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Bioengineering (ENBENG), Portuguese Meeting in

作者： João Silva Fernanda Coutinho Polytechnic Institute of Coimbra Coimbra Institute of Engineering Coimbra Portugal Polytechnic Institute of Coimbra Coimbra Institute of Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

The main purpose of this paper is to discuss the Reprocessing Units for Medical Devices (RUMEDs) of hospitals in order identify procedures and potential points to improve that will benefit the overall quality of service in target hospitals. We also examine key failures associated with this units. It will mainly focus on the mechanical washing and steam sterilization processes because they're the most often used. General considerations on the design of RUMED units, and its impact on the overall quality of the process, are also made.

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Nonlinear Model Predictive Control for Optimal Dose Administration in Radiotherapy 15th

Nonlinear Model Predictive Control for Optimal Dose Administ...

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15th Advanced Doctoral Conference on Computing, Electrical and Industrial systems, DoCEIS 2024

作者： Araújo, João C. G. Guerreiro, Bruno J. Oliveira, Luis B. da Silva, Filipe Ferreira CTS-UNINOVA and LASI Department of Electrical and Computer Engineering NOVA School of Science and Technology Caparica2829-516 Portugal Institute for Systems and Robotics LARSyS Lisbon1049-001 Portugal CEFITEC Department of Physics NOVA School of Science and Technology Caparica2829-516 Portugal

ISBN: (纸本)9783031638503

This work discusses the nonlinear modeling of healthy and cancer cell population growth under the influence of radiotherapy, and proposes predictive control techniques to determine the optimal dose for tumor control, while sparing surrounding healthy tissue. Radiation effects are modelled by a linear-quadratic formalism, coupled with a novel population-specific delayed dose response. Numerical simulations of the open- and closed-loop system are conducted, and robustness against model uncertainty is studied. Results illustrate the controller’s performance when dealing with imperfect information and unexpected system behavior, and how it can be tuned to produce the desired treatment outcome. However, optimal operation is conditioned by a limited prediction horizon, as well as strict adherence to treatment schedules and dose restrictions. © IFIP International Federation for Information Processing 2024.

关键词： Nonlinear systems

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Comparison of Facial Expression Sensors and Skin Potential Response Sensors for Emotion Estimation by Communication Robots 23

Comparison of Facial Expression Sensors and Skin Potential R...

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23rd International Conference on Control, Automation and systems, ICCAS 2023

作者： Hasegawa, Naoya Hirahara, Rin Takahashi, Yoshihiko Kindai University Technical College Department of Comprehensive Engineering - Mechanical Systems Course 7-1 Kasugaoka Mie Nabari518-0459 Japan Kanagawa Institute of Technology Department of Robotics and Mechatronics Kanagawa Atsugi243-0292 Japan

ISBN: (纸本)9788993215274

A communication system that quantifies human emotions and provides feedback control was fabricated for a communication robot. The robot can provide suggestions to users and relay transmissions during human-to-human communication. For instance, if the user is excited, the robot can calm them down, and if the user is sad, the robot can cheer them up. The reliability in estimating emotions from facial expressions of a proposed sensor was compared with that of galvanic skin reflex (GSR) and skin potential response (SPR) sensors, which have been reported in several papers. A GSR sensor can measure tension and agitation in humans. The sensor estimating emotions from facial expressions can measure five facial expressions: 'Happiness', 'Surprise', 'Anger', 'Sadness', and 'Neutrality'. Furthermore, the method is non-contact and suitable for practical use because it uses images. As the emotion-estimated values are output, they can be used without any privacy issues. The changes in emotions toward subjects using an entertainment robot that can eject soap bubbles were evaluated. An experimental chamber was created to prevent disturbances and measure only the effects of the soap bubble ejection and cessation events. This study reports that SPR sensors and emotion estimation sensors can be handled similarly. © 2023 ICROS.

关键词： Electrophysiology

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Detecting End Effector Command Pose Error Using Perfect Bit Field Imaging

Detecting End Effector Command Pose Error Using Perfect Bit ...

