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arXiv 2024年

作者： Geng, Yimeng Meng, Gaofeng Chen, Mingcong Cao, Guanglin Zhao, Mingyang Zhao, Jianbo Liu, Hongbin State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences China Centre for Artificial Intelligence and Robotics HK Institute of Science & Innovation Chinese Academy of Sciences Hong Kong City University of Hong Kong Hong Kong School of Biomedical Engineering and Imaging Sciences King’s College London London United Kingdom

Accurate identification of arteries and veins in ultrasound images is crucial for vascular examinations and interventions in robotics-assisted surgeries. However, current methods for ultrasound vessel segmentation face challenges in distinguishing between arteries and veins due to their morphological similarities. To address this challenge, this study introduces a novel force sensing guided segmentation approach to enhance artery-vein segmentation accuracy by leveraging their distinct deformability. Our proposed method utilizes force magnitude to identify key frames with the most significant vascular deformation in a sequence of ultrasound images. These key frames are then integrated with the current frame through attention mechanisms, with weights assigned in accordance with force magnitude. Our proposed force sensing guided framework can be seamlessly integrated into various segmentation networks and achieves significant performance improvements in multiple U-shaped networks such as U-Net, Swin-unet and Transunet. Furthermore, we contribute the first multimodal ultrasound artery-vein segmentation dataset, Mus-V, which encompasses both force and image data simultaneously. The dataset comprises 3114 ultrasound images of carotid and femoral vessels extracted from 105 videos, with corresponding force data recorded by the force sensor mounted on the US probe. Our code and dataset will be publicly available. © 2024, CC BY-NC-SA.

关键词： Ultrasonic imaging

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Classification of sEMG Biomedical Signals for Upper-Limb and Hand Rehabilitation Using a Hybrid CNN-SVM Architecture

Classification of sEMG Biomedical Signals for Upper-Limb and...

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Data Analytics for Business and Industry: Way Towards a Sustainable Economy (ICDABI), International Conference on

作者： Sami Briouza Hassène Gritli Nahla Khraief Safya Belghith Dilbag Singh Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia Higher Institute of Information and Communication Technologies University of Carthage Borj Cedria Tunis Tunisia RISC Lab (LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology Gwangju South Korea

ISBN: (纸本)9781665490597

Electromyography (EMG) classification has been an important step to achieve the rehabilitation goal for lower/upper limbs and hands using robotic devices. To perform this step effectively, many researchers have adopted machine learning and deep learning algorithms. In this study, a hybrid CNN-SVM architecture was developed for the classification of surface EMG (sEMG) signals. The CNN part of the proposed architecture is used to extract relevant features from the data and the SVM part would use the extracted features for the classification task. This can be helpful as it will reduce human input and make results more consistent. For this work, we use the Ninapro DB2’s dataset, which contains 3 different Exercises B, C, and D. Thus, we obtained the following accuracy results: an accuracy of 78.56% for Exercise B, an accuracy of 72.84% for Exercise C, and an accuracy of 88.24% for Exercise D.

关键词： Support vector machines Performance evaluation Biological system modeling Feature extraction Electromyography Classification algorithms Data mining

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Dissertation abstracts

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Machine Vision and Applications 1989年第2期2卷 117-120页

作者： Tanimoto, Steven L. Srihari, Sargur N. Levine, Martin D. Seering, Warren P. Nevatia, R. Department of Computer Science FR-35 University of Washington Seattle USA Technical Report 88-08 Department of Computer Science SUNY at Buffalo Buffalo USA Technical Report 88-22 Department of Computer Science SUNY at Buffalo Buffalo USA Research Centre for Intelligent Machines McGill University Montréal Canada Publications Department Technical Report 932 MIT Artificial Intelligence Laboratory Cambridge USA Institute for Robotics and Intelligent Systems University of Southern California School of Engineering Los Angeles USA

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Flexible disaster response of tomorrow final presentation and evaluation of the CENTAURO system

arXiv

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arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

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Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots

arXiv

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arXiv 2023年

作者： Arm, Philip Waibel, Gabriel Preisig, Jan Tuna, Turcan Zhou, Ruyi Bickel, Valentin Ligeza, Gabriela Miki, Takahiro Kehl, Florian Kolvenbach, Hendrik Hutter, Marco Robotic Systems Lab ETH Zurich Zurich Switzerland State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Laboratory of Hydraulics Hydrology and Glaciology ETH Zurich Zurich Switzerland Center for Space and Habitability University of Bern Bern Switzerland Department of Environmental Sciences University of Basel Basel Switzerland University of Zurich Dübendorf Switzerland Center for Theoretical Astrophysics and Cosmology University of Zurich Zurich Switzerland Institute of Medical Engineering Space Biology Group Lucerne University of Applied Sciences and Art Hergiswil Switzerland

