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检索条件"机构=Robotics Engineering Program and Department of Computer Science"

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A Hybrid Model and Learning-Based Force Estimation Framework for Surgical Robots

A Hybrid Model and Learning-Based Force Estimation Framework...

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

作者： Hao Yang Haoying Zhou Gregory S. Fischer Jie Ying Wu Department of Computer Science Vanderbilt University TN USA Department of Robotics Engineering Worcester Polytechnic Institute MA USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing surgical robots can measure interaction forces directly and the additional sensor may limit the life of instruments. We present a hybrid model and learning-based framework for force estimation for the Patient Side Manipulators (PSM) of a da Vinci Research Kit (dVRK). The model-based component identifies the dynamic parameters of the robot and estimates free-space joint torque, while the learning-based component compensates for environmental factors, such as the additional torque caused by trocar interaction between the PSM instrument and the patient’s body wall. We evaluate our method in an abdominal phantom and achieve an error in force estimation of under 10% normalized root-mean-squared error. We show that by using a model-based method to perform dynamics identification, we reduce reliance on the training data covering the entire workspace. Although originally developed for the dVRK, the proposed method is a generalizable framework for other compliant surgical robots. The code is available at https://***/vu-maple-lab/dvrk_force_estimation.

关键词： Learning systems Torque Medical robotics Instruments Force Dynamics Estimation Surgery Robot sensing systems Trajectory optimization

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Authentication using Biometric Data from Mobile Cloud Computing in Smart Cities 3

Authentication using Biometric Data from Mobile Cloud Comput...

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3rd International Conference on Advancement in Electronics and Communication engineering, AECE 2023

作者： Salama, Ramiz Al-Turjman, Sinem Altrjman, Chadi Al-Turjman, Fadi Prakash, R.Om Yadav, Satya Prakash Vats, Satvik Ai and Robotics Institute Research Center for Ai and IoT Department of Computer Engineering Near East University Near East Boulevard TRNC Mersin 10 Nicosia99138 Turkey Ai and Robotics Institute Near Artificial Intelligence Engineering Dept Near East University Mersin10 Nicosia Turkey Waterloo University Department of Chemical Engineering ONN2L 3G1 Canada Noida Instue Engineering and Technology U.P Greator Noida201306 India Department of Computer Science and Engineering Greater Noida201306 India Graphic Era Hill University Department of Computer Science and Engineering Dehradun India

ISBN: (纸本)9798350330724

Smart cities are cities that are designed to be more efficient, sustainable, and connected. As our cities grow and become more complex, it's important to find new ways to address the challenges that arise, such as security, privacy, and mobility. This is where mobile cloud computing and biometric authentication come in. Mobile cloud computing is a way to provide cloud computing services to mobile devices, which means people can access services and data from anywhere and at any time. Biometric authentication is a method of identifying people based on their unique physical or behavioral characteristics, like fingerprints, facial recognition, or voice recognition. These two technologies can be combined to create a secure and personalized environment for residents and visitors in smart cities. By using mobile devices, IoT devices, wireless sensor networks, and edge computing, we can collect real-time data that can be used for big data analytics and machine learning. This means we can optimize city services, like traffic management, waste management, or energy consumption, and enhance the quality of life for people living in smart cities. However, the use of these technologies also poses significant security and privacy risks, so it's important to design systems that are secure and privacy-preserving. This requires interdisciplinary research and collaboration between experts in different fields. In summary, mobile cloud computing and biometric authentication have the potential to transform smart cities by creating a more secure and personalized environment for residents and visitors. But we must also be mindful of the potential risks and work together to address them. © 2023 IEEE.

关键词： Mobile cloud computing

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Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation 18th

Underwater Robot-To-Human Communication Via Motion: Implemen...

引用

18th robotics: science and Systems, RSS 2022

作者： Fulton, Michael Mehtaz, Muntaqim Sattar, Junaed Queeglay, Owen Deptartment of Computer Science & Engineering Minnesota Robotics Institute University of Minnesota Twin Cities United States Department of Electrical Engineering Stanford University United States

ISBN: (纸本)9780992374785

Autonomous underwater vehicles (AUVs) have long lagged behind other types of robots in supporting natural communication modes for human-robot interaction. Due to the limitations of the environment, most AUVs use digital displays or topside human-in-the-loop communications as their primary or only communication vectors. Natural methods for robotto-human communication such as robot "gestures" have been proposed, but never evaluated on non-simulated AUVs. In this paper, we enhance, implement and evaluate a robot-to-human communication system for AUVs called Robot Communication Via Motion (RCVM), which utilizes explicit motion phrases (kinemes) to communicate with a dive partner. We present a small pilot study that shows our implementation to be reasonably effective in person followed by a large-population study, comparing the communication effectiveness of our RCVM implementation to three baseline systems. Our results establish RCVM as an effective method of robot-to-human communication underwater and reveal the differences with more traditional communication vectors in how accurately communication is achieved at different viewpoints and types of information payloads. © 2022, MIT Press Journals. All rights reserved.

