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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： McCammon, Seth Hollinger, Geoffrey A. Robotics Program of the School of Mechanical Industrial and Manufacturing Engineering Oregon State University CorvallisOR United States

ISBN: (纸本)9781509046331

In this paper, we present a method to improve the navigation of tethered underwater vehicles by computing optimal paths that prevent their tethers from becoming entangled in obstacles. To accomplish this, we define the Non-Entangling Travelling Salesperson Problem (NE-TSP) as an extension of the Travelling Salesperson Problem with a non-entangling constraint. We compute the optimal solution to the NE-TSP by constructing a Mixed Integer programming model, leveraging homotopy augmented graphs to plan an optimal trajectory through a set of inspection points, while maintaining a non-entangling guarantee. To avoid the computational expense of computing an optimal solution to the NE-TSP, we also introduce several methods to compute near-optimal solutions. In a set of simulated trials, our method was able to plan optimal non-entangling paths through a variety of environments. These results were then validated in a set of pool and field trials using a Seabotix vLBV300 underwater vehicle. The paths generated by our method were then compared to human-generated paths. © 2017 IEEE.

关键词： Integer programming

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Beamforming of ultrasonic guided waves for defect search using chaos optimization

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AIP Conference Proceedings 2019年第1期2102卷

作者： Karla I. Fernandez-Ramirez Arturo Baltazar 1CINVESTAV Unidad-Saltillo Robotics and Advanced Manufacturing Program Ramos Arizpe Coahuila 25903 México

In recent years, guided waves generation using an array sensor for inspection and location of defects in large structures like plates or pipes has been intensively studied. One of the areas of study is the use of beamforming algorithms to fusion the information collected with an array of sensors that can achieve the identification of an energy source or a discontinuity. To improve the identification, adaptive beamforming algorithms, time-frequency beamforming, filter design method, among others have been proposed; however, in most cases, they require an exhaustive search of the working area which can be time consuming. In this work, a beamforming algorithm based on a chaotic optimization search to improve time of detection of an acoustic source located on an aluminum thin plate is proposed. The experimental and numerical calculations show that the proposed algorithm reduces the search time considerably as compared with a standard systematic delay and sum (DAS) beamforming algorithm.

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Modeling user expertise for choosing levels of shared autonomy

Modeling user expertise for choosing levels of shared autono...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Milliken, Lauren Hollinger, Geoffrey A. Robotics Program School of Mechanical Industrial and Manufacturing Engineering Oregon State University CorvallisOR United States

ISBN: (纸本)9781509046331

In shared autonomy, a robot and human user both have some level of control in order to achieve a shared goal. Choosing the balance of control given to the user and the robot can be a challenging problem since different users have different preferences and vary in skill levels when operating a robot. We propose using a novel formulation of Partially Observable Markov Decision Process (POMDP) to represent a model of the user's expertise in controlling the robot. The POMDP uses observations from the user's actions and from the environment to update the belief of the user's skill and chooses a level of control between the robot and the user. The level of control given between the user and the robot is encapsulated in macro-action controllers. A user study was run to test the performance of our formulation. Users drive a simulated robot through an obstacle-filled map while the POMDP model chooses appropriate macro-action controllers based on the belief state of the user's skill level. The results of the user study show that our model can encapsulate user skill. The results also show that using the controller with greater robot autonomy helped users of low skill avoid obstacles more than it helped users of high skill. © 2017 IEEE.

关键词： Controllers

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On-body non-invasive glucose monitoring sensor based on high figure of merit (FoM) surface plasmonic microwave resonator

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Scientific reports 2023年第1期13卷 17527页

作者： Farzad Soltanian Mehdi Nosrati Saleh Mobayen Chuan-Chun Li Telung Pan Ming-Ta Ke Paweł Skruch Department of Electrical Engineering University of Alberta Edmonton Canada. Department of Electrical Engineering Manhattan College New York USA. Department of Electrical Engineering University of Zanjan Zanjan Iran. mobayens@yuntech.edu.tw. Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Douliou 640301 Yunlin Taiwan. mobayens@yuntech.edu.tw. National Taiwan University Hospital Yunlin Branch Yunlin Taiwan. a***@***. Bachelor Program in Interdisciplinary Studies College of Future National Yunlin University of Science and Technology Yunlin 64002 Taiwan. Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Douliou 640301 Yunlin Taiwan. Department of Automatic Control and Robotics AGH University of Science and Technology 30-059 Kraków Poland.

