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5th World Robot Conference Symposium on Advanced robotics and Automation, WRC SARA 2023

作者： Ma, Xudong Kuang, Ziao Li, Han Chen, Anqi Li, Changsheng Liu, Wenyong Wang, Junchen Hu, Yida David Gao, Li Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Beijing University of Posts and Tele-communications School of Computer Beijing100876 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States Peking University School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Stomatological Center Department of Periodontology Beijing China

ISBN: (纸本)9798350307320

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it's demonstrated that an oral surgeon controls the robot's motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal. © 2023 IEEE.

关键词： Blood

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Development of a Phase-Locked Loop Circuit in Running Frequency Mode for Capacitance-to-Voltage Conversion

Development of a Phase-Locked Loop Circuit in Running Freque...

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International Electrical engineering Congress (iEECON)

作者： Tada On-khong Noppadon Sisuk Paramote Wardkein Ratchanoo Katman Kriangsak Prompak Department of Physics Faculty of Science Naresuan University Phitsanulok Thailand Program in Computer Engineering Faculty of Industrial Technology Phibunsongkhram Rajabhat University Phitsanulok Thailand Department of Telecommunication School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Program of Physics Faculty of Science and Technology Phibunsongkhram Rajabhat University Phitsanulok Thailand

ISBN: (数字)9798331543952

ISBN: (纸本)9798331543969

Capacitance-to-voltage conversion is essential for capacitive sensors in various industries, including touch interfaces, medical devices, and moisture measurement. However, circuit design faces challenges like non-linearity, noise, and small capacitance variations affecting voltage signals. This article proposes a phase-locked loop in free-running oscillator mode with a frequency-to-voltage converter to enhance accuracy and stability. Test results show a 97.9% measurement accuracy, demonstrating reduced noise and improved stability. The proposed circuit is ideal for high-precision applications in diverse environments, overcoming limitations of traditional methods.

关键词： Accuracy Sensitivity Moisture measurement Noise Moisture Capacitance Frequency conversion Circuit stability Phase locked loops Standards

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

arXiv

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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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A Transparent Ultrasound Array for Real-Time Optical,Ultrasound,and Photoacoustic Imaging

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Biomedical engineering Frontiers 2022年第1期3卷 284-297页

作者： Haoyang Chen Sumit Agrawal Mohamed Osman Josiah Minotto Shubham Mirg Jinyun Liu Ajay Dangi Quyen Tran Thomas Jackson Sri-Rajasekhar Kothapalli Department of Biomedical Engineering The Pennsylvania State UniversityUniversity ParkPA 16802USA School of Electrical Engineering and Computer Science The Pennsylvania State UniversityUniversity ParkPA 16802USA Penn State Cancer Institute The Pennsylvania State UniversityHersheyPA 17033USA Graduate Program in Acoustics The Pennsylvania State UniversityUniversity ParkPA 16802USA

Objective and Impact *** imaging of ultrasound and optical contrasts can help map structural,functional,and molecular biomarkers inside living subjects with high spatial *** is a need to develop a platform to facilitate this multimodal imaging capability to improve diagnostic sensitivity and ***,combining ultrasound,photoacoustic,and optical imaging modalities is challenging because conventional ultrasound transducer arrays are optically *** a result,complex geometries are used to coalign both optical and ultrasound waves in the same field of *** elegant solution is to make the ultrasound transducer transparent to ***,we demonstrate a novel transparent ultrasound transducer(TUT)linear array fabricated using a transparent lithium niobate piezoelectric material for real-time multimodal *** TUT-array consists of 64 elements and centered at~6 MHz *** demonstrate a quad-mode ultrasound,Doppler ultrasound,photoacoustic,and fluorescence imaging in real-time using the TUT-array directly coupled to the tissue mimicking *** TUT-array successfully showed a multimodal imaging capability and has potential applications in diagnosing cancer,neurological,and vascular diseases,including image-guided endoscopy and wearable imaging.

关键词： Ultrasound specificity transparent

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Iterative Joint Detection-Decoding Algorithms Using Euclidean Distance-Based Feedback 10

Iterative Joint Detection-Decoding Algorithms Using Euclidea...