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International Carpathian Control Conference (ICCC)

作者： Tomáš Buchta Jaroslav Hlava Tomáš Martinec Jaroslav Buchta Yegor Boyarchikov Department of Mechatronic Systems and Robotics Technical University of Liberec Liberec Czechia Institute of Mechatronics and Computer Engineering Technical University of Liberec Liberec Czechia

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

This paper presents a novel approach to improving the precision of robotic arm operations in complex environments by using Perfect Bit Field Imaging (PBFI) for end effector command pose error detection. Accurate pose determination is essential for tasks such as manipulation, assembly, and autonomous navigation, particularly in space or hazardous settings where precision is critical. PBFI leverages high-resolution industrial cameras to capture detailed pixel-level information that can be used to correct the end effector’s position. The system’s key advantage is its low-cost nature, making it an attractive alternative to expensive sensor-based approaches. Advanced image processing techniques are used to interpret bit fields, allowing for quick and reliable pose corrections that reduce the need for recalibration and minimize the impact of external disturbances. Additionally, the approach is adaptable to various robotic arm configurations and operational conditions, making it suitable for a wide range of industrial and space-based applications. This research opens new avenues for enhancing robotic precision in challenging environments, contributing to the advancement of cost-effective autonomous systems.

关键词： Accuracy Service robots Image processing Robot vision systems Refining End effectors Real-time systems Error correction Robots Optimization

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Collision-Aware MPCC Integrated with Neural Augmentation for Quadrotor Trajectory Tracking

Collision-Aware MPCC Integrated with Neural Augmentation for...

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2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Hu, Chuanqi Wang, Jin Chen, Yikai Chen, Yonghang Zheng, Zhi Meng, Jun Lu, Guodong Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310058 China Zhejiang University Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China National Elite Institute of Engineering Chongqing University Chongqing401135 China School of Mechanical Engineering Zhejiang University Hangzhou310058 China College of Electrical Engineering Zhejiang University Hangzhou310027 China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798331533892

This paper presents a trajectory tracking algorithm designed for autonomous quadrotors to navigate complex dy-namic environments that is resilient to collision disturbances. Since it combines Model Predictive Contouring Control (MPCC) with the capabilities of neural networks, our method is named MPCC Integrated with Neural Augmentation (MINA). By equip-ping the quadrotor with PVDF piezoelectric sensors, we achieve real-time perception of collision forces and utilize S4D-Conv Adaptive Net Architecture (SANA) for state computation, a network that integrates the advantages of S4D and convolutional kernels to enhance the accuracy of state predictions. We incorporate the predicted results into the MPCC framework to optimize the thrust output of the quadrotor for the next time step, ensuring precise trajectory tracking. Experimental validation demonstrates the reliability and effectiveness of our algorithm, providing an innovative solution for autonomous flight and trajectory tracking of quadrotors in complex dynamic environments. © 2025 IEEE.

关键词： Flight paths

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Camera and LiDAR Fusion for Robust 3D Person Detection in Indoor Environments

Camera and LiDAR Fusion for Robust 3D Person Detection in In...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Carlos A. Silva Sedat Dogru Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra 3030-290 Coimbra Portugal

In order to guarantee a harmonious coexistence of robots and humans, it is vital for the former to be able to navigate the environment in a safe manner, taking into consideration the people that populate it. This requires the robot to be capable of identifying where the surrounding people are, through adequate processing of the sensory data acquired. In this paper we present a 3D person detection system for indoor settings which fuses RGB and LiDAR data, simultaneously using the semantic information available from the camera and the precise and long-range data acquired by the LiDAR. The proposed approach utilizes SVM with various feature vectors to classify the point clusters, and it also introduces planarity as another feature, improving the overall detection performance considerably.

关键词： Point cloud compression Support vector machines Laser radar Three-dimensional displays Navigation Robot vision systems Semantics

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An Audio-Video Sensor Fusion Framework To Augment Humanoid Capabilities For Identifying And Interacting With Human Conversational Partners

An Audio-Video Sensor Fusion Framework To Augment Humanoid C...

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IEEE-RAS International Conference on Humanoid Robots

作者： Pranav Barot Ewen N. MacDonald Katja Mombaur Department of Systems Design Engineering University of Waterloo Canada Department of Systems Design Engineering University of Waterloo Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Germany and CERC Human-Centred Robotics and Machine Intelligence Karlsruhe Institute of Technology (KIT) Institute of Anthropomatics and Robotics (IAR) Waterloo Canada

Human robot interaction often requires many sub-systems to work together in order to facilitate more natural and intelligent interactions with multiple humans. For this work, the relevant systems include audio and visual direction of arrival estimation that are used in an encompassing sensor fusion framework. The presented sub-systems are used concurrently online to allow for humanoid robots to identify active speakers in a scene, track human subjects, and identify when other subjects may require attention. We present evaluations of performance, while also implementing relevant humanlike behaviours on the REEM-C Humanoid Robot. A conducted user study delivers valuable feedback on these systems, which provide a strong foundation for improved humanoid intelligence and more innovative human-robot interaction.

