检索结果-内蒙古大学图书馆

arXiv 2024年

作者： Ivani, Alessia S. Catalano, Manuel G. Grioli, Giorgio Bianchi, Matteo Visell, Yon Bicchi, Antonio Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia Genova16163 Italy Centro di ricerca E. Piaggio University of Pisa Pisa56122 Italy Department of Information Engineering University of Pisa Pisa56122 Italy Department of Mechanical Engineering and Bioengineering Program University of California Santa Barbara United States

Tactile feedback is essential for upper-limb prostheses functionality and embodiment, yet its practical implementation presents challenges. Users must adapt to non-physiological signals, increasing cognitive load. However, some prosthetic devices transmit tactile information through socket vibrations, even to untrained individuals. Our experiments validated this observation, demonstrating a user's surprising ability to identify contacted fingers with a purely passive, cosmetic hand. Further experiments with advanced soft articulated hands revealed decreased performance in tactile information relayed by socket vibrations as hand complexity increased. To understand the underlying mechanisms, we conducted numerical and mechanical vibration tests on four prostheses of varying complexity. Additionally, a machine-learning classifier identified the contacted finger based on measured socket signals. Quantitative results confirmed that rigid hands facilitated contact discrimination, achieving 83% accuracy in distinguishing index finger contacts from others. While human discrimination decreased with advanced hands, machine learning surpassed human performance. These findings suggest that rigid prostheses provide natural vibration transmission, potentially reducing the need for tactile feedback devices, which advanced hands may require. Nonetheless, the possibility of machine learning algorithms outperforming human discrimination indicates potential to enhance socket vibrations through active sensing and actuation, bridging the gap in vibration-transmitted tactile discrimination between rigid and advanced hands. © 2024, CC BY-NC-ND.

关键词： Knee prostheses

来源：评论

学校读者我要写书评

暂无评论

MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking

arXiv

引用

arXiv 2024年

作者： Zhang, Yuelin Ding, Qingpeng Lei, Long Shan, Jiwei Xie, Wenxuan Zhang, Tianyi Yan, Wanquan Tang, Raymond Shing-Yan Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Medical Physics Graduate Program Duke Kunshan University Jiangsu Kunshan China Department of Medicine and Therapeutics Institute of Digestive Disease The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center Institute of Medical Intelligence and XR The Chinese University of Hong Kong Hong Kong

Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US image presents challenges due to noise, artifacts, and the thin imaging plane of US, which degrades needle features and leads to intermittent tip visibility. In this paper, a Mamba-based US needle tracker MambaXCTrack utilizing structured state space models crosscorrelation (SSMX-Corr) and implicit motion prompt is proposed, which is the first application of Mamba in US needle tracking. The SSMX-Corr enhances cross-correlation by longrange modeling and global searching of distant semantic features between template and search maps, benefiting the tracking under noise and artifacts by implicitly learning potential distant semantic cues. By combining with cross-map interleaved scan (CIS), local pixel-wise interaction with positional inductive bias can also be introduced to SSMX-Corr. The implicit lowlevel motion descriptor is proposed as a non-visual prompt to enhance tracking robustness, addressing the intermittent tip visibility problem. Extensive experiments on a dataset with motorized needle insertion in both phantom and tissue samples demonstrate that the proposed tracker outperforms other stateof- the-art trackers while ablation studies further highlight the effectiveness of each proposed tracking module. © 2024, CC BY.

关键词： Needles

来源：评论

学校读者我要写书评

暂无评论

Developing an Integrated Cognitive Test (ICT) for Computerized Assessment of Cognitive Impairment Risk

Developing an Integrated Cognitive Test (ICT) for Computeriz...

