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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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High-Speed Tissue Metabolism Measurement Using a Combination of Diffuse Speckle Contrast Analysis and Near-Infrared Spectroscopy

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SSRN 2023年

作者： Yeo, Chaebeom Chang, Yeonhee Song, Cheol Daegu Gyeongbuk Institute of Science and Technology Department of Robotics and Mechatronics Engineering Daegu42988 Korea Republic of

Background: Although several optical systems have been developed for monitoring the tissue metabolic rate of oxygen consumption (tMRO2) measurement, there are some limitations in terms of system design, image acquisition speed, and clinical application. In this study, we present and validate a multimodal optical system combining diffuse speckle contrast analysis (DSCA) and near-infrared spectroscopy (NIRS) with a unique system design for high-speed tMRO2 ***: The optical system for simultaneous multiple-wavelength illumination and detection by a single camera, is constructed using dichroic mirrors without an external trigger device so that it achieves fast image-acquisition speed. To validate system performance, flow and liquid phantom experiments and an in-vivo arterial occlusion tests are conducted by varying the camera exposure time from 0.5 to 10 ms. We analyze and compare the results according to the exposure time to acquire the optimal tMRO2 signal by dual-exposure time ***: From the flow phantom experiment, the blood flow index (BFI) changes measured by DSCA modality and results showed that the highest linearity and sensitivity were confirmed at the shortest exposure time. From liquid phantom experiments, NIRS modality confirmed high sensitivity and measurement range consistent of tissue oxygenation index (TOI) at the longest exposure time. From the in-vivo experiment, it was confirmed that BFI and TOI signals from the two modalities had a trade-off with the exposure time. We obtained the optimal tMRO2 using dual-exposure time ***: We conclude that the proposed DSCA/NIRS provides real-time tMRO2 assessment, which can provide biomarkers for diagnosing vascular diseases. © 2023, The Authors. All rights reserved.

关键词： Tissue

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A Comparative Study for Control of Semi-Automatic Robotic-Assisted Ultrasound System in Spine Surgery

A Comparative Study for Control of Semi-Automatic Robotic-As...

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International Conference on Advanced robotics (ICAR)

作者： Ayoob Davoodi Ruixuan Li Yuyu Cai Kenan Niu Gianni Borghesan Emmanuel Vander Poorten Department of Mechanical Engineering KU Leuven Belgium Department of Robotics and Mechatronics University of Twente Enschede The Netherlands

Ultrasound (US) imaging has been widely applied in different clinical scenarios thanks to its low-cost and non-radiative nature. Recently, robotic US has increasingly been investigated to produce 3D US reconstructions for navigation during surgical interventions. robotics is considered of interest to address variable skills among human sonographers. Dedicated control strategies are needed to ensure high-quality robotic US reconstructions that are comparable or superior to those generated by human experts. The robot controller ought to establish human-like scanning maneuvers while maintaining tight skin contact and ensuring essential safety. In essence, this means that at all times, the robot should ensure contact while avoiding the application of excessive force on the patient. To acquire an improved understanding of what is an optimal control method, a comparative study on several admittance-based controllers was conducted while a semi-automatic path planning approach was used to realize automatic US scanning. The developed system was validated by scanning a synthetic phantom, compared with position and admittance control. The robotic US system with the proposed control applied a force lower than $3.83\pm 0.31\ \mathrm{N}$ while ensuring continuous US imaging. By defining the successful rate as a US image has more than 90% of soft tissue (i.e., ligament) length, the velocity-based admittance controller has more than 80% successful US imaging. Such an approach could contribute to the further development and uptake of robotic US systems in spine surgery or applications.

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Towards Large Vocabulary Kazakh-Russian Sign Language Dataset: KRSL-OnlineSchool 10

Towards Large Vocabulary Kazakh-Russian Sign Language Datase...

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10th Workshop on the Representation and Processing of Sign Languages: Multilingual Sign Language Resources, sign-lang 2022

作者： Mukushev, Medet Kydyrbekova, Aigerim Kimmelman, Vadim Sandygulova, Anara Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Nur-Sultan Kazakhstan Department of Linguistic Literary and Aesthetic Studies University of Bergen Bergen Norway

