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

作者： Jiaqi Liu Yonghao Long Kai Chen Cheuk Hei Leung Zerui Wang Qi Dou Department of Computer Science and Engineering The Chinese University of Hong Kong Cornerstone Robotics Ltd.

Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical autonomy. However, this task is very challenging due to the small sizes of surgical instrument tips, and significant variance of surgical scenes across different procedures. Although much effort has been made on visual-based methods, existing segmentation models still suffer from low robustness thus not usable in practice. Fortunately, kinematics data from the robotic system can provide reliable prior for instrument location, which is consistent regardless of different surgery types. To make use of such multi-modal information, we propose a novel visual-kinematics graph learning framework to accurately segment the instrument tip given various surgical procedures. Specifically, a graph learning framework is proposed to encode relational features of instrument parts from both image and kinematics. Next, a cross-modal contrastive loss is designed to incorporate robust geometric prior from kinematics to image for tip segmentation. We have conducted experiments on a private paired visual-kinematics dataset including multiple procedures, i.e., prostatectomy, total mesorectal excision, fundoplication and distal gastrectomy on cadaver, and distal gastrectomy on porcine. The leave-one-procedure-out cross validation demon-strated that our proposed multi-modal segmentation method significantly outperformed current image-based state-of-the-art approaches, exceeding averagely 11.2% on Dice.

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SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots

SpikingSoft: A Spiking Neuron Controller for Bio-inspired Lo...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Chuhan Zhang Cong Wang Wei Pan Cosimo Della Santina Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Delft Netherlands Department of Computer Science The University of Manchester Manchester United Kingdom

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural mechanism. To achieve this goal, we introduce the Double Threshold Spiking neuron model with adjustable thresholds to generate varied output patterns. This neuron model can excite the natural dynamics of soft robotic snakes, and it enables distinct movements, such as turning or moving forward, by simply altering the neural thresholds. Finally, we demonstrate that our approach, termed SpikingSoft, naturally pairs and integrates with reinforcement learning. The high-level agent only needs to adjust the two thresholds to generate complex movement patterns, thus strongly simplifying the learning of reactive locomotion. Simulation results demonstrate that the proposed architecture significantly enhances the performance of the soft snake robot, enabling it to achieve target objectives with a 21.6% increase in success rate, a 29% reduction in time to reach the target, and smoother movements compared to the vanilla reinforcement learning controllers or Central Pattern Generator controller acting in torque space.

关键词： Torque Deformation Simulation Neurons Snake robots Reinforcement learning Soft robotics Turning Generators Oscillators

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Exploring the science and Art of UAV Light Painting: From Equations and Pixels to Long-Exposure Photography

Exploring the Science and Art of UAV Light Painting: From Eq...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Leonardo A. Fagundes-Junior Celso O. Barcelos Raquel F. Vassallo Alexandre S. Brandão Department of Electrical Engineering Robotics Specialization Center Graduate Program on Computer Science Federal University of Viçosa Viçosa MG Brazil Department of Electrical Engineering Federal University of Espirito Santo Vitória ES Brazil

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

The use of Unmanned Aerial Vehicles (in short, UAVs, aka drones) for cultural and entertainment purposes, such as drone light shows, has grown exponentially. One such innovative and creative application is the visual arts using drones to explore long-exposure photography. Light painting are generally performed indoors and outdoors in a dedicated space with a human using a moving light source to create spectacular images and save the movement perception in a picture. In this work, we propose a robotic perception system designed to choreograph UAV movements based on time-parametric curves or image edges, serving as reference motions. Our framework begins by processing a digital image, extracting its contours through boundary tracing, and subsequently generating a safe, navigable, and precise path for UAV motion planning. This process involves optimizing waypoints within the UAV workspace to determine a feasible trajectory that encompasses all designated points or computes safe trajectories utilizing established mathematical equations. The validation of the motion planning is performed through light painting, where the UAV can either fly through the motion reference to mimic the original image. The generated trajectories on light painting mode by physical robots are compared against the ground-truth demonstrating the accuracy of the applied control scheme.

关键词： Photography Visualization Art Autonomous aerial vehicles Trajectory Planning Robots

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A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation

A Control Theoretic Study on Omnidirectional MAVs with Minim...

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IEEE Conference on Decision and Control

作者： Ahmed Ali Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF’s, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations.

关键词： Three-dimensional displays Propellers Dynamics Controllability Regulation Steady-state Feedback linearization Control theory Closed loop systems Vehicle dynamics

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An Augmented Reality Measurement Tool for the da Vinci Research Kit

An Augmented Reality Measurement Tool for the da Vinci Resea...