关键词： Autonomous underwater vehicles

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High-quality Mid-infrared Chalcogenide Ring Resonator

High-quality Mid-infrared Chalcogenide Ring Resonator

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2024 Conference on Lasers and Electro-Optics, CLEO 2024

作者： Lu, Bright Xu, Bo Krueper, Greg Zohrabi, Mo Gopinath, Juliet T. Park, Wounjhang Department of Electrical Computer and Energy Engineering University of Colorado BoulderCO80309 United States Department of Physics University of Colorado BoulderCO80309 United States Materials Science and Engineering Program University of Colorado BoulderCO80309 United States

ISBN: (纸本)9781957171395

We report Ge23Sb7S70 chalcogenide ring resonators with up to 8 × 104 quality factors operating around 3.6 µm wavelength fabricated through e-beam lithography. Their rib waveguide geometry can be engineered to support close-to-zero dispersion modes needed for mid-infrared microcomb generation. CLEO 2024 © Optica Publishing Group 2024 © 2024 The Author(s)

关键词： Ring lasers

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computer Vision-Based Hydroponic Lettuce Contour and Area Recognition System

Computer Vision-Based Hydroponic Lettuce Contour and Area Re...

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International Conference on Electrical engineering and Informatics, ICEEI

作者： Samuel Raymond Pranowo Zener Lie Sukra Muhammad Zacky Asy'ari Marisa Paryasto Computer Engineering Department Automotive and Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Electrical Engineering Department Computer Engineering Program Telkom University Bandung Indonesia

Agriculture is a vital industry for the people of Indonesia, but there are several obstacles, including limited space in urban areas and inefficient conventional sorting and harvesting methods. Using computer vision to choose hydroponic lettuce that is ready to be harvested and a robotic arm to bring the selected lettuce yields, the produced system aims to solve this problem. The system's computer vision algorithms include color space conversion, intensity transformation, and an algorithm for following borders. This project's research methodology combines a quantitative approach with an experimental approach, which consists of conducting several trials on the built system. Several trials demonstrated that the computer vision software was able to accomplish the specified objectives. The average success rate of the developed computer vision system is 93%, while the average success rate of the robot arm is 85%.

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Smart Home Security System Using Face Recognition Based on IoT- CNN 2

Smart Home Security System Using Face Recognition Based on I...

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2nd International Conference on Information Technology Research and Innovation, ICITRI 2023

作者： Febriantono, M. Aldiki Zuhair, Alvin Khaeruddin School of Computer Science Bina Nusantara University Computer Science Department Jakarta11480 Indonesia University of Islam Blitar Electrical Engineering Department Blitar Indonesia University of Muhammadiyah Malang Diploma III Electronic Technology Vocational Study Program Malang Indonesia

ISBN: (纸本)9798350324945

Home security is a crucial aspect that requires careful attention, particularly when it comes to addressing theft concerns. Hence, implementing smart door technology equipped with facial recognition holds promising potential for enhancing home security. This study aims to develop a more secure and regulated home entry system by leveraging Internet of Things (IoT) technology and Machine Learning computer Vision for facial recognition. The system integrates IoT devices, such as cameras and automatic doors, wherein facial image data is captured by the camera and processed using the Convolutional Neural Network (CNN) algorithm to identify individuals. Once an individual is recognized, the system grants access to the home through an automated door. By relying on facial features, the system effectively restricts unauthorized access and safeguards homes against theft risks. Therefore, the advancement of a safer and more controlled home entry system utilizing IoT technology and Machine Learning computer Vision holds tremendous benefits for homeowners. © 2023 IEEE.

关键词： Face recognition

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High-quality Mid-infrared Chalcogenide Ring Resonator

High-quality Mid-infrared Chalcogenide Ring Resonator

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CLEO: science and Innovations in CLEO 2024, CLEO: S and I 2024 - Part of Conference on Lasers and Electro-Optics

关键词： Infrared devices

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ChiBa—A Chirrup and Bark Detection System for Urban Environment 1

引用

10th International Conference on Mathematics and Computing, ICMC 2024

作者： Ganguly, Shuddhashil Mukherjee, Himadri Dhar, Ankita Marciano, Matteo Roy, Kaushik Department of Computer Science and Engineering Sister Nivedita University West Bengal Newtown India TISA Lab Department of Computer Science West Bengal State University West Bengal Berunanpukuria India Gazelien Records Lab Department of Arts and Humanities Music Program New York University Abu Dhabi Abu Dhabi United Arab Emirates

