检索结果-内蒙古大学图书馆

arXiv 2019年

作者： Grupp, Robert B. Hegeman, Rachel A. Murphy, Ryan J. Alexander, Clayton P. Otake, Yoshito McArthur, Benjamin A. Armand, Mehran Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Research and Exploratory Development Department Johns Hopkins University Applied Physics Laboratory LaurelMD United States Research and Exploratory Development Department Johns Hopkins University Applied Physics Laboratory Auris Surgical Robotics LaurelMD United States Department of Orthopaedic Surgery Johns Hopkins Medicine BaltimoreMD United States Nara Japan Washington Orthopedics and Sports Medicine Chevy ChaseMD United States Dell Medical School University of Texas AustinTX United States Texas Orthopedics AustinTX United States Research and Exploratory Development Department Johns Hopkins University Applied Physics Laboratory LaurelMD United States Department of Mechanical Engineering Johns Hopkins University BaltimoreMD United States

Objective: State of the art navigation systems for pelvic osteotomies use optical systems with external fiducials. We propose the use of X-Ray navigation for pose estimation of periacetabular fragments without fiducials. Methods: A 2D/3D registration pipeline was developed to recover fragment pose. This pipeline was tested through an extensive simulation study and 6 cadaveric surgeries. Using osteotomy boundaries in the fluoroscopic images, the preoperative plan is refined to more accurately match the intraoperative shape. Results: In simulation, average fragment pose errors were 1.3°/1.7 mm when the planned fragment matched the intraoperative fragment, 2.2°/2.1 mm when the plan was not updated to match the true shape, and 1.9°/2.0 mm when the fragment shape was intraoperatively estimated. In cadaver experiments, the average pose errors were 2.2°/2.2 mm, 3.8°/2.5 mm, and 3.5°/2.2 mm when registering with the actual fragment shape, a preoperative plan, and an intraoperatively refined plan, respectively. Average errors of the lateral center edge angle were less than 2° for all fragment shapes in simulation and cadaver experiments. Conclusion: The proposed pipeline is capable of accurately reporting femoral head coverage within a range clinically identified for long-term joint survivability. Significance: Human interpretation of fragment Copyright © 2019, The Authors. All rights reserved.

关键词： Pipelines

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QU-BraTS: MICCAI BraTS 2020 Challenge on Quantifying Uncertainty in Brain Tumor Segmentation - Analysis of Ranking Scores and Benchmarking Results