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International Symposium on Medical robotics (ISMR)

作者： Shiyue Wang Jing-Fen Wang Yubin Koh Haoying Zhou Anton Deguet Peter Kazanzides Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Computer Science Purdue University West Lafayette IN USA Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Computer Science Johns Hopkins University Baltimore MD USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

We present an augmented reality surgical robotics console for the da Vinci Research Kit (dVRK) that integrates a real-time distance measurement tool to enhance spatial awareness during robotic-assisted surgical procedures through an interactive system. The system integrates an RViz-based interface with ROS topics, enabling virtual cursor visualization and interactive controls for precise measurements on tissue or phantom models. It supports two distinct measurement approaches: (1) a virtual measurement capability, where the operator uses the two Master Tool Manipulators (MTMs) to drive virtual 3D measurement cursors in the stereo display (a “masters as mice” mode), and (2) a physical measurement tool, where the user teleoperates one or more Patient Side Manipulators (PSMs) to touch two features and report the intervening distance. We conduct a user study on virtual (MTM) and teleoperation (PSM) modes to assess performance and accuracy and gather user feedback. The results show a Root Mean Square Error (RMSE) of 2.19 mm to 7.25 mm across different modes and tasks. This work underscores the importance of such systems for enhancing accuracy and usability in endoscopic surgery, where spatial awareness and intraoperative assessment are critical. Code is available at https://***/capricieuxV/RVinci_***.

关键词： Visualization Three-dimensional displays Medical robotics Accuracy Surgery Manipulators Real-time systems Usability Root mean square Augmented reality

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Human Orientation Estimation Under Partial Observation

Human Orientation Estimation Under Partial Observation

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

作者： Jieting Zhao Hanjing Ye Yu Zhan Hao Luan Hong Zhang Department of Electronic and Electrical Engineering SUSTech Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology (SUSTech) Department of Computer Science School of Computing National University of Singapore

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under full observation. However, the existing methods easily make a wrong prediction under partial observation and give it an unexpectedly high confidence. To solve the above problems, this study first develops a method called Part-HOE that estimates orientation from the visible joints of a target person so that it is able to handle partial observation. Subsequently, we introduce a confidence-aware orientation estimation method, enabling more accurate orientation estimation and reasonable confidence estimation under partial observation. The effectiveness of our method is validated on both public and custom-built datasets, and it shows great accuracy and reliability improvement in partial observation scenarios. In particular, we show in real experiments that our method can benefit the robustness and consistency of the Robot Person Following (RPF) task.

关键词： Accuracy Filtering Estimation Robustness Autonomous agents Intelligent robots

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IoT In Increasing Human to Machine Interactions in the Automobile Sector 1

IoT In Increasing Human to Machine Interactions in the Autom...

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1st International Conference on Applied Artificial Intelligence and Computing, ICAAIC 2022

作者： Mindarta, Erwin Komara Kavitha, D. Poongundran, Mahizharuvi Priyadarshini, R. Sethu Ram, M. Moldabayeva, Magira Universitas Negeri Automotive Engineering Education Program Malang Indonesia School of Computer Science and Engineering Vellore Institute of Technology India Sri Meenakshi Government Arts College for Women Pg & Research Department of Computer Science Tamil nadu India School of Computer Science and Engineering College Vit Sr.Grade Ii Department Chennai India School of Engineering & Technology Department of Computer Science & Engineering Tirupati India International Education Corporation Department of Linguistics Almaty Kazakhstan

ISBN: (纸本)9781665497107

IoT technologies can facilitate machine-to-machine as well as human-to-machine interactions. Use of an automotive human-machine interface can help in exchanging information between vehicles and passengers or drivers. Organizations in automobile sector are using these technologies for providing their customers with seamless customer-experience, which has helped not only in enhancing profitability of the organization;however also in enhancing customer base. An advanced speech-recognition technology is used in the cars for automation of different functions that ensures extraordinary experience for a driver. This requires adoption of an advanced industrial user-interface that connects the human with the machine actively. Present study has analyzed the ways IoT has played a significant role in making human-to-machine interaction possible in automobile industry. In literature-review, different concepts and theories support the impact of IoT in improving human-machine interactions in automobile industry. This chapter has further analyzed the challenges related to the use of this technology. In methodology section of current study, the ways data has been collected in the study has been analyzed. In findings-section, objectives and variables of the study have been considered for designing relevant themes for providing proper insight into the effectiveness of IoT technologies in improving human -machine interactions in automobile industry. The findings section reveals that IoT usage in this industry can enhance customer-experience by improving human-machine interactions especially when using IoT-enabled cars. It has provided proper suggestions regarding the best ways of utilizing IoT in this sector while ensuring reduction of possible risks. © 2022 IEEE.