ISBN: (数字)9789819720699

ISBN: (纸本)9789819720682

The World is developing at a tremendous pace which has been catapulted by large-scale technological advancements. Building mega structures has never been easier and modes of commute have also developed thereby shortening travel-time. Such advancements have also brought along newer sources of pollution which are harming our planet at an even faster pace. Sound pollution is one such agent that has a long-term effect on not only humans but the entire biodiversity. Its effect on life is not immediately observed but the damage becomes visible over time. Birds are one of the most affected creatures due to sound pollution. This is one of the major reasons for declining bird population in the Urban areas. It is very important to preserve biodiversity for a sustainable future. Animals have calls that are melodious and rhythmic and these calls tend to change when they are in distress. An automated system can be very useful in this context which can monitor animal sounds and detect changes in their calls. Deployment of such a system in Urban areas is challenging due to the presence of ambient sounds which is extremely diverse. Thus it is essential to initially detect animal calls in the Urban environment prior to monitoring them. ChiBa is a system proposed to address this problem. Experiments were initially performed with the detection of birds and dogs (the most common and loudest creatures in cities) calls in the Urban environment. Tests were performed with over 7K clips comprising of the animal calls as well as Urban ambient sounds. The audios were modeled using a deep learning-based approach wherein the highest accuracy of 99.91% was obtained. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Birds

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Sentiment Analysis of User Review on Indonesian Food and Beverage Group using Machine Learning Techniques

Sentiment Analysis of User Review on Indonesian Food and Bev...

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2022 IEEE Creative Communication and Innovative Technology, ICCIT 2022

作者： Yanfi, Yanfi Heryadi, Yaya Lukas, Lukas Suparta, Wayan Arifin, Yulyani Bina Nusantara University Binus Graduate Program Computer Science School of Computer Science Computer Science Department Jakarta11480 Indonesia Bina Nusantara University Binus Graduate Program Computer Science Computer Science Department Jakarta11480 Indonesia Jakarta12930 Indonesia Faculty of Industrial Technology Institut Teknologi Nasional Yogyakarta Department of Electrical Engineering Yogyakarta55281 Indonesia

ISBN: (纸本)9781665468763

A vast number of technologies based on Artificial Intelligence (AI) have proliferated into various application domains. As part of its objectives to develop agents which can behave and think like humans, some branches of AI have focused on developing various algorithms that can learn from input data without explicitly being programmed. In the food industry, notably in restaurants, smartphone technology is typically used to collect data from customers efficiently such as orders or feedback toward the services provided. The use of smartphones by some restaurants is motivated by their convenience and efficiency. Furthermore, various promotions, discounts, and membership benefits offered by cellular service providers have attracted the use of smartphones as devices for improving restaurant services to their customers. This study aimed to conduct a sentiment analysis related to multi-brand restaurants in Indonesia based on customer feedback. The data retrieved from the Google Play Store consists of 756 reviews from Boga, Champs, Hangry, Ismaya, Kulo, and Union groups. In this study, TF-IDF was used as a vectorizer to represent customer feedback as numeric vectors. The polarity sentiment of customer feedback was recognized using classifier models based on machine learning such as Logistic Regression, Naive Bayes (NB), Random Forest, and Support Vector Machine (SVM) as the classifier. The empirical results showed that SVM has the best accuracy of 93.10 % average accuracy followed by Logistic Regression with 92.41 %, Random Forest with 84.14 % average accuracy, and Naive Bayes with 76.55 % average accuracy. © 2022 IEEE.

关键词： Sentiment analysis

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Cooperative Multi-source Data Trading

Cooperative Multi-source Data Trading

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： Cheng, Jin Ding, Ningning Lui, John C. S. Huang, Jianwei The Chinese University of Hong Kong School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Hong Kong University of Science and Technology Data Science and Analytics Thrust Information Hub Guangzhou China The Chinese University of Hong Kong Department of Computer Science and Engineering Hong Kong The Chinese University of Hong Kong School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Key Laboratory of Crowd Intelligence Empowered Low-Carbon Energy Network Csijri Joint Research Centre on Smart Energy Storage Shenzhen China

ISBN: (纸本)9798350351255

In the era of big data, data trading significantly enhances data-driven technologies by facilitating data sharing. Despite the clear advantages often experienced by data users when incorporating multiple sources, the topic of multi-source data trading remains largely unexplored. This paper designs a novel data trading framework, which enables multi-source data trading through multi-source cooperation. The proposed framework aims to improve data usage efficiency and increase seller revenue. In particular, we model data sellers' cooperative decisions through the Nash bargaining framework and systematically outline the interactions between sellers and buyers as a two-stage Stackelberg game. A key contribution of this work is the consideration of coupling among diverse data products, which is essential but often overlooked in prior studies. We properly classify data's utility into endogenous and relational categories to disentangle the coupling. Despite the inherent non-convex nature of the optimization problem, we methodically derive the closed-form optimal solutions by decomposing the problem into several subproblems. Interestingly, we reveal that, under our proposed framework, sellers' revenue initially remains steady with the increase of product coupling level, but begins to rise once the level exceeds a certain threshold due to the substitute effect. Finally, experimental results show that our proposed framework can improve the seller's profit by up to 46.32% compared to traditional data trading methods in the current data market. © 2024 IEEE.

关键词： Marketplaces

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