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Intraoperative 3D visualization for surgical field deformation with geometric pattern projection

Systems and computers in Japan 2006年第4期37卷 45-54页

作者： Hayashibe, Mitsuhiro Suzuki, Naoki Kobayashi, Susumu Nakata, Norio Hattori, Asaki Suzuki, Shigeyuki Otake, Yoshito Nakamura, Yoshihiko Institute for High Dimensional Medical Imaging Jikei University School of Medicine Tokyo 201-8601 Japan Department of Surgery Jikei University School of Medicine Tokyo 105-8461 Japan Graduate School of Information Science and Technology University of Tokyo Tokyo 113-0033 Japan IEEE IEEE Robotics Society Japan Society for Computer Aided Surgery Jikei University School of Medicine Japanese Society for Abdominal Emergency Medicine Japanese Society for Hepato-biliary-pancreatic Surgery Japanese Society for Gastroenterology Japan Surgical Society Japanese Association for Operative Medicine Department of Radiology Radiological Society of North America American Society of Ultrasound in Medicine Japan Radiological Society Institute for High Dimensional Medical Imaging Jikei University School of Medicine IEEE Computer Society Department of Mechano-Informatics University of Tokyo ASME Japan Robotic Society

Recently there have been many efforts to investigate navigation technology and apply it in various clinical fields in which the target position in the surgical region is indicated during surgery. The objective is to facilitate an intuitive understanding of the surgical region by the surgeon, so that the accuracy of the surgery can be improved. Currently, the position of the surgical area is usually measured by a magnetic sensor or a marker-type optical 3D position sensor. In navigation of hard tissue such as bone, the target is rigid, and the position of the target can be measured from several discrete point markers. In navigation of soft tissue such as the body surface and the liver, where the shape and the position can change easily, a position sensor which can measure the state of modification in the form of time-series surface data is required. In the method proposed here in order to deal with this problem, a geometrical pattern is projected on the target by a PC projector and is captured in real time from various directions with using DV cameras. This biological deformation measurement system can be easily installed in an operating room and can simultaneously measure and visualize the 3D shape and the textural information of the target. An animal experiment was performed. Surface shape time-series data were used and were updated from time to time during the surgery, and registration of the target organ model was performed before the surgery. Data-fusion processing was performed, displaying the measured surface data of the surgical region together with an internal structure model of the organ. The results are reported. © 2006 Wiley Periodicals, Inc.

关键词： Pattern recognition

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini Thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards Automation Software tools Control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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Abstracts from the 6th International Conference on the Engineering of Sport, 10-14 July 2006, Olympic Hall, Munich, Germany Abstracts

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SPORTS ENGINEERING 2006年第3期9卷 175-190页

作者： [Anonymous] University of Exeter UK Cranfield University UK University of Ulster UK R&A Rules Limited UK Instituto de Biomecánica de Valencia (IBV) Spain Movement Sciences Group Department of Health Sciences Universiteit Maastricht Netherlands Terra Sports Technology Canada Otto-von-Guericke-University Magdeburg Germany Sports Technology Research Group Loughborough University UK University of Stuttgart Germany Loughborough University UK Sports Engineering CSES Sheffield Hallam University UK Department of Anatomy Bristol University Bristol UK Department of Mechanical Engineering Bristol University Bristol UK Engineering Mechanics United States Air Force Academy Colorado Springs USA Wright Patterson Air Force Base Ohio USA Department Product Development TU Munich Germany Department of Sport Science Otto-von-Guericke University Magdeburg Germany Department of Sport Science University of Vienna Austria Department of Mechanical Engineering Bristol University UK University of Cambridge UK University of Glamorgan UK TUM Sport Equipment & Materials Germany Sports Engineering Research Group University of Sheffield UK Audi Sport USA Royal Melbourne Institute of Technology Australia University of Bath UK University of Wales Institute Cardiff UK Graduate School of Information Science & Engineering Tokyo Institute of Technology Japan Cranfield Centre for Sports Surfaces Cranfield University UK Institute of Mechatronics Chemnitz Germany Institute for Applied Training Science Leipzig Germany Swedish Defence Research Agency Sweden Department of Sport Science University of Innsbruck Austria Department of Engineering Mathematics Geometry & Computer Science University of Innsbruck Austria Department of Mechanics & Mechatronics Vienna University of Technology Austria HTM Tyrolia Schwechat Austria College of Engineering Chubu University Japan Graduate Student of Engineering Chubu University Japan Department of Mechanical Engineering Chubu University Japan The University of We