arXiv

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arXiv 2021年

作者： Mehta, Raghav Filos, Angelos Baid, Ujjwal Sako, Chiharu McKinley, Richard Rebsamen, Michael Dätwyler, Katrin Meier, Raphael Radojewski, Piotr Murugesan, Gowtham Krishnan Nalawade, Sahil Ganesh, Chandan Wagner, Ben Yu, Fang F. Fei, Baowei Madhuranthakam, Ananth J. Maldjian, Joseph A. Daza, Laura Gómez, Catalina Arbeláez, Pablo Dai, Chengliang Wang, Shuo Reynaud, Hadrien Mo, Yuanhan Angelini, Elsa Guo, Yike Bai, Wenjia Banerjee, Subhashis Pei, Linmin Murat, A.K. Rosas-González, Sarahi Zemmoura, Ilyess Tauber, Clovis Vu, Minh H. Nyholm, Tufve Löfstedt, Tommy Ballestar, Laura Mora Vilaplana, Veronica McHugh, Hugh Talou, Gonzalo Maso Wang, Alan Patel, Jay Chang, Ken Hoebel, Katharina Gidwani, Mishka Arun, Nishanth Gupta, Sharut Aggarwal, Mehak Singh, Praveer Gerstner, Elizabeth R. Kalpathy-Cramer, Jayashree Boutry, Nicolas Huard, Alexis Vidyaratne, Lasitha Rahman, Md Monibor Iftekharuddin, Khan M. Chazalon, Joseph Puybareau, Elodie Tochon, Guillaume Ma, Jun Cabezas, Mariano Llado, Xavier Oliver, Arnau Valencia, Liliana Valverde, Sergi Amian, Mehdi Soltaninejad, Mohammadreza Myronenko, Andriy Hatamizadeh, Ali Feng, Xue Dou, Quan Tustison, Nicholas Meyer, Craig Shah, Nisarg A. Talbar, Sanjay Weber, Marc-André Mahajan, Abhishek Jakab, Andras Wiest, Roland Fathallah-Shaykh, Hassan M. Nazeri, Arash Milchenko, Mikhail Marcus, Daniel Kotrotsou, Aikaterini Colen, Rivka Freymann, John Kirby, Justin Davatzikos, Christos Menze, Bjoern Bakas, Spyridon Gal, Yarin Arbel, Tal McGill University MontrealQC Canada Group University of Oxford Oxford United Kingdom University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine The University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States University Institute of Diagnostic and Interventional Neuroradiology University of Bern Inselspital Bern University Hospital Bern Switzerland Department of Radiology University of Texas Southwestern Medical Center DallasTX United States Department of Bioengineering University of Texas DallasTX United States Advanced Imaging Research Center University of Texas Southwestern Medical Center DallasTX United States Universidad de los Andes Bogotá Colombia Data Science Institute Imperial College London London United Kingdom NIHR Imperial BRC ITMAT Data Science Group Imperial College London London United Kingdom Department of Brain Sciences Imperial College London London United Kingdom Machine Intelligence Unit Indian Statistical Institute Kolkata India Department of CSE University of Calcutta Kolkata India Department of Information Technology Uppsala University Uppsala Sweden Department of Diagnostic Radiology The University of Pittsburgh Medical Center PittsburghPA United States UMR U1253 iBrain Université de Tours Inserm Tours France Department of Radiation Sciences Umeå University Umeå Sweden Department of Computing Science Umeå University Umeå Sweden Signal Theory and Communications Department Universitat Politècnica de Catalunya Barcelona Tech Barcelona Spain Faculty of Medical and Health Sciences University of Auckland Auckland New Zealand Radiology Department Auckland City Hospital Auckland New Zealand Auckland Bioengineering Institute University of Auckland New Zealand Athinoula A. Martinos Center for Biomedical Imaging Department of Radiology

Deep learning (DL) models have provided state-of-the-art performance in various medical imaging benchmarking challenges, including the Brain Tumor Segmentation (BraTS) challenges. However, the task of focal pathology multi-compartment segmentation (e.g., tumor and lesion sub-regions) is particularly challenging, and potential errors hinder translating DL models into clinical workflows. Quantifying the reliability of DL model predictions in the form of uncertainties could enable clinical review of the most uncertain regions, thereby building trust and paving the way toward clinical translation. Several uncertainty estimation methods have recently been introduced for DL medical image segmentation tasks. Developing scores to evaluate and compare the performance of uncertainty measures will assist the end-user in making more informed decisions. In this study, we explore and evaluate a score developed during the BraTS 2019 and BraTS 2020 task on uncertainty quantification (QU-BraTS) and designed to assess and rank uncertainty estimates for brain tumor multi-compartment segmentation. This score (1) rewards uncertainty estimates that produce high confidence in correct assertions and those that assign low confidence levels at incorrect assertions, and (2) penalizes uncertainty measures that lead to a higher percentage of under-confident correct assertions. We further benchmark the segmentation uncertainties generated by 14 independent participating teams of QU-BraTS 2020, all of which also participated in the main BraTS segmentation task. Overall, our findings confirm the importance and complementary value that uncertainty estimates provide to segmentation algorithms, highlighting the need for uncertainty quantification in medical image analyses. Finally, in favor of transparency and reproducibility, our evaluation code is made publicly available at https://***/RagMeh11/QU-BraTS. © 2021, CC BY.