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10th International Conference on Information and Automation for Sustainability, ICIAfS 2021

作者： Ullah, Waheed Jayakody, Dushantha Nalin K. Li, Jun Chursin, Yuri University of the Witwatersrand School of Electrical and Information Egineering Johannesburg South Africa Nanjing University of Science and Technology School of Electronic and Optical Engineering Nanjing210094 China Tomsk Polytechnic University School of Computer Science and Robotics Tomsk634050 Russia

ISBN: (纸本)9781665444293

In this article, two algorithms for improving the bit error rate performance of the non-binary LDPC codes over higher order modulation are proposed. The first algorithm is the predictive syndrome based symbol flipping decoding algorithm. The flipping function of this algorithm utilizes the channel reliability to identify the least reliable symbol position. In Algorithm 1, if the predicted symbol value satisfies the check sum, then the candidate symbol value is declared as correct otherwise that value is adjusted and sent back to the QAM detector. Algorithm 2 in this paper is an improvement to iterative joint detection-decoding algorithm by using the method of iterative hard decision based majority logic to select the new candidate symbol value. The feedback value to the QAM detector is adjusted by using Euclidean distance between the current symbol and the newly selected symbol value. Numerical results and complexity analysis show that the proposed schemes have better bit error rate versus complexity trade-off in comparison to some of the existing algorithms. © 2021 IEEE.

关键词： Bit error rate

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CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping

arXiv

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arXiv 2024年

作者： He, Zhicheng Wu, Jiayang Zhang, Jingwen Zhang, Shibowen Shi, Yapeng Liu, Hangxin Sun, Lining Su, Yao Leng, Xiaokun Department of Computer Science Harbin Institute of Technology Harbin150001 China Beijing100080 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215000 China

Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance computational efficiency, potentially overlooking critical factors such as the control of centroidal angular momentum (CAM) and the variability of centroidal composite rigid body inertia (CCRBI). This paper introduces a novel integrated dynamic planning and control framework, termed centroidal dynamics model-based model predictive control (CDM-MPC), designed for robust jumping control that fully considers centroidal momentum and non-constant CCRBI. The framework comprises an optimization-based kinodynamic motion planner and an MPC controller for real-time trajectory tracking and replanning. Additionally, a centroidal momentum-based inverse kinematics (IK) solver and a landing heuristic controller are developed to ensure stability during high-impact landings. The efficacy of the CDM-MPC framework is validated through extensive testing on the full-sized humanoid robot KUAVO in both simulations and experiments. Copyright © 2024, The Authors. All rights reserved.

关键词： Model predictive control

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Textual Training for the Hassle-Free Removal of Unwanted Visual Data: Case Studies on OOD and Hateful Image Detection

arXiv

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arXiv 2024年

作者： Lee, Saehyung Mok, Jisoo Park, Sangha Shin, Yongho Jung, Dahuin Yoon, Sungroh Department of Electrical and Computer Engineering Seoul National University Korea Republic of Qualcomm Korea YH Seoul Korea Republic of School of Computer Science and Engineering Soongsil University Korea Republic of Interdisciplinary Program in Artificial Intelligence Seoul National University Korea Republic of

In our study, we explore methods for detecting unwanted content lurking in visual datasets. We provide a theoretical analysis demonstrating that a model capable of successfully partitioning visual data can be obtained using only textual data. Based on the analysis, we propose Hassle-Free Textual Training (HFTT), a streamlined method capable of acquiring detectors for unwanted visual content, using only synthetic textual data in conjunction with pre-trained vision-language models. HFTT features an innovative objective function that significantly reduces the necessity for human involvement in data annotation. Furthermore, HFTT employs a clever textual data synthesis method, effectively emulating the integration of unknown visual data distribution into the training process at no extra cost. The unique characteristics of HFTT extend its utility beyond traditional out-of-distribution detection, making it applicable to tasks that address more abstract concepts. We complement our analyses with experiments in out-of-distribution detection and hateful image detection. Our codes are available at https://***/Saehyung-Lee/HFTT © 2024, CC BY.