ISBN: (纸本)9791095546863

This paper presents a new dataset for Kazakh-Russian Sign Language (KRSL) created for the purposes of Sign Language Processing. In 2020, Kazakhstan's schools were quickly switched to online mode due to COVID-19 pandemic. Every working day, the El-arna TV channel was broadcasting video lessons for grades from 1 to 11 with sign language translation. This opportunity allowed us to record a corpus with a large vocabulary and spontaneous SL interpretation. To this end, this corpus contains video recordings of Kazakhstan's online school translated to Kazakh-Russian sign language by 7 interpreters. At the moment we collected and cleaned 890 hours of video material. A custom annotation tool was created to make the process of data annotation simple and easy-to-use by Deaf community. To date, around 325 hours of videos have been annotated with glosses and 4,009 lessons out of 4,547 were transcribed with automatic speech-to-text software. KRSL-OnlineSchool dataset will be made publicly available at https://***/online-school/. © European Language Resources Association (ELRA), licensed under CC-BY-NC 4.0.

关键词： Video recording

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Respiratory Motion Compensation and Haptic Feedback for X-Ray-Guided Teleoperated Robotic Needle Insertion

Respiratory Motion Compensation and Haptic Feedback for X-Ra...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Ana Cordón Avila Mostafa Selim Momen Abayazid Faculty of Electrical Engineering Robotics and Mechatronics research group TechMed Centre Mathematics and Computer Science University of Twente AE Enschede The Netherlands

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Respiratory motion limits the accuracy and pre-cision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed using proximity-based haptic feedback to guide physicians during insertion, enabling a radiation-free remote insertion for the end-user. The study has been validated using a robotic liver phantom, and five insertions were performed. The resulting motion estimation errors were below 3 mm for all directions of motion, and the overall resulting 3D insertion errors were 2.60 mm, 7.75 mm, and 2.86 mm for the superior-inferior, lateral, and anterior-posterior directions of motion, respectively. The proposed approach is expected to minimize the chances of inaccurate treatment or diagnosis due to respiratory-induced motion and reduce radiation exposure. A video summary can be found in: https://***/2Xw6AMe2mco

关键词： Three-dimensional displays Motion estimation Liver Phantoms Medical services Biomechatronics Needles Motion compensation Haptic interfaces Robots

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Model heat source using actual distribution of laser power density for simulation of laser processing

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Journal of Central South University 2022年第10期29卷 3277-3293页

作者： WANG Gen-wang DING Ye GUAN Yan-chao WANG Yang YANG Li-jun State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

The model of heat source(MHS) which reflects the thermal interaction between materials and laser during processing determines the accuracy of simulation results. To acquire desirable simulations results, although various modifications of heat sources in the aspect of absorption process of laser by materials have been purposed, the distribution of laser power density(DLPD) in MHS is still modeled theoretically. However, in the actual situations of laser processing, the DLPD is definitely different from the ideal models. So, it is indispensable to build MHS using actual DLPD to improve the accuracy of simulation results. Besides, an automatic modeling method will be benefit to simplify the tedious pre-processing of simulations. This paper presents a modeling method and corresponding algorithm to model heat source using measured DLPD. This algorithm automatically processes original data to get modeling parameters and provides a step MHS combining with absorption models. Simulations and experiments of heat transfer in steel plates irradiated by laser prove the mothed and the step MHS. Moreover, the investigations of laser induced thermal-crack propagation in glass highlight the signification of modeling heat source based on actual DLPD and demonstrate the enormous application of this method in the simulation of laser processing.

关键词： heat source laser processing distribution of power density digital images processing heat transfer

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Biologically Inspired Networking (BIN): Leveraging Neurobiological Principles for Adaptive, Scalable, and Efficient Communication

Biologically Inspired Networking (BIN): Leveraging Neurobiol...

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International Conference on Computing, Networking and Communications (ICNC)

作者： Razvan Cristian Voicu Amanda Frischmann Muhammad Hassan Tanveer Amir Ali Amiri Moghadam Yannique Tello Gabriela Oprea-Ilies Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia Windship Cancer Institute Emory University School of Medicine Atlanta Georgia

ISBN: (数字)9798331520960

ISBN: (纸本)9798331520977

The surge in interconnected applications, particularly in AI, IoT, and intelligent infrastructure, imposes new demands on communication networks, requiring them to handle high data volumes, support real-time exchanges, and dynamically adapt to fluctuating conditions. Traditional networking models, reliant on centralized processing and static protocols, are insufficient to meet these evolving needs, resulting in inefficiencies, latency, and scalability issues. This paper introduces a biologically inspired networking paradigm that mimics neurobiological principles such as event-driven communication, distributed intelligence, and adaptive resource management. By conceptualizing data types as analogous to neurotransmitters and infrastructure learning as synaptic plasticity, the framework provides a dynamic, scalable solution that enhances efficiency and resilience. The proposed model is particularly suited for resource-constrained environments, dynamically optimizing resource allocation and communication pathways in real time. Simulations demonstrate significant improvements in latency, resource utilization, scalability, and reliability, proving its potential as a foundation for next-generation networks.