关键词： Benchmarking

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Common Limitations of Image Processing Metrics: A Picture Story

arXiv

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arXiv 2021年

作者： Reinke, Annika Tizabi, Minu D. Sudre, Carole H. Eisenmann, Matthias Rädsch, Tim Baumgartner, Michael Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Bankhead, Peter Benis, Arriel Blaschko, Matthew Buettner, Florian Cardoso, M. Jorge Chen, Jianxu Cheplygina, Veronika Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Engelhardt, Sandy Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hamprecht, Fred Hashimoto, Daniel A. Heckmann-Nötzel, Doreen Hirsch, Peter Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kavur, A. Emre Kenngott, Hannes Kleesiek, Jens Kleppe, Andreas Koehler, Sven Kofler, Florian Kopp-Schneider, Annette Kooi, Thijs Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moher, David Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Noyan, M. Alican Petersen, Jens Polat, Gorkem Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Rieke, Nicola Riegler, Michael A. Rivaz, Hassan Saez-Rodriguez, Julio Sánchez, Clara I. Schroeter, Julien Saha, Anindo Selver, M. Alper Sharan, Lalith Shetty, Shravya Smeden, Maarten V.A.N. Stieltjes, Bram Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. Calster, Ben V.A.N. Varoquaux, Gaël Wiesenfarth, Manuel Yaniv, Ziv R. Jäger, Paul Maier-Hein, Lena Division of Intelligent Medical Systems and HI Helmholtz Imaging Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Intelligent Medical Systems Heidelberg Germany NCT Heidelberg DKFZ University Medical Center Heidelberg Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Division of Medical Image Computing Heidelberg Germany Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montréal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Institute of Genetics and Cancer University of Edinburgh Edinburgh United Kingdom Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Kasteelpark Arenberg 10 - box 2441 Leuven3001 Belgium Frankfurt/Mainz DKFZ UCT Frankfurt-Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany Frankfurt Cancer Insititute Germany Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for St

While the importance of automatic image analysis is continuously increasing, recent meta-research revealed major flaws with respect to algorithm validation. Performance metrics are particularly key for meaningful, objective, and transparent performance assessment and validation of the used automatic algorithms, but relatively little attention has been given to the practical pitfalls when using specific metrics for a given image analysis task. These are typically related to (1) the disregard of inherent metric properties, such as the behaviour in the presence of class imbalance or small target structures, (2) the disregard of inherent data set properties, such as the non-independence of the test cases, and (3) the disregard of the actual biomedical domain interest that the metrics should reflect. This living dynamically document has the purpose to illustrate important limitations of performance metrics commonly applied in the field of image analysis. In this context, it focuses on biomedical image analysis problems that can be phrased as image-level classification, semantic segmentation, instance segmentation, or object detection task. The current version is based on a Delphi process on metrics conducted by an international consortium of image analysis experts from more than 60 institutions worldwide. © 2021, CC BY.

关键词： Medical imaging

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Joint learning of discriminative low-dimensional image representations based on dictionary learning and two-layer orthogonal projections

arXiv

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arXiv 2019年

作者： Wei, Xian Shen, Hao Li, Yuanxiang Tang, Xuan Jin, Bo Zhao, Lijun Murphey, Yi Lu Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences China Technical University of Munich Germany and fortiss GmbH Munich Germany Shanghai Key Lab for Trustworthy Computing School of Computer Science and Software Engineering East China Normal University China School of Aeronautics & Astronautics Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China Department of Electrical and Computer Engineering University of Michigan-Dearborn DearbornMI48128 United States

This work investigates the problem of efficiently learning discriminative low-dimensional representations of multi-class large-scale image objects. We propose a generic deep learning approach by taking advantages of Convolutional Neural Networks (CNN), sparse dictionary learning, and orthogonal projections. CNN is not only powerful on feature extraction, but also robust to spatial variance and changes. Sparse dictionary learning is well known for disentangling nonlinear underlying discriminative factors in data. The orthogonal projection is a notable efficient tool to project multi-class data onto low dimensional discriminative subspace. The proposed procedure can be summarized as follows. At first, a CNN is employed to extract high-dimensional (HD) preliminary convolutional features. Secondly, to avoid the high computational cost of direct sparse coding on HD CNN features, we present to learn sparse representation (SR) in an orthogonal projected space over a task-driven sparsifying dictionary. We then exploit the discriminative projection on SR. The whole learning process is treated as a joint optimization problem of trace quotient maximization, which involves the CNN parameters, the orthogonal projection on CNN features, the dictionary and the discriminative projection on sparse codes. The related cost function is well defined on product manifold of the Stiefel manifold, the Oblique manifold, and the Grassmann manifold. It is optimized via a geometrical stochastic gradient descent algorithm. Finally, the quality of dictionary and projections learned by the proposed approach is further investigated in terms of image classification. The experimental results show that the approach can achieve a strongly competitive performance with state-of-the-art image classification methods. Copyright © 2019, The Authors. All rights reserved.