关键词： Data assimilation

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Exploring Approaches to Answer Biomedical Questions: From Pre-processing to GPT-4 Notebook for the BioASQ Lab at CLEF 2023 24

Exploring Approaches to Answer Biomedical Questions: From Pr...

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24th Working Notes of the Conference and Labs of the Evaluation Forum, CLEF-WN 2023

作者： Kim, Hyunjae Hwang, Hyeon Lee, Chaeeun Seo, Minju Yoon, Wonjin Kang, Jaewoo Department of Computer Science and Engineering Korea University Seoul02841 Korea Republic of Computational Health Informatics Program Boston Children’s Hospital BostonMA02115 United States Harvard Medical School BostonMA02115 United States AIGEN Sciences Seoul04778 Korea Republic of

Biomedical question answering (QA) plays a crucial role in assisting researchers, healthcare professionals, and even patients in accessing and retrieving accurate and up-to-date information from the vast amount of biomedical knowledge available in literature. To enhance the efficiency of knowledge discovery and information retrieval, we investigate the efficacy of various pre-processing, model training, data augmentation, and ensemble methods and evaluate a range of advanced pre-trained models such as BioLinkBERT and GPT-4. Additionally, we explore data augmentation and ensemble methods to further improve system performance. In our participation in BioASQ Task 11b-Phase B, our systems achieved a top ranking in all four batches for the yes/no type of questions, in one out of four batches for factoid questions, and in two out of four batches for list-type questions. © 2023 Copyright for this paper by its authors.

关键词： BioASQ 11b BioLinkBERT Data Augmentation Ensemble GPT-4

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Feature Extraction of Motor Imagination EEG Signals for a Collaborative Exoskeleton Robot Based on PSD Analysis

Feature Extraction of Motor Imagination EEG Signals for a Co...

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Chinese Control Conference (CCC)

作者： Yunfeng Wu Junze Li Zichen Ren Bo Lu Changzhu Zhang Peng Qi Department of Control Science and Engineering Tongji University Shanghai China Elmore Family School of Electrical and Computer Engineering Purdue University West Lafayette Indiana United States Robotics and Microsystems Center School of Mechanicaland Electric Engineering Soochow University Suzhou China

The integration of brain-machine interface and exoskeleton robot has been widespread application in gait correction, walking assistance, and numerous other scenarios. To effectively extract the electroencephalogram (EEG) signal features of motor imagery while wearing an exoskeleton, this study proposes a frequency band pre-determination method based on power spectral density (PSD) that enables common spatial patterns (CSP) to extract features from the frequency band with the highest energy in the EEG. The signal power spectral density of all channels is obtained at or near the average frequency of the maximum short interval frequency component energy. A second round of filtering is performed on the data, and the signal components are used as input for the subsequent feature extraction step. The CSP method extracts features from the spatial domain signal and generates feature maps. Finally, Support Vector Machines (SVM) are utilized to classify the EEG signals. Based on the pre-set gait of the exoskeleton robot and the motor imagery paradigm, feature extraction and classification of motor imagery EEG data during exoskeleton use were conducted, with an average accuracy rate of 77%. The experimental results demonstrate the effectiveness of this method in extracting the motor imagery EEG features during exoskeleton use.

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Pick Planning Strategies for Large-Scale Package Manipulation

arXiv

引用

arXiv 2023年

作者： Li, Shuai Keipour, Azarakhsh Jamieson, Kevin Hudson, Nicolas Zhao, Sicong Swan, Charles Bekris, Kostas Amazon Robotics United States Allen School of Computer Science & Engineering University of Washington SeattleWA98105 United States School of Arts and Sciences Rutgers University PiscatawayNJ08854 United States

Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resiliency to market fluctuations. This extended abstract showcases a large-scale package manipulation from unstructured piles in Amazon robotics’ Robot Induction (Robin) fleet, which is used for picking and singulating up to 6 million packages per day and so far has manipulated over 2 billion packages. It describes the various heuristic methods developed over time and their successor, which utilizes a pick success predictor trained on real production data. To the best of the authors’ knowledge, this work is the first large-scale deployment of learned pick quality estimation methods in a real production system. Copyright © 2023, The Authors. All rights reserved.

关键词： Heuristic methods

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