The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots’ inability to traverse steep slopes, unstructured terrain, and loose soil. Additionally, current single-robot approaches only allow a limited exploration speed and a single set of skills. Here, we present a team of legged robots with complementary skills for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and post-mission visualization, instance segmentation to highlight scientific targets, and scientific instruments for remote and in-situ investigation. Furthermore, we integrated a robotic arm on one of the robots to enable high-precision measurements. Legged robots can swiftly navigate representative terrains, such as granular slopes beyond 25 degrees, loose soil, and unstructured terrain, highlighting their advantages compared to wheeled rover systems. We successfully verified the approach in analog deployments at the BeyondGravity ExoMars rover testbed, in a quarry in Switzerland, and at the Space Resources Challenge in Luxembourg. Our results show that a team of legged robots with advanced locomotion, perception, and measurement skills, as well as task-level autonomy, can conduct successful, effective missions in a short time. Our approach enables the scientific exploration of planetary target sites that are currently out of human and robotic reach. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

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Cooperative Object Manipulation by a Space Robot with Flexible Appendages

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International Scholarly Research Notices 2013年第1期2013卷

作者： P. Zarafshan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology P.O. Box 19395-1999 Tehran Irankntu.ac.ir

Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is considered. This robotic system necessitates delicate force exertion by several end-effectors to move an object along a desired path. During such maneuvers, flexible appendages like solar panels may get stimulated and vibrate. This vibrating motion will cause some oscillatory disturbing forces on the spacecraft, which in turn produces error in the motion of the end-effectors of the cooperative manipulating arms. In addition, vibration control of these flexible members to protect them from fracture is another challenging problem in an object manipulation task for the stated systems. Therefore, the multiple impedance control algorithm is extended to perform an object manipulation task by such complicated rigid-flexible multibody systems. This extension in the control algorithm considers the modification term which compensates the disturbing forces due to vibrating motion of flexible appendages. Finally, a space free-flying robotic system which contains two 2-DOF planar cooperative manipulators, appended with two highly flexible solar panels, is simulated. Obtained results reveal the merits of the developed model-based controller which will be discussed.

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Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

arXiv

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

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Correction to: Fabrication of high-strength polyoxymethylene fibers by gel spinning

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Journal of Materials Science 2018年第18期53卷 13316-13316页

作者： Xudong Fang Tom Wyatt Jing Shi Donggang Yao School of Mechanical Engineering Xi’an Jiaotong University Xi’an China School of Materials Science and Engineering Georgia Institute of Technology Atlanta USA State Key Laboratory for Manufacturing Systems Engineering Xi’an China State Key Laboratory of Robotics and System (HIT) Harbin China

In the original article, the name of author Donggang Yao was misspelled. It is correct here.

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LED Visible Light Localization Based on Illuminance Analysis

LED Visible Light Localization Based on Illuminance Analysis

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Chenting Gu Xiaofeng Liu Yongsheng Ou Chao Liu Hao Tao Tianyun Shi HoHai University Nanjing China Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Shenzhen China Key Laboratory of Special Robots Changzhou China Changzhou Key Laboratory of Robots and Intelligent Technology Changzhou China College of IoT Engineering Hohai University Changzhou China Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China China Ship Development and Design Center Wuhan Tian-yun Shi China Academy of Railway Sciences Corporation Limited Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

LED based positioning technology has recently become a popular choice due to the low cost, convenience for maintenance and strong adaptability to the environment. In this paper, we introduce an illuminance-distance analysis method with a rolling shutter camera, for a low-cost indoor positioning system to improve robustness in the case of insufficient LEDs. Firstly, the binary threshold method is used to decode the light signals. Then the gray value information of image is extracted to analyze the depth of LEDs, using the illuminance attenuation theorem. It provides potential solution to the position of devices with the camera by combining depth information, image and camera intrinsic. Our proposed method reduced the minimum number of LEDs observed by the camera from three to two, using only the camera. We evaluated the proposed method with real scene data and demonstrated the effectiveness of illumination-distance model based localization.

关键词： Light emitting diodes Cameras Receivers Light sources Robots Mathematical model Image sensors

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Low SNR communications using a double Wiener filter in an upwelling environment

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Proceedings of Meetings on Acoustics 2021年第1期44卷

作者： Fabio B. Louza Sergio Manuel Jesus 1Laboratory of Robotics and Engineering Systems (LarSys) University of Algarve Faro Faro 8005 139 PORTUGAL fblouza@ualg.pt sjesus@ualg.pt

This paper presents a double Wiener filter approach for low SNR communications. Low power superim-posed training bitstreams are transmitted and recorded on a four-hydrophone pyramidal array. The method uses a minimum mean square error (MSE) Wiener filter for channel equalization. To explore temporal diversity, a fast Hadamard transform estimates the channel impulse responses for synchronization of the filtered bitstreams. Coherent averaging of time-aligned signals results in an error-corrected bitstream. A second Wiener filter is then applied over the averaged sequence to eliminate residual intersymbol interference. After removing the probe interference, the original message is recovered. To prove the concept, a small subset of data collected during the experiment BioCom’19 was used. The short-range experiment was performed in an upwelling shallow-water site, in Cabo Frio Island bay (Brazil), a challenging environment for communications due to the rapid ocean temperature stratification. Despite BER fluctuation, the proposed scheme proved robust, dealing with these short time scale signal fluctuations and high noise levels that hamper efforts to recover the message. The four channels were processed independently. Compared to a previous method based on a single Wiener, the double Wiener filter approach achieved better performance, providing an average MSE gain up to 2.8 dB.

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