关键词： Convolution

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Minimum uncertainty latent variable models for robot recognition of sequential human activities

Minimum uncertainty latent variable models for robot recogni...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Han, Fei Reardon, Christopher Parker, Lynne E. Zhang, Hao Human-Centered Robotics Lab Department of Computer Science Colorado School of Mines GoldenCO80401 United States US Army Research Laboratory AdelphiMD20783 United States Distributed Intelligence Laboratory Department of Electrical Engineering and Computer Science University of Tennessee TN37996 United States

ISBN: (纸本)9781509046331

Recognition of sequential human activities, such as 'sitting down' and 'standing up', is a common but challenging problem in human-robot interaction, which requires modeling their underlying temporal patterns. Although previous sequence modeling methods, such as Hidden Conditional Random Fields (HCRFs), demonstrated satisfactory recognition accuracy, they do not explicitly model the uncertainty in underlying temporal patterns, which can provide valuable information to characterize sequential activities. To address this problem, we introduce a novel Minimum Uncertainty HCRF (MU, or μHCRF). Different from traditional HCRF-based techniques that only utilize the negative log-likelihood of the categories' conditional probability as the loss function, the proposed μ-HCRF also introduces a regularization term to model the underlying temporal pattern of the latent variables. As another theoretical contribution, we provide a derivation to show that the formulated problem has a closed-form solution, and prove that inference of the proposed μHCRF is tractable. Extensive empirical study is performed to evaluate our approach, using four public benchmark datasets. Experimental results have shown that our μHCRFs outperform previous techniques and achieve state-of-the-art performance on human activity recognition, especially on sequential activities. © 2017 IEEE.

关键词： Human robot interaction

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Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations

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IFAC-PapersOnLine 2017年第1期50卷 3598-3605页

作者： Batista P. Petit N. Silvestre C. Oliveira P. Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Instituto Superior Técnico Universidade de Lisboa Portugal MINES ParisTech PSL Research University CAS – Centre automatique et systémes 60 bd St Michel Paris 75272 France Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau Macau Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Portugal

Uniform complete observability and controllability are key concepts for the design of state observers and controllers for linear time-varying systems. While the definitions of these properties are simple, it is more often that not very difficult to show they hold for a particular system. This paper presents alternative simpler sufficient conditions. Examples are shown that illustrate the improvement over previous results, the fact that the new conditions are not necessary, and a practical application. © 2017

关键词： linear time-varying systems uniform complete controllability uniform complete observability

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Comparative validation of machine learning algorithms for surgical workflow and skill analysis with the heichole benchmark