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SAR Nets: An Evaluation of Semantic Segmentation Networks with Attention Mechanisms for Search and Rescue Scenes

SAR Nets: An Evaluation of Semantic Segmentation Networks wi...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Andrés Salas-Espinales Ricardo Vázquez-Martín Alfonso García-Cerezo Anthony Mandow Robotics and Mechatronics Group Institute of Mechatronics Engineering and Cyber-physical Systems University of Málaga Spain

This paper evaluates four semantic segmentation models in Search-and-Rescue (SAR) scenarios obtained from ground vehicles. Two base models are used (U-Net and PSPNet) to compare different approaches to semantic segmentation, such as skip connections between encoder and decoder stages and using a pooling pyramid module. The best base model is modified by including two attention mechanisms to analyze their performance and computational cost. We conduct a quantitative and qualitative evaluation using our SAR dataset defining eleven classes in disaster scenarios. The results demonstrate that the attention mechanisms increase model performance while minimally affecting the computation time.

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SPVSoAP3D: A Second-order Average Pooling Approach to enhance 3D Place Recognition in Horticultural Environments

SPVSoAP3D: A Second-order Average Pooling Approach to enhanc...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： T. Barros C. Premebida S. Aravecchia C. Pradalier U. J. Nunes Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal IRL2958 GeorgiaTech-CNRS Metz France

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

3D LiDAR-based place recognition has been extensively researched in urban environments, yet it remains underexplored in agricultural settings. Unlike urban contexts, horticultural environments, characterized by their permeability to laser beams, result in sparse and overlapping LiDAR scans with suboptimal geometries. This phenomenon leads to intra-and inter-row descriptor ambiguity. In this work, we address this challenge by introducing SPVSoAP3D, a novel modeling approach that combines a voxel-based feature extraction network with an aggregation technique based on a second-order average pooling operator, complemented by a descriptor enhancement stage. Furthermore, we augment the existing HORTO-3DLM dataset by introducing two new sequences derived from horticultural environments. We evaluate the performance of SPVSoAP3D against state-of-the-art (SOTA) models, including OverlapTransformer, PointNetVLAD, and LOGG3D-Net, utilizing a cross-validation protocol on both the newly introduced sequences and the existing HORTO-3DLM dataset. The findings indicate that the average operator is more suitable for horticultural environments compared to the max operator and other first-order pooling techniques. Additionally, the results highlight the improvements brought by the descriptor enhancement stage. The code is publicly available at https://***/Cybonic/***

关键词： Solid modeling Three-dimensional displays Protocols Laser radar Urban areas Green products Laser modes Permeability Laser beams Intelligent robots

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SPVSoAP3D: A Second-order Average Pooling Approach to enhance 3D Place Recognition in Horticultural Environments

arXiv

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arXiv 2024年

作者： Barros, T. Premebida, C. Aravecchia, S. Pradalier, C. Nunes, U.J. University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal IRL2958 GeorgiaTechCNRS Metz57070 France

3D LiDAR-based place recognition has been extensively researched in urban environments, yet it remains underexplored in agricultural settings. Unlike urban contexts, horticultural environments, characterized by their permeability to laser beams, result in sparse and overlapping LiDAR scans with suboptimal geometries. This phenomenon leads to intra- and inter-row descriptor ambiguity. In this work, we address this challenge by introducing SPVSoAP3D, a novel modeling approach that combines a voxel-based feature extraction network with an aggregation technique based on a second-order average pooling operator, complemented by a descriptor enhancement stage. Furthermore, we augment the existing HORTO-3DLM dataset by introducing two new sequences derived from horticultural environments. We evaluate the performance of SPVSoAP3D against state-of-the-art (SOTA) models, including OverlapTransformer, PointNetVLAD, and LOGG3D-Net, utilizing a cross-validation protocol on both the newly introduced sequences and the existing HORTO-3DLM dataset. The findings indicate that the average operator is more suitable for horticultural environments compared to the max operator and other first-order pooling techniques. Additionally, the results highlight the improvements brought by the descriptor enhancement stage. The code is publicly available at https://***/Cybonic/*** © 2024, CC BY.

关键词： Feature extraction

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