关键词： Automotive industry

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Density Functional Theory Study of Surface Stability and Phase Diagram of Orthorhombic CsPbI3

arXiv

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arXiv 2024年

作者： Li, Kejia Wang, Mengen Department of Electrical and Computer Engineering and Materials Science and Engineering Program SUNY BinghamtonNY13902 United States

CsPbI3 has been recognized as a promising candidate for optoelectronic device applications. To further improve the efficiency of the devices, it is imperative to better understand the surface properties of CsPbI3, which affect charge carrier transport and defect formation properties. In this study, we perform density functional theory calculations to explore the stability of the (001), (110), and (100) surfaces of orthorhombic CsPbI3, considering different stoichiometries and surface reconstructions. Our results show that, under the chemical potentials confined by the thermodynamically stable region of bulk CsPbI3, the CsI-terminated surfaces of (001) and (110) and the stoichiometric surface of (100) are stable. Among these three surfaces, the CsI-terminated (110) surface has the lowest surface energy and no mid-gap states, which benefits the transport properties of the material. © 2024, CC BY-NC-SA.

关键词： Stoichiometry

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An Experimentally Validated Model of the Propeller Force Accounting for Cross Influences on Multi-Rotor Aerial Systems

An Experimentally Validated Model of the Propeller Force Acc...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Barbara Bazzana Ralph Brantjes Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this paper, we propose a model for the thrust coefficient of propellers that can take into account cross-influence between adjacent propellers. The aerodynamic interaction between propellers in multirotor aerial vehicles reduces the thrust they can produce. The influence between propellers depends on their relative positioning and orientation, which are taken into account by the proposed model. It is validated on measurements collected by a force sensor mounted on a propeller for different configurations of the adjacent propellers in a support structure. In this work, we focus on configurations with small relative orientations. Results show that the proposed model outperforms the traditional constant model in terms of thrust prediction on the data we collected, and it performs better than other models with fewer parameters, being the only one with less than 10% maximum percentage error.

关键词： Training Adaptation models Torque Propellers Atmospheric modeling Force Velocity control

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A Smote-Based Churn Prediction System Using Machine Learning Techniques

A Smote-Based Churn Prediction System Using Machine Learning...

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2023 International Conference on science, engineering and Business for Sustainable Development Goals, SEB-SDG 2023

作者： Akinrotimi, Akinyemi Omololu Ogundokun, Roseline Oluwaseun Mabayoje, Modinat Abolore Oyekunle, Rafiat Ajibade Adebiyi, Marion Olubunmi Augustine University Department of Mathematics Sciences Computer Science Program Ilara-Epe Epe Nigeria Kaunas University of Technology Department of Multimedia Engineering Lithuania Landmark University Omu Aran Sdg 4. Quality Education Nigeria University of Ilorin Department of Computer Science Ilorin Nigeria University of Ilorin Department of Information and Communication Ilorin Nigeria Landmark University Omu-Aran Department of Computer Science Omu Aran Nigeria

ISBN: (纸本)9798350324785

The financial backbone of every telecommunications company is strictly made up of the number of customers patronizing the organization. Due to the high level of competition amongst existing telecommunication companies, customers sometimes leave, dropping the services of a particular one for the other. Predicting which subscribers may want to leave a telecommunications company and providing solutions to keep them from doing so, are the main objectives of customer churn prediction. Churn prediction helps classify consumers who are likely to move from one business to another. The ability to foresee churners before they leave has been increasingly useful in recent years, especially in light of increased competition among communications carriers. To compute churners for telecommunications providers, the study described in this paper used oversampling techniques to balance churn data and applied the dimensionality reduction technique to discover optimal features with a strong predictive ability for detecting would-be churners and non-churners. The model used Logistic Regression and the Naïve Bayes Classification Algorithm to implement comparative classification strategies. The performance levels of these strategies were compared using a Telecommunications Customer Churn data set, as well as performance metrics such as accuracy, sensitivity, and specificity. The Naïve Bayes Algorithm proves more efficient than its counterpart giving higher positive rate detection and a lower negative rate detection. © 2023 IEEE.

关键词： Forecasting

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