High-figure of merit (FoM) plasmonic microwave resonator is researched as a non-invasive on-body sensor to monitor the human body's blood glucose variation rate in adults for biomedical applications, e.g., diabetic patients. The resonance frequencies of the proposed sensor are measured to be around [Formula: see text] GHz and [Formula: see text] GHz over the frequency band of DC to 6GHz which are suitable for monitoring interstitial fluid (ISF) changing rate. The [Formula: see text] sensor is experimentally wrapped on the human body arm to monitor the blood glucose changing rate via amplitude and frequency variations of the sensor. Amplitude variation and frequency shift are measured to be around 7 dB and 30 MHz, respectively. The measured results demonstrate the high precision of the proposed approach to depict a valid diagram for glucose changing rate due to good impedance matching of the designed microwave sensor and human body. The sensor is shown to enhance the sensitivity by a factor of 5 compared to the conventional ones.

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Exploring the effect of image enhancement techniques on COVID‐19 detection using chest X‐rays images

arXiv

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arXiv 2020年

作者： Rahman, Tawsifur Khandakar, Amith Qiblawey, Yazan Tahir, Anas Kiranyaz, Serkan Kashem, Saad Bin Abul Islam, Mohammad Tariqul Maadeed, Somaya Al Zughaier, Susu M. Khan, Muhammad Salman Chowdhury, Muhammad E.H. Department of Biomedical Physics & Technology University of Dhaka Dhaka 1000 Bangladesh Department of Electrical Engineering Qatar University Doha2713 Qatar Faculty of Robotics and Advanced Computing Qatar Armed Forces‐Academic Bridge Program Qatar Foundation Doha24404 Qatar Dept. of Electrical Electronics and Systems Engineering Universiti Kebangsaan Malaysia BangiSelangor43600 Malaysia Department of Computer Science and Engineering Qatar University Doha2713 Qatar Department of Basic Medical Sciences College of Medicine Biomedical and Pharmaceutical Research Unit QU Health Qatar University Doha2713 Qatar University of Engineering and Technology Peshawar Pakistan

The use of computer-aided diagnosis in the reliable and fast detection of corona virus disease (COVID-19) has become a necessity to prevent the spread of the virus during the pandemic to ease the burden on the medical infrastructure. Chest X-ray (CXR) imaging has several advantages over other imaging techniques as it is cheap, easily accessible, fast and portable. CXR images are sometimes of poor quality and so image enhancement techniques can help the machine learning models to extract valuable discriminating features from the image. Numerous works have been reported on COVID-19 detection from smaller set of original X-ray images. However, the effect of image enhancement in COVID-19 detection was not reported in the literature. This paper explores the effect of various popular image enhancement techniques and states the © 2020, CC BY.

关键词： Image enhancement

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Spike-inspired Deep Neural Network Design Using Binary Weight

Spike-inspired Deep Neural Network Design Using Binary Weigh...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Seunghee Lee Kyukwang Kim Jinki Kim Yeeun Kim Hyun Myung Department of Civil and Environmental Engineering Korean Advanced Institute for Science and Technology Daejeon Korea Robotics Program Korean Advanced Institute for Science and Technology Daejeon Korea

ISBN: (纸本)9781538670804;9788993215168

Recently, deep learning has achieved great results in many fields such as image classification. However, most general artificial neural networks with deep learning require graphics processing unit (GPUs) because of hard workload and it requires a large amount of power consumption. When we think about humans, we can do a lot of things without consuming a lot of power compared to computers or electric appliances. Human beings or organisms transmit and recognize information through signal transmission between neurons. This study aims to develop a novel deep neural network architecture which simulates the signaling system between biological neurons, unlike conventional neural networks. We propose a novel spike-inspired deep neural network structure with the spike-inspired block using binary weight motivated by spike's on and off mechanism. We have also designed a modified DenseNet architecture consisting of spike-inspired blocks. Our proposed method was tested and validated with MNIST datasets. The obtained results show the potential of a spike-inspired deep neural network.

关键词： Biological neural networks Computer architecture Training Power demand Neurons

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Scalar field reconstruction based on the Gaussian process and adaptive sampling 14

Scalar field reconstruction based on the Gaussian process an...

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14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

作者： Jonsson, Porsteinn B. Wang, Jeonghyeon Kim, Jinwhan Laboratory Department of Mechanical Engineering KAIST Daejeon34141 Korea Republic of Robotics Program KAIST Daejeon34141 Korea Republic of

ISBN: (纸本)9781509030552

This paper proposes a method of reconstructing a scalar field by adaptively choosing sampling locations and using the measurements obtained from those locations to reconstruct an estimate of the underlying field using Gaussian process regression. Spreading sampling points evenly over the field may not always be effective if the field is not uniformly distributed and the maximum number of measurements is limited. Taking more measurements in regions of large changes in the field than in regions of small changes can give a better estimate than spreading the same number of measurements evenly over the space. The proposed algorithm was tested on a synthetic scalar field and compared to two popular methods of determining sensor placement based on entropy and mutual information from information theory. © 2017 IEEE.