引用

Biomedical Engineering International Conference (BMEiCON)

作者： Warissara Limpornchitwilai Chatchai Paengkumhag Wisanu Jutharee Kosin Chamnongthai Boonserm Kaewkamnerdpong Biological Engineering Program Faculty of Engineering King Mongkut’s University of Technology Thonburi Bangkok Thailand Institute of Field Robotics and Automation King Mongkut’s University of Technology Thonburi Bangkok Thailand Department of Electrical Engineering King Mongkut’s University of Technology Thonburi Bangkok Thailand

In an aging society, dementia is a notable issue that occurs as individuals grow older, impacting cognitive ability and emotional well-being. This has led to the development of cognitive assessment tools to facilitate early detection of cognitive impairment. Limited utilization of computerized tests across different countries is due to the mismatch of existing computerized tests between the educational and cultural backgrounds of the elderly; this study sought to address this issue by developing the Integrated Cognitive Test (ICT). ICT is designed as a computerized tool for assessing the risk of cognitive impairment in Thai older adults with an easy-to-use interface. Thirty-six elderly participants with diverse education levels and without prior cognitive impairment diagnoses participated in the study. They completed MoCA, MMSE, and ICT in a single-day experiment. The scores, reaction time, and overall completion time were recorded for analysis. The study found significant differences between ICT and MMSE scores (p<0.001) but not with MoCA (p=0.421); the results indicated ICT's potential alignment with MoCA for cognitive assessment. The decision tree attained 80.60% accuracy in cognitive impairment risk classification using MoCA output. Key features impacting classification included average reaction time in working memory, memory recall, and standard deviation in language tasks. Overall, the analysis demonstrated that ICT is an effective tool for assessing cognitive impairment, for older adults. Furthermore, designing a cognitive test that considers the unique education and cultural backgrounds of the Thai elderly can serve as a model for creating similar tests for other populations.

关键词：

来源：评论

学校读者我要写书评

暂无评论

SC-LiDAR-SLAM: a Front-end Agnostic Versatile LiDAR SLAM System

arXiv

引用

arXiv 2022年

作者： Kim, Giseop Yun, Seungsang Kim, Jeongyun Kim, Ayoung Dept. of Civil and Envtl. Eng. KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of Dept. of Mechanical Eng Seoul National University Seoul Korea Republic of

Accurate 3D point cloud map generation is a core task for various robot missions or even for data-driven urban analysis. To do so, light detection and ranging (LiDAR) sensor-based simultaneous localization and mapping (SLAM) technology have been elaborated. To compose a full SLAM system, many odometry and place recognition methods have independently been proposed in academia. However, they have hardly been integrated or too tightly combined so that exchanging (upgrading) either single odometry or place recognition module is very effort demanding. Recently, the performance of each module has been improved a lot, so it is necessary to build a SLAM system that can effectively integrate them and easily replace them with the latest one. In this paper, we release such a front-end agnostic LiDAR SLAM system, named SC-LiDAR-SLAM. We built a complete SLAM system by designing it modular, and successfully integrating it with Scan Context++ and diverse existing open-source LiDAR odometry methods to generate an accurate point cloud map. © 2022, CC BY.

关键词： Optical radar

来源：评论

学校读者我要写书评

暂无评论

Microengineered platforms for characterizing the contractile function of in vitro cardiac models

引用

Microsystems & Nanoengineering 2022年第1期8卷 29-50页

作者： Wenkun Dou Manpreet Malhi Qili Zhao Li Wang Zongjie Huang Junhui Law Na Liu Craig A.Simmons Jason T.Maynes Yu Sun Department of Mechanical and Industrial Engineering University of TorontoTorontoON M5S 3G8Canada Program in Molecular Medicine The Hospital for Sick ChildrenTorontoON M5G 1X8Canada Department of Biochemistry University of TorontoTorontoON M5S 1A8Canada Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China School of Mechanical&Automotive Engineering Qilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Mechatronics Engineering and Automation Shanghai UniversityShanghai 200444China Institute of Biomedical Engineering University of TorontoTorontoON M5S 3G9Canada Translational Biology&Engineering Program Ted Rogers Centre for Heart ResearchTorontoON M5G 1M1Canada Department of Anesthesiology and Pain Medicine University of TorontoTorontoON M5S 1A8Canada Department of Anesthesia and Pain Medicine The Hospital for Sick ChildrenTorontoON M5G 1X8Canada Department of Electrical and Computer Engineering University of TorontoTorontoON M5S 3G4Canada Department of Computer Science University of TorontoTorontoON M5T 3A1Canada