arXiv

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arXiv 2021年

作者： Wagner, Martin Müller-Stich, Beat-Peter Kisilenko, Anna Tran, Duc Heger, Patrick Mündermann, Lars Lubotsky, David M. Müller, Benjamin Davitashvili, Tornike Capek, Manuela Reinke, Annika Yu, Tong Vardazaryan, Armine Innocent Nwoye, Chinedu Padoy, Nicolas Liu, Xinyang Lee, Eung-Joo Disch, Constantin Meine, Hans Xia, Tong Jia, Fucang Kondo, Satoshi Reiter, Wolfgang Jin, Yueming Long, Yonghao Jiang, Meirui Dou, Qi Heng, Pheng Ann Twick, Isabell Kirtac, Kadir Hosgor, Enes Bolmgren, Jon Lindström Stenzel, Michael von Siemens, Björn Kenngott, Hannes G. Nickel, Felix von Frankenberg, Moritz Mathis-Ullrich, Franziska Maier-Hein, Lena Speidel, Stefanie Bodenstedt, Sebastian Department for General Visceral and Transplantation Surgery Heidelberg University Hospital Im Neuenheimer Feld 420 Heidelberg69120 Germany Heidelberg Im Neuenheimer Feld 460 Heidelberg69120 Germany Data Assisted Solutions Corporate Research & Technology KARL STORZ SE & Co. KG Dr. Karl-Storz-Str. 34 Tuttlingen78332 Germany Im Neuenheimer Feld 223 Heidelberg69120 Germany Im Neuenheimer Feld 223 Heidelberg69120 Germany Faculty of Mathematics and Computer Science Heidelberg University Im Neuenheimer Feld 205 Heidelberg69120 Germany ICube University of Strasbourg CNRS France 300 bd Sébastien Brant - CS 10413 Illkirch CedexF-67412 France IHU Strasbourg France 1 Place de l'hôpital Strasbourg67000 France Sheikh Zayed Institute for Pediatric Surgical Innovation Children's National Hospital 111 Michigan Ave NW WashingtonDC20010 United States University of Maryland College Park 2405 A V Williams Building College ParkMD20742 United States Fraunhofer Institute for Digital Medicine MEVIS Max-von-Laue-Str. 2 Bremen28359 Germany University of Bremen FB3 Medical Image Computing Group ℅ Fraunhofer MEVIS Am Fallturm 1 Bremen28359 Germany Lab for Medical Imaging and Digital Surgery Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Konika Minolta Inc. JP TOWER 2-7-2 Marunouchi Chiyoda-ku Tokyo100-7015 Japan Wintegral GmbH Ehrenbreitsteiner Str. 36 München80993 Germany Department of Computer Science and Engineering Ho Sin-Hang Engineering Building The Chinese University of Hong Kong Sha Tin NT Hong Kong Caresyntax GmbH Komturstr. 18A Berlin12099 Germany Department of Surgery Salem Hospital of the Evangelische Stadtmission Heidelberg Zeppelinstrasse 11-33 Heidelberg69121 Germany Health Robotics and Automation Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Geb. 40.28 KIT Campus Süd Engler-Bunte-Ring 8 Karlsruhe76131 Germany Medical Faculty Heidelberg Uni

PURPOSE: Surgical workflow and skill analysis are key technologies for the next generation of cognitive surgical assistance systems. These systems could increase the safety of the operation through context-sensitive warnings and semi-autonomous robotic assistance or improve training of surgeons via data-driven feedback. In surgical workflow analysis up to 91% average precision has been reported for phase recognition on an open data single-center video dataset. In this work we investigated the generalizability of phase recognition algorithms in a multi-center setting including more difficult recognition tasks such as surgical action and surgical skill. METHODS: To achieve this goal, a dataset with 33 laparoscopic cholecystectomy videos from three surgical centers with a total operation time of 22 hours was created. Labels included framewise annotation of seven surgical phases with 250 phase transitions, 5514 occurences of four surgical actions, 6980 occurences of 21 surgical instruments from seven instrument categories and 495 skill classifications in five skill dimensions. The dataset was used in the 2019 international Endoscopic Vision challenge, sub-challenge for surgical workflow and skill analysis. Here, 12 research teams trained and submitted their machine learning algorithms for recognition of phase, action, instrument and/or skill assessment. RESULTS: F1-scores were achieved for phase recognition between 23.9% and 67.7% (n=9 teams), for instrument presence detection between 38.5% and 63.8% (n=8 teams), but for action recognition only between 21.8% and 23.3% (n=5 teams). The average absolute error for skill assessment was 0.78 (n=1 team). CONCLUSION: Surgical workflow and skill analysis are promising technologies to support the surgical team, but are not solved yet, as shown by our comparison of machine learning algorithms. This novel HeiChole benchmark can be used for comparable evaluation and validation of future work. In future studies, it is of utmost impo