关键词： Adaptation models Adaptive systems Biological system modeling Scalability Real-time systems Resource management Internet of Things Artificial intelligence Surges Resilience

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Emotion Recognition Through EEG Signals With Movie Clips Stimuli

Emotion Recognition Through EEG Signals With Movie Clips Sti...

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Electrics and Computer (INTCEC), Interdisciplinary Conference on

作者： Jonathan Axel Cruz Vazquez Jesús Yaljá Montiel Pérez Rodolfo Romero Herrera Robotics and mechatronics laboratory IPN – CIC CDMX México Department of Computer Science and Engineering IPN – ESCOM CDMX México

ISBN: (数字)9798350349450

ISBN: (纸本)9798350349467

This study proposes a multimodal emotion recognition method acquiring electroencephalogram (EEG) data and using movie clips to express emotional stimuli. The study included 12 participants who aimed to identify three emotions: happy, sad, and neutral. For the experiments, the Emotiv Epoc+ device was used for data collection, including data preprocessing, time and frequency domain feature extraction, and classification. Emotion recognition uses different machine learning algorithms, including support vector machines (SVM), k-nearest neighbors (k-NN), random forests, and neural networks. The algorithm is trained and evaluated using feature vectors extracted from participants' emotional responses to movie videos. This method achieves a competitive accuracy of 79.09% using an SVM(POL) classifier and features including time and frequency domains.

关键词： Support vector machines Emotion recognition Visualization Accuracy Machine learning algorithms Frequency-domain analysis Feature extraction

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Integrated DOB-Based Approach for Admittance Control of an Industrial Robot

Integrated DOB-Based Approach for Admittance Control of an I...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany

Admittance control can improve robot performance and robustness in interactive tasks, but is still limited by stability when implemented on low-admittance hardware, such as position-controlled industrial robots. This limits applications which require the payload, reach, or positioning accuracy. While the idealized reference admittance behavior would be stable with any passive environment, real robots can be unstable, especially with high-stiffness environments. Thus, instability comes from deviation from the ideal reference model, due to either inner-loop bandwidth, time-delay, or other model error. To improve accuracy of rendered dynamics and reduce contact forces, a novel integrated disturbance observer-based admittance control method which is implemented on a position/velocity-controlled industrial robot in task space is proposed. The multisensor information is integrated to estimate and cancel the disturbances, outside the position/velocity control loop, all in task space. Experiments on the actual robot show that the proposed method is able to improve accuracy and reduce contact forces even at higher admittance.

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Integrating ROS and Android for Rescuers in a Cloud robotics Architecture: Application to a Casualty Evacuation Exercise

Integrating ROS and Android for Rescuers in a Cloud Robotics...

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

作者： Manuel Toscano-Moreno Juan Bravo-Arrabal Manuel Sánchez-Montero Javier Serón Barba Ricardo Vázquez-Martín J.J. Fernandez-Lozano Anthony Mandow Alfonso Garcia-Cerezo Robotics and Mechatronics Group Institute of Mechatronics Engineering and Cyber-physical Systems University of Malaga Spain

ISBN: (纸本)9781665456814

Cloud robotics and the Internet of robotic things (IoRT) can boost the performance of human-robot cooperative teams in demanding environments (e.g., disaster response, mining, demolition, and nuclear sites) by allowing timely information sharing between agents on the field (both human and robotic) and the mission control center. In previous works, we defined an Edge/Cloud-based IoRT and communications architecture for heterogeneous multi-agent systems that was applied to search and rescue missions (SAR-IoCA). In this paper, we address the integration of a remote mission control center, which performs path planning, teleoperation and mission supervision, into a ROS network. Furthermore, we present the UMA-ROS-Android app, which allows publishing smartphone sensor data, including audio and high definition images from the rear camera, and can be used by responders for requesting a robot to the control center from a geolocalized field position. The app works up to API 32 and has been shared for the ROS community. The paper offers a case study where the proposed framework was applied to a cooperative casualty evacuation mission with professional responders and an unmanned rover with two detachable stretchers in a high-fidelity exercise performed in Malaga (Spain) in June 2022.

关键词： Cloud computing Publishing Geology Robot vision systems Cameras Path planning Safety

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