Emerging heart-on-a-chip platforms are promising approaches to establish cardiac cell/tissue models in vitro for research on cardiac physiology,disease modeling and drug cardiotoxicity as well as for therapeutic *** still exist in obtaining the complete capability of in situ sensing to fully evaluate the complex functional properties of cardiac cell/tissue *** to contractile strength(contractility)and beating regularity(rhythm)are particularly important to generate accurate,predictive *** new platforms and technologies to assess the contractile functions of in vitro cardiac models is essential to provide information on cell/tissue physiologies,drug-induced inotropic responses,and the mechanisms of cardiac *** this review,we discuss recent advances in biosensing platforms for the measurement of contractile functions of in vitro cardiac models,including single cardiomyocytes,2D monolayers of cardiomyocytes,and 3D cardiac *** characteristics and performance of current platforms are reviewed in terms of sensing principles,measured parameters,performance,cell sources,cell/tissue model configurations,advantages,and *** addition,we highlight applications of these platforms and relevant discoveries in fundamental investigations,drug testing,and disease ***,challenges and future outlooks of heart-on-a-chip platforms for in vitro measurement of cardiac functional properties are discussed.

关键词： cardiac contractile regularity

来源：评论

学校读者我要写书评

暂无评论

Prototype design of an intelligent Internet of Things system combined green energy storage device

Prototype design of an intelligent Internet of Things system...

引用

IEEE International Conference on Consumer Electronics-Taiwan (ICCE-TW)

作者： Ya-Chun Chen Hsien-Huang Peter Wu Kuo-Hsien Hsia Yung-Tsung Cheng Graduate School of Engineering Science and Technology National Yunlin University of Science and Technology Yunlin Taiwan Dept. of Electrical Engineering National Yunlin University of Science and Technology Yunlin Taiwan Bachelor Program in Intelligent Robotics National Yunlin University of Science and Technology Yunlin Taiwan Dept. of Electrical Engineering National Cheng Kung University Tainan Taiwan

ISBN: (数字)9798350386844

ISBN: (纸本)9798350386851

A set of miniature energy storage device through repurposing batteries and green power generation devices combined with an intelligent Internet of Things system is designed in this study. A large quantity of recycled and repurposed lithium batteries is applied as the core of the energy storage device; photovoltaic panels and minitype wind generators matching a wind-energy and solar-energy charge controller are used for charging batteries; and finally, an intelligent home Internet of Things system is utilized for monitoring and control. The experimental results reveal that the green power generation device appears longer effective charging time during the day, but could continuously generate electricity and store energy in the evening. The charging capacity is also larger than it simply using photovoltaic panels, and the intelligent home Internet of Things system could effectively monitor the power generation in a day and calculate carbon emissions. The prototype design results satisfy the expected function of an intelligent Internet of Things system combined green energy storage device.

关键词： Green energy Photovoltaic systems Wind energy generation Wind energy Green products Prototypes Companies

来源：评论

学校读者我要写书评

暂无评论

Is a Simulation better than Teleoperation for Acquiring Human Manipulation Skill Data?

Is a Simulation better than Teleoperation for Acquiring Huma...

引用

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

作者： Donghyeon Kim Seong-Su Park Kwang-Hyun Lee Dongheui Lee Jee-Hwan Ryu Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Civil and Environmental Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Applied Science Research Institute Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Autonomous Systems Technische Universitat Wien (TU Wien) Vienna Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This study explores the feasibility of using simulations as a better interface to collect human object manipulation skills for learning from demonstrations (LfD). Recently, numerous researchers have started introducing teleoperation systems to acquire human manipulation skills. However, capturing the subtle, force-involved interaction skills of humans in teleoperation is still challenging due to its inherent dynamic delays and feedback transparency. This research evaluates the effectiveness of demonstration data obtained through simulation versus teleoperation. To evaluate the efficacy of this approach, tasks such as plane cutting, tight peg-in-hole, and deformable pipe plugging were performed to assess the quality of demonstrations acquired. The experimental results highlight the effectiveness of demonstration through simulation in capturing the operator’s force-involved interaction skills. Simulation creates an environment similar to performing tasks with bare hands by minimising dynamic delays due to the exclusion of physical robots and effectively rendering high stiffness. As a result, the demonstration through simulation method has proven effective in extracting interaction data and capturing physical task performance skills.