关键词： Learning algorithms

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Editor-in-Chief

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IEEE Access 2024年 12卷 i-xi页

作者： Derek Abbott Sonia Aissa Anuradha Annaswamy Nirwan Ansari Jun Cai Kun-Shan Chen Yixin Chen J.-C. Chiao Ayman El-Baz Shaikh Fattah Hoay Gooi Maya Gokhale Chih-Lin Ⅰ Giuseppe Iannaccone Yumi Iwashita Bruce Jacob Abbas Jamalipour Bahram Javidi Weihua Jiang Okyay Kaynak Hulya Kirkici Germano Lambert-Torres Shengtao Li Michal Mrozowski Michele Nappi Dalma Novak Hugo Proença Yi Qian Zhihua Qu Susanto Rahardja Mehrdad Saif Ali Serpengüzel Peter H. Siegel Ashitey Trebi-Ollennu Daniela Tuninetti Ge Wang Keith A. Wear Andreas Weisshaar C. Patrick Yue Enrico Zio School of Electrical and Electronic Engineering University of Adelaide Adelaide SA Australia Institut National de la Recherche Scientifique (INRS) Québec City Canada Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Concordia University Montreal Canada Guilin University of Technology Guilin China Washington University St. Louis MO USA Southern Methodist University Dallas TX USA University of Louisville/Bioengineering Department Louisville KY USA Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh Nanyang Technological University Jurong West Singapore Lawrence Livermore National Laboratory Livermore CA USA China Mobile Research Institute Beijing China University of Pisa Pisa Italy NASA-JPL California Institute of Technology Pasadena CA USA Florida Polytechnic University Lakeland FL USA The University of Sydney Sydney NSW Australia University of Connecticut Storrs CT USA Nagaoka University of Technology Nagaoka Niigata Japan Department of Electrical and Electronic Engineering Boğaziçi University Istanbul Turkey University of South Alabama Mobile AL USA Gnarus Institute Itajuba Brazil Xi’an Jiaotong University Xi’an China Gdansk University of Technology Gdansk Poland University of Salerno Fisciano Italy Octane Wireless Hanover MD USA University of Beira Interior Covilhã Portugal Department of Electrical and Computer Engineering University of NebraskaLincoln Lincoln NE USA University of Central Florida Orlando Florida USA Singapore Institute of Technology 10 Dover Dr Singapore Infocomm Technology Cluster 10 Dover Dr Singapore University of Windsor Windsor Canada Department of Physics Koç University Istanbul Turkey California Institute of Technology (CalTech) Pasadena California USA NASA-JPL Mobility and Robotics Systems S

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Mobile robot localisation and navigation using LEGO NXT and ultrasonic sensor

arXiv

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arXiv 2018年

作者： Liu, Yanan Fan, Rui Yu, Bin Junaid Bocus, M. Liu, Ming Ni, Hepeng Fan, Jiahe Mao, Shixin Bristol Robotics Laboratory University of Bristol Bristol United Kingdom Robotics and Multi-Perception Laboratory Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Department of Electrical and Electronic Engineering University of Bristol BristolBS8 1UB United Kingdom School of Mechanical Engineering Shandong University Jinan250061 China School of Communication Engineering Jilin University Changchun130000 China Shenzhen Sanhang Industrial Technology Research Institute Shenzhen518000 China

Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to perform tasks autonomously can be expensive because of the need for various types of sensors and the high price of robot platforms. Hence, in this paper we present a mobile robot localisation and navigation system which uses a LEGO ultrasonic sensor in an indoor map based on the LEGO MINDSTORM NXT. This provides an affordable and ready-to-use option for most robot fans. In this paper, an effective method is proposed to extract useful information from the distorted readings collected by the ultrasonic sensor. Then, the particle filter is used to localise the robot. After robot's position is estimated, a sampling-based path planning method is proposed for the robot navigation. This method reduces the robot accumulative motion error by minimising robot turning times and covering distances. The robot localisation and navigation algorithms are implemented in MATLAB. Simulation results show an average accuracy between 1 and 3 cm for three different indoor map locations. Furthermore, experiments performed in a real setup show the effectiveness of the proposed methods. Copyright © 2018, The Authors. All rights reserved.

关键词： Mobile robots

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2022 Roadmap on Neuromorphic Computing and Engineering