The primary aim of this study was to assess the feasibility of using a soil laboratory designed for testing of industrial equipment, for the biomechanical assessment of sports movements and footwear. This was achieved by the investigation of the influence of three different footwear types on in-shoe pressures to assess cushioning provided by the footwear for two surface conditions of differing density. Six subjects each performed running trials on the two surfaces in three pairs of footwear: molded boots, boots with studs and trainers. Inshoe pressure data were collected for six running steps for each shoe-surface condition, with peak heel force values used to quantify cushioning. Within each surface condition, similar peak heel force values were obtained for each of the footwear conditions. The comparison of surfaces revealed significantly higher heel impact forces when running on the higher density surface, suggesting a lower cushioning effect of this surface condition. This study demonstrates the potential of the described novel methodology to investigate footwear-surface combinations for controlled natural soil conditions. Combining these data with simultaneously measured pressures at different soil depths will allow the development of surface designs to best cope with the forces applied by the human.

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Abstracts from the 6th International Conference on the Engineering of Sport, 10-14 July 2006, Olympic Hall, Munich, Germany Abstracts

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SPORTS ENGINEERING 2006年第2期9卷 107-127页

作者： [Anonymous] University of Massachusetts Lowell USA Science & Mathematics Department Kettering University Flint USA University of Illinois USA Western Michigan University USA Washington State University USA Casecade Engine USA Kanazawa University Japan Sumitomo Light Metal Japan Massachusetts Institute of Technology USA Nanyang Technological University Bioengineering Singapore University of Vienna Anthropology Austria Department of Mechanical Engineering University of Bath UK INSA Lyon France PETZL France Sports Materials Research Group University of Birmingham UK Laboratoire de Modélisation des Activités Sportives Bourget du Lac France Technical University Kaiserslautern Germany Department of Engineering Mechanics United States Air Force Academy Colorado Springs USA SRAM Corporation Colorado Springs USA Sports Engineering Research Group University of Sheffield UK Sports Engineering CSES Sheffield Hallam University USA Sports Engineering CSES Sheffield Hallam University UK Technische Universität München Germany Rush University Medical Center Chicago USA Faculty of Sports Science Department of Sport Equipment & Materials TU München Germany RMIT University Australia Institute of Health and Sports Sciences University of Tsukuba Ibaraki Japan Machine and Control Department Polytechnic University Kanagawa Japan SRI Sports Ltd. Hyogo Japan SRI Research and Development Ltd. Hyogo Japan Mizuno Corporation Osaka Japan Fukuoka Institute of Technology Fukuoka Japan University of Limerick Éire Graduate School of Engineering Hokkaido University Japan Faculty of Engineering Kitami Institute of Technology Japan University of Calgary Canada TaylorMade-adidas Golf Company USA Davis Mechanical Engineering University of California USA Davis Mechanical & Aeronautical Engineering University of California USA University of Wales Institute Cardiff Cardiff School of Sport UWIC Cardiff Cardiff School of Sport UWIC Wales Loughborough University UK Cranfield University UK Cr

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Learning movement primitives

Springer Tracts in Advanced Robotics

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Springer Tracts in Advanced robotics 2005年 15卷 561-572页

作者： Schaal, Stefan Peters, Jan Nakanishi, Jun Ijspeert, Auke Computational Learning and Motor Control Laboratory Computer Science and Neuroscience University of Southern California Los Angeles CA 90089-2520 United States Dept of Humanoid Robotics and Computational Neuroscience ATR Computational Neuroscience Laboratory 2-2-2 Hikaridai Seika-cho Soraku-gun 619-0288 Kyoto Japan School of Computer and Communication Sciences EPFL Swiss Federal Institute of Technology Lausanne CH 1015 Lausanne Switzerland

This paper discusses a comprehensive framework for modular motor control based on a recently developed theory of dynamic movement primitives (DMP). DMPs are a formulation of movement primitives with autonomous nonlinear differential equations, whose time evolution creates smooth kinematic control policies. Model-based control theory is used to convert the outputs of these policies into motor commands. By means of coupling terms, on-line modifications can be incorporated into the time evolution of the differential equations, thus providing a rather flexible and reactive framework for motor planning and execution. The linear parameterization of DMPs lends itself naturally to supervised learning from demonstration. Moreover, the temporal, scale, and translation invariance of the differential equations with respect to these parameters provides a useful means for movement recognition. A novel reinforcement learning technique based on natural stochastic policy gradients allows a general approach of improving DMPs by trial and error learning with respect to almost arbitrary optimization criteria. We demonstrate the different ingredients of the DMP approach in various examples, involving skill learning from demonstration on the humanoid robot DB, and learning biped walking from demonstration in simulation, including self-improvement of the movement patterns towards energy efficiency through resonance tuning. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Differential equations