关键词： Hands Dynamics Rendering (computer graphics) Data models Delays Data mining Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

A Portable Multiscopic Camera for Novel View and Time Synthesis in Dynamic Scenes

arXiv

引用

arXiv 2022年

作者： Zhang, Tianjia Lau, Yuen-Fui Chen, Qifeng The Hong Kong University of Science and Technology Hong Kong The Individualized Interdisciplinary Program The Robotics Institute Hong Kong The Department of Mathematics Hong Kong The Department of Computer Science and Engineering The Department of Electronic and Computer Engineering Hong Kong

We present a portable multiscopic camera system with a dedicated model for novel view and time synthesis in dynamic scenes. Our goal is to render high-quality images for a dynamic scene from any viewpoint at any time using our portable multiscopic camera. To achieve such novel view and time synthesis, we develop a physical multiscopic camera equipped with five cameras to train a neural radiance field (NeRF) in both time and spatial domains for dynamic scenes. Our model maps a 6D coordinate (3D spatial position, 1D temporal coordinate, and 2D viewing direction) to view-dependent and time-varying emitted radiance and volume density. Volume rendering is applied to render a photo-realistic image at a specified camera pose and time. To improve the robustness of our physical camera, we propose a camera parameter optimization module and a temporal frame interpolation module to promote information propagation across time. We conduct experiments on both real-world and synthetic datasets to evaluate our system, and the results show that our approach outperforms alternative solutions qualitatively and quantitatively. Our code and dataset are available at https://***/. Copyright © 2022, The Authors. All rights reserved.

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Synchronized mobile manipulators for kinematic cooperative tasks: control design and analysis

引用

IFAC-PapersOnLine 2020年第2期53卷 9074-9079页

作者： Jonathan Obregón América Morales Robotics and Advanced Manufacturing Program CINVESTAV-Saltillo Ramos Arizpe 25903 México

In this paper we present a synchronization feedback control scheme for kinematic cooperative mobile manipulator robots performing a global task of manipulation and transportation, where an object is taken to a desired 6D pose. We define the motion of the object which is translated to each end-effector as desired coordinates, that trajectory is generated on-line and is a function of every robot in the scene. The group of robots follow the object’s motion where the control of each robot is also a function of every other robot, meanwhile they are constrained to a common object. This leads to a complicated interaction scheme, so we thoroughly analyze the effects of the interactions that alter the behavior of each robot, and determine under what conditions those effects help to increase the performance of the proposed control scheme, such that the motions are coordinated to minimize the total energy and stabilize themselves as the common object reaches its objective. For this we performed a stability analysis and tested our control scheme through simulations.

关键词： Synchronization control cooperative robots hierarchical tasks constrained motion stability analysis

来源：评论

学校读者我要写书评

暂无评论

Reachability Estimation in Dynamic Driving Scenes for Autonomous Vehicles

Reachability Estimation in Dynamic Driving Scenes for Autono...

引用

IEEE Symposium on Intelligent Vehicle

作者： Juan Felipe Medina-Lee Antonio Artuñedo Jorge Godoy Jorge Villagra Autopia program Center for Automation and Robotics (CSIC) Spain

ISBN: (数字)9781728166735

ISBN: (纸本)9781728166742

Autonomous vehicles will find an infinite number of possible scenarios while driving in urban environments and need to react in a proper manner. For that reason, it is important to have algorithms that can propose driving alternatives for different type of scenarios in a global and unified way instead of using rule-based algorithms which depend on the driving scene. This paper presents a reachability estimation algorithm designed to obtain a safe and comfort-optimized trajectory set for different driving scenarios. First, a finite number of path candidates are created using Bézler curves. Then, all valid path candidates are combined with the reachable sets of dynamic obstacles to generate speed profiles consistent with safety and comfort requirements. The output of this algorithm would allow a decision-making strategy to select the optimum candidate depending on different criteria.

关键词： Navigation Vehicle dynamics Heuristic algorithms Dogs Autonomous vehicles Trajectory Estimation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：