use must to be taken into account when analyzing the Flow/Interface Relationship (FIA). This paper presents a novel method for choosing the ideal FIA that achieves the best trade-off between all the characteristics taken into account, dubbed Smart Tabu Search (STS). STS considers user preferences, network circumstances, network expenses, application QoS specifications, and battery life of mobile devices. We use simulations and testbed experiments to validate our concept. Professionals are now able to diagnose and monitor patients remotely because to the growing use of healthcare monitoring devices. One of the most frequent occurrences that affects the reliability of information transmission in any network is congestion, which is defined as the unchecked increase in traffic relative to network capacity. With the use of a mesh network, wireless sensors, and some of the most significant models for vital signs, the article aims to provide a realistic simulation environment for a healthcare system. The simulator environment is a helpful tool for assessing the dependability and effectiveness of the healthcare system in a realistic setting. However, the system is not appropriate for real-time applications due to the sluggish network adaption caused by the end-to-end based traffic regulation deci

关键词： Electrocardiograms

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Autonomous robotic re-alignment for face-to-face underwater human-robot interaction

arXiv

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arXiv 2024年

作者： Kutzke, Demetrious T. Wariar, Ashwin Sattar, Junaed The Department of Computer Science & Engineering The Minnesota Robotics Institute University of Minnesota-Twin Cities MinneapolisMN55455 United States

The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in underwater human-robot interaction (UHRI) has witnessed comparatively smaller levels of growth due to limitations in bi-directional communication and significant technical hurdles to bridge the gap between analogies with terrestrial interaction strategies and those that are possible in the underwater domain. A necessary component to support UHRI is establishing a system for safe robotic-diver approach to establish face-to-face communication that considers nonstandard human body pose. In this work, we introduce a stereo vision system for enhancing UHRI that utilizes three-dimensional reconstruction from stereo image pairs and machine learning for localizing human joint estimates. We then establish a convention for a coordinate system that encodes the direction the human is facing with respect to the camera coordinate frame. This allows automatic setpoint computation that preserves human body scale and can be used as input to an image-based visual servo control scheme. We show that our setpoint computations tend to agree both quantitatively and qualitatively with experimental setpoint baselines. The methodology introduced shows promise for enhancing UHRI by improving robotic perception of human orientation underwater. © 2024, CC BY.

关键词： Human robot interaction

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

引用

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

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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Real-time Prediction of Fluid Resuscitation Rate for Burn Patients: A Web Based Fuzzy Logic Approach

Real-time Prediction of Fluid Resuscitation Rate for Burn Pa...

引用

International Conference on computer and Information Technology (ICCIT)

作者： Aminul Islam M. Akhtaruzzaman Department of Computer Science and Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh

ISBN: (数字)9798331519094

ISBN: (纸本)9798331519100

Effective management of burn patients in the early stages of treatment is crucial for ensuring survival and optimal recovery. A key element of this process is proper fluid resuscitation, which is essential for maintaining organ function and preventing potentially fatal complications such as shock. Accurate and timely assessment of fluid needs, depending on the Total Body Surface Area (TBSA) affected and the patient’s Hourly Urine Output (HUO), is therefore critical. To address these challenges in burn care, this research introduces a modern web application specifically designed for healthcare providers. The application modern technologies, including Spring Boot, React, ***, MySQL Database and a Java fuzzy logic library, to implement fuzzy logic design and modeling based on the Rule of Nines. This application facilitates rapid analysis of burn extent and provides continuous 24-hour monitoring. By offering accurate, hourly recommendations for fluid resuscitation rates, the tool significantly enhances decision-making in critical care settings. The application includes secure doctor login functionality, allowing healthcare professionals to manage patient data efficiently. Patient information is stored in a database for real-time access and ongoing monitoring. The user-friendly interface allows for seamless data entry and quick interpretation of results, making it highly practical in high-pressure emergency situations.

关键词： Fuzzy logic Java Fluids Accuracy Databases Medical services Real-time systems Libraries Monitoring Surface treatment

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SELM: From Efficient Autonomous Exploration to Long-term Monitoring in Semantic Level

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IEEE Transactions on Cognitive and Developmental Systems 2025年

作者： Lang, Fang Qin, Yongsen Wang, Yinchuan Liu, Jin Wang, Chaoqun Song, Wei Zhu, Qiuguo Song, Rui Zhejiang University Polytechnic Institute Hangzhou310015 China Shandong University School of Control Science and Engineering Jinan China Zhejiang University Robotics Institute Hangzhou China Zhejiang University College of Computer Science and Technology Hangzhou China

Maintaining up-to-date environmental models from initial deployment through long-term autonomy in service is critical for applications like navigation and task planning. To address the challenges of persistent monitoring in unknown environments, we introduce a Two-Stage monitoring strategy, termed the Semantic-level autonomous Exploration and Long-term environment Monitoring (SELM) framework. In the first stage, we introduce a novel semantic exploration method to adapt to new environments quickly. Leveraging the semantic information within the incrementally constructed 3D Scene Graph (3DSG), we combine the Next-Best-View (NBV) selection with room semantics, introducing a more efficient and comprehensive approach for multi-room indoor environment exploration. In addition, the exploration provides patrol routes, the room distance-connectivity graph, and complete environment initial states for subsequential monitoring. The monitoring stage aims to persistently patrol to update the world model in the presence of dynamic changes, including changes in objects' positions. We formulate the long-term monitoring problem as the Partially Observable Markov Decision Process (POMDP) to cope with the environmental uncertainty. To solve the POMDP, we propose the Graph Attention Bidirectional long short-term memory Proximal Policy Optimization (GABPPO) algorithm for the optimal patrol strategy. The feasibility and effectiveness of the proposed SELM framework are verified through extensive experiments. © 2016 IEEE.

关键词： Environmental monitoring

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Overview of Energy Harvesting and Sustainability in Smart Cities 3

Overview of Energy Harvesting and Sustainability in Smart Ci...

引用

3rd International Conference on Advancement in Electronics and Communication Engineering, AECE 2023

ISBN: (纸本)9798350330724

Sustainability is a key factor in the context of smart cities. In smart cities, promoting sustainable energy is one strategy for achieving sustainability and lowering greenhouse gas emissions. Different energy sources are needed to meet the need for affordable and dependable electrical energy, where the environmental impact typically outweighs the cost of generation. In order to increase sustainability in the electrical industry, smart cities are examined in this article. The methodological strategy for this involved conducting a systematic literature review utilizing the PRISMA procedure. 154 journal articles were examined in-depth for this review. Energy efficiency, renewable energy, and energy and urban planning were the themes that the results were organized into. The results of the study showed that: (a) there is a global academic publication landscape for research on smart cities and energy sustainability;(b) publications are unbalanced when comparing the results of studies on the energy use intensity of different continents to those on the energy sustain ability of smart cities;and (c) there is a strong focus on technology-related issues related to energy sustainability, efficiency, and renewables topics in the literature, but much less attention is given to these issues. Urban and energy authorities are informed by the insights produced, and scholars are given ideas for future research directions. © 2023 IEEE.

关键词： Smart city

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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...

引用

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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