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New vision localization algorithm for uncalibrated camera

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2005年第8期26卷 845-848页

作者： Fang, Shuai Cao, Yang Xu, Xinhe School of Computer and Information Hefei University of Technology Hefei 230009 China Automation Department University of Science and Technology of China Hefei 230027 China Institute of AI and Robotics Northeastern University Shenyang 110004 China

A new algorithm for vision location is proposed on the condition of camera fixation and coplanarity, which does not require computation camera calibration and homography matrix. The nonlinear mapping between 2D image plane and the plane in the 3D world is conformed depending on property of projective geometry and relation of geometry. A novel thoughtway for measurement, position, 3D reconstruction of computer vision is provided.

关键词： Cross ratio theorem Homography Projective geometry Uncalibrated camera Vision localization

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Annotation-based rescue assistance system for teleoperated unmanned helicopter with wearable augmented reality environment

Annotation-based rescue assistance system for teleoperated u...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： M. Koeda Y. Matsumoto T. Ogasawara Collage of Information Science and Engineering Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Shiga Japan Graduate School of Information Science Robotics Laboratory Nara Institute of Science and Technology Ikoma Nara Japan

We introduce an annotation-based rescue assistance system for a teleoperated unmanned helicopter with an wearable augmented reality (AR) environment. In this system, an operator controls the helicopter remotely while watching an annotated view from the helicopter through a head mounted display (HMD) with a laptop PC in a backpack. Virtual buildings and textual annotations assist the rescue operation indicating the position to search rapidly and intensively. The position and the attitude of the helicopter is measured by a GPS and a gyroscope, and sent to the operator's PC via a wireless LAN. Using this system, we conducted experiments to find persons and verified the feasibility.

关键词： Helicopters Augmented reality Control systems Gyroscopes Wireless LAN Global Positioning System Cameras Information science Intelligent robots Robot kinematics

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making computer science Space technology robotics and automation Switches Automatic control Service robots

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An object tracking and global localization method using the cylindrical projection of omnidirectional image

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Journal of Harbin Institute of technology(New Series) 2004年第5期11卷 474-480页

作者：孙英杰曹其新洪炳熔 Robotics Research Institute Shanghai Jiaotong University Shanghai 200030 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

We present an omnidirectional vision system we have implemented to provide our mobile robot with a fast tracking and robust localization capability. An algorithm is proposed to do reconstruction of the environment from the omnidirectional image and global localization of the robot in the context of the Middle Size League RoboCup field. This is accomplished by learning a set of visual landmarks such as the goals and the corner posts. Due to the dynamic changing environment and the partially observable landmarks, four localization cases are discussed in order to get robust localization performance. Localization is performed using a method that matches the observed landmarks, i.e. color blobs, which are extracted from the environment. The advantages of the cylindrical projection are discussed giving special consideration to the characteristics of the visual landmark and the meaning of the blob extraction. The analysis is established based on real time experiments with our omnidirectional vision system and the actual mobile robot. The comparative studies are presented and the feasibility of the method is shown.

关键词： omnidirectional vision system cylindrical projection object tracking global localization robust

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Services of prediction for visiting path based on improved matrix clustering

Services of prediction for visiting path based on improved m...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Yu-Qing Peng Tie-Jun Li Mei-Na Chen Tao Lin School of Computer Science and Engineer Hebei University of Technology Tianjin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

ISBN: (纸本)0780384032

According to the analysis of Web log files, matrix clustering algorithm not only can be optimized, but also mining results can be applied to predicting users' visiting path and classify new users. The data-preprocessing phase has been discussed in detail. Then, Web log mining algorithms and pattern analysis and appliance phase are presented, including the optimized matrix clustering algorithm and the basic idea and realization of the prediction algorithm. Experiments show that the algorithm is effective and feasible.

关键词： Clustering algorithms Data mining Topology Web mining Counting circuits Algorithm design and analysis Home appliances computer science Electronic mail robotics and automation

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