arXiv

引用

arXiv 2021年

作者： Christensen, Dennis Valbjørn Dittmann, Regina Linares-Barranco, Bernabé Sebastian, Abu Le Gallo, Manuel Redaelli, Andrea Slesazeck, Stefan Mikolajick, Thomas Spiga, Sabina Menzel, Stephan Valov, Ilia Milano, Gianluca Ricciardi, Carlo Liang, Shi-Jun Miao, Feng Lanza, Mario Quill, Tyler J. Keene, Scott T. Salleo, Alberto Grollier, Julie Marković, Danijela Mizrahi, Alice Yao, Peng Yang, J. Joshua Indiveri, Giacomo Strachan, John Paul Datta, Suman Vianello, Elisa Valentian, Alexandre Feldmann, Johannes Li, Xuan Pernice, Wolfram H.P. Bhaskaran, Harish Furber, Steve Neftci, Emre Scherr, Franz Maass, Wolfgang Ramaswamy, Srikanth Tapson, Jonathan Panda, Priyadarshini Kim, Youngeun Tanaka, Gouhei Thorpe, Simon Bartolozzi, Chiara Cleland, Thomas A. Posch, Christoph Liu, Shih-Chii Panuccio, Gabriella Mahmud, Mufti Mazumder, Arnab Neelim Hosseini, Morteza Mohsenin, Tinoosh Donati, Elisa Tolu, Silvia Galeazzi, Roberto Christensen, Martin Ejsing Holm, Sune Ielmini, Daniele Pryds, N. Department of Energy Conversion and Storage Technical University of Denmark Kgs. LyngbyDK-2800 Denmark Peter Gruenberg Institute 7 Forschungszentrum Juelich GmbH Juelich52425 Germany JARA-FIT RWTH Aachen University Aachen52056 Germany CSIC Universidad de Sevilla Seville41092 Spain IBM Research Zurich Switzerland STMicroelectronics Agrate Italy Dresden01187 Germany Institute of Semiconductors and Microsystems TU Dresden Dresden Germany CNR-IMM Unit of Agrate Brianza via C. Olivetti 2 MB Agrate Brianza Italy Juelich Germany Torino Italy Department of Applied Science and Technology Politecnico di Torino Torino Italy National Laboratory of Solid State Microstructures School of Physics Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing China Thuwal23955-6900 Saudi Arabia Department of Materials Science and Engineering Stanford University StanfordCA94305 United States Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom Unité Mixte de Physique CNRS Thales Université Paris-Saclay Palaiseau91767 France Electrical and Computer Engineering Department University of Southern California Los AngelesCA United States Institute of Neuroinformatics University of Zurich ETH Zurich Switzerland Hewlett Packard Laboratories Hewlett Packard Enterprise San JoseCA United States Department of Electrical Engineering University of Notre Dame Notre DameIN United States CEA LETI Université Grenoble Alpes Grenoble France CEA LIST Université Grenoble Alpes Grenoble France Department of Materials University of Oxford Parks Road OxfordOX1 3PH United Kingdom Institute of Physics University of Münster Heisenbergstr. 11 Heisenbergstr Münster48149 Germany Center for Soft Nanoscience University of Münster Münster48149 Germany The University of Manchester United Kingdom Department of Cognitive Sciences University of California Irvine IrvineCA United States Institute of Theoretica

Modern computation based on the von Neumann architecture is today a mature cutting-edge science. In the Von Neumann architecture, processing and memory units are implemented as separate blocks interchanging data intensively and continuously. This data transfer is responsible for a large part of the power consumption. The next generation computer technology is expected to solve problems at the exascale with 1018 calculations each second. Even though these future computers will be incredibly powerful, if they are based on von Neumann type architectures, they will consume between 20 and 30 megawatts of power and will not have intrinsic physically built-in capabilities to learn or deal with complex data as our brain does. These needs can be addressed by neuromorphic computing systems which are inspired by the biological concepts of the human brain. This new generation of computers has the potential to be used for the storage and processing of large amounts of digital information with much lower power consumption than conventional processors. Among their potential future applications, an important niche is moving the control from data centers to edge devices. The aim of this Roadmap is to present a snapshot of the present state of neuromorphic technology and provide an opinion on the challenges and opportunities that the future holds in the major areas of neuromorphic technology, namely materials, devices, neuromorphic circuits, neuromorphic algorithms, applications, and ethics. The Roadmap is a collection of perspectives where leading researchers in the neuromorphic community provide their own view about the current state and the future challenges for each research area. We hope that this Roadmap will be a useful resource by providing a concise yet comprehensive introduction to readers outside this field, for those who are just entering the field, as well as providing future perspectives for those who are well established in the neuromorphic computing community. © 2021,

关键词： Data transfer

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