关键词： Gaussian noise (electronic)

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WE-173. Combining excitability and connectivity measures from interictal invasive-EEG estimates the epileptogenic zone, even in the absence of frank epileptiform activity

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Clinical Neurophysiology 2022年 141卷 S81-S82页

作者： Billardello, Roberto Ntolkeras, Georgios Pesce, Matthew Harmon, Joseph Hadjinicolaou, Aristides Madsen, Joseph Taffoni, Fabrizio Pearl, Phillip Papadelis, Christos Grant, Ellen Tamilia, Eleonora Fetal-Neonatal Neuroimaging and Developmental Science Center Boston Children’s Hospital Harvard Medical School Boston USA Research Unit of Advanced Robotics and Human-Centred Technologies Department of Engineering University Bio-Medico Campus of Rome Rome Italy Baystate Children's Hospital Springfield USA Division of Epilepsy and Clinical Neurophysiology Department of Neurology Boston Children’s Hospital Harvard Medical School Boston USA Epilepsy Surgery Program Department of Neurosurgery Boston Children’s Hospital Harvard Medical School Boston USA Jane and John Justin Neurosciences Center Cook Children’s Health Care System Fort Worth USA Department of Bioengineering University of Texas at Arlington Arlington USA

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Quantification of Extent of Muscle-skin Shifting by Traversal sEMG Analysis Using High-density sEMG Sensor

Quantification of Extent of Muscle-skin Shifting by Traversa...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Shotaro Okajima Eduardo Iáñez Hiroshi Yamasaki Álvaro Costa García Fady S. Alnajjar Noriaki Hattori Shingo Shimoda Man-Machine Collaboration Research Team Robotics Project Baton Zone Program Science Technology and Innovation Hub RIKEN Nagoya Japan Brain-Machine Interface Systems Lab Miguel Hernández University of Elche Spain Intelligent Behavior Control Unit BTCC CBS RIKEN Nagoya Japan College of IT (CIT) UAE University (UAEU) Global Center for Medical Engineering and Informatics Osaka University

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

Surface electromyography(sEMG) measurement has been an essential approach to analyze human behaviors because we can generally consider that sEMG signals represent the muscle activities as the final output of our nerve system. One of the most serious problems for considering sEMG signal as the muscle activity is the shift of the relative position between muscles and skin depending on a posture. The motion of forearm rotation is the prominent example of muscle-skin shifting depending on postural changes. The sEMG signal from a sensor may represent the different muscle activity when the muscle-skin shifting is happened. In this study, we discuss a method to quantify the muscle-skin shift from the sEMG signals in response to the postural changes. We use the high density sEMG sensor that is possible to measure sEMG signal as the potential map. We proposed the computation algorithm to quantify the amount of muscle-skin shifting based on the change of the sEMG signals in response to the postural changes. We conducted the experiments of wrist extension motions under three different forearm postures: forearm pronation, natural posture and forearm supination. Experimental results from three healthy subjects show that we can quantify the extent of muscle-skin shifting as an angle by using proposed algorithm.

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Towards a soft robotic skin for autonomous tissue palpation

Towards a soft robotic skin for autonomous tissue palpation

引用

2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Campisano, Federico Ozel, Selim Ramakrishnan, Anand Dwivedi, Anany Gkotsis, Nikolaos Onal, Cagdas D. Valdastri, Pietro STORM Lab Department of Mechanical Engineering Vanderbilt University NashvilleTN United States WPI Soft Robotics Lab Department of Mechanical Engineering and Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA United States Department of Robotics and Autonomous System University of Leeds Leeds United Kingdom

ISBN: (纸本)9781509046331

Manual palpation is commonly used to localize tumors and other features buried deep inside organs during open surgery. This approach is not feasible in minimally invasive or robotic surgery, as the contact with the tissue is mediated by instruments. To address this problem, we propose a soft robotic skin (SRS) that can be deployed from a small incision and create a stiffness map in a single step. Such a skin is composed of a matrix of soft robotic tactile elements (SRTEs), each one able to expand and record the tissue response during expansion. In this paper, we firstly prove the feasibility of palpation using a single SRTE. Then, we present and test a soft-suction based anchoring mechanism able to keep the SRS in the desired position in contact with the tissue, allowing surgeons to palpate different sides of the organ. Finally, we detail a calibration method for the SRTE, and assess the feasibility of identifying lumps buried inside a soft tissue phantom, and then inside a chicken liver during an ex-vivo trial. Experimental results show that the SRTE was able to differentiate simulated lumps (up to 3.25 mm deep) from healthy tissue in both the phantom and the ex-vivo trials. These results, added to the ability of the suction gripper to compensate for the expansion forces of each SRTE, are paving the way for soft robotic autonomous tools that can be used for intraoperative mapping of tissue cancers. © 2017 IEEE.

关键词： Tissue

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