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Operation planning in craniomaxillofacial surgery

computer Aided Surgery 1998年第3‐4期2卷

作者： Petra Bohner PH.D. Catherina Holler M.S. Stefan Haßfeld M.D. Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Clinic for Maxillofacial and Craniofacial Surgery University of Heidelberg Heidelberg Germany

Surgery in the craniomaxillofacial area is complex. Planning a surgical operation can help the surgeon enhance the quality of the operation. On the other hand, the benefit of a planning phase cannot be realized if the planning strategy cannot be replicated during surgery. A complete surgical system would support planning, simulation, execution by a surgeon, execution guided by a navigation system, and autonomous execution by a robot. In this paper we present our approach for an integrated system for planning and execution of craniomaxillofacial surgery. This approach is based on a hierarchical architecture and the decomposition of planning levels being either independent or dependent on the execution system via implicit and explicit elementary operations. The architecture of our system can be applied to other surgical interventions in general. The system has been employed in two operations in the mandible/maxilla region, the LeFort I osteotomy and sagittal dissection of the mandible. Results of simulated and robotized execution of some elementary operations are presented. Comp Aid Surg 2:153–161 (1997). © 1997 Wiley-Liss, Inc.

关键词： robots operation planning craniomaxillofacial surgery

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Load adjustment and filtering based on process criticality

Load adjustment and filtering based on process criticality

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IEEE International Conference on Embedded and real-time Computing systems and Applications (RTCSA)

作者： Tei-Wei Kuo Shie-Kai Ni Giun-Haur Huang Real Time Systems Laboratory Department of Computer Science and Information Engineering National Chung Cheng University Chiayi Taiwan Department of New Technology Development Platform Software Division Acer Incorporated Taipei Taiwan System Software Laboratory Institute for Information Industry Taipei Taiwan

ISBN: (纸本)081869209X

This paper generalizes the load scaling techniques proposed in (Kuo and Mok, 1991) for fixed-priority real-time applications. A framework is proposed to adjust the system workload by relating the criticality and flexibility of a process to the resource allocation problem. A load adjustment procedure based on the approximation algorithm (Ni et al., 1997) is proposed to maximize the system profit in an on-line fashion. When the list of allowable configurations is implicitly given by scalable periodic processes, the corresponding load filtering problem is shown to be NP-complete. We also prove the upper bound of the system profit and provide a mechanism to balance the schedulability and the maximum profit of the system.

关键词： Filtering Resource management Job shop scheduling Timing real time systems Approximation algorithms Upper bound Laboratories Frequency computer science

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Object-Oriented Software Architecture for Distributed Peer-Peer systems

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IFAC Proceedings Volumes 1998年第14期31卷 141-146页

作者： Ananth K. Ganesh George A. Holt Alexander D. Stoyen Lichen Zhang Research & Development Group Icon CMT Corp. 1200 Harbor Blvd Floor 8 Weehawken NJ 07087 Dependable Real- Time Systems Lab Department of Computer & Information Science New Jersey Institute of Technology University Heights Newark NJ 07102 USA Institute of AI & PR Science Center Shantau University Shantau Guandong Province P.R. China

Most recent advances in the areas of networking and Internet/Web related technologies have inspired a new model of computing, namely the network-centric computing model. This paper describes a network-centric open software architecture for distributed peer to peer systems development. The goal of this architecture is to provide asynchronous concurrent message-based design that is highly configurable. Some of the applications that are built on top of this software architecture is also discussed here.

关键词： Software Architecture Peer-Peer systems network computing client-server systems

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Model-based process redesign

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JOURNAL OF INTELLIGENT MANUFACTURING 1997年第5期8卷 345-356页

作者： Janusz, B Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

A method is presented for the model-based redesign of enterprises. It consists of two main steps, the initialization step and the optimization step. During the initialization step, the processes are modelled and analysed. During the optimization step, the optimal configuration is found for the possible modifications of the processes. Emphasis is placed on the process analysis. The proposed approach is based on activity chains which describe the set of activities needed for the achievement of a given gear, and their execution order necessary to guarantee a low processing time. An algorithm is presented for filtering such activity chains from an enterprise model. It is based on graph theory and corresponds to the solution of an optimization problem, whereby the sum of weights of ail edges belonging to the solution graph should be maximized under some given constraints. Because of the high complexity of the problem, some complexity-reducing measures are presented, measures that arise from the earlier problem analysis.

关键词： process redesign process analysis activity chain graph theory

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Hierarchical refinement of skills and skill application for autonomous robots

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robotics AND AUTONOMOUS systems 1997年第3-4期19卷 259-271页

作者： Kaiser, M Dillmann, R University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany

One of the major goals in designing learning robots is to let these robots develop useful skills over time. These skills are not only related to physical actions of the robot, but also to the coordination of activities, communication with humans, and active sensing. Throughout this paper, the interdependency between these different kinds of skills is analyzed. For the case of elementary action skills and coordination skills, methods for inegration of skill application and refinement are developed. It is shown that this integration has the potential to support long-term learning and autonomous experimentation.

关键词： Mobile robots

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Fast motion planning by parallel processing - A review

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1997年第1期20卷 45-69页

作者： Henrich, D Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Kaiserstrasse 12 D-76128 Karlsruhe Germany

One of the many features needed to support the activities of autonomous systems is the ability to plan motion. This enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly parallel computation. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly parallel computation. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is assigned a unique class. Finally, for each research work referenced, a list of keywords is given.

关键词： robotics autonomous systems parallel algorithms parallelism and concurrency motion planning review

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Autonomous microrobots

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1997年第4期19卷 375-391页

作者： Rembold, U Fatikow, S Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Kaiserstr. 1 (Geb. 40.28) 76128 Karlsruhe Germany

Robots have been a subject of research for almost half a century. In order to make robots more versatile they must be able to operate in a semi-structured work place where unforeseen events occur and where sensor data are incomplete. An entire research community has been working on this problem and many unique autonomous and so-called intelligent robots have been conceived and built. Most of these efforts are concerned with robots that operate in the macroworld where they take on chores that could also be handled by humans. However, there is the macroworld in which manipulation and handling tasks are very difficult and for which a human has no tools and where the work area is so small that fine manual manipulation is almost impossible. This paper is concerned with autonomous robots that can operate in a microworld, where microassembly operations, microsurgery or integrated circuit testing and repair is done. For independent operations, these robots need special sensors and an efficient computer architecture that hosts the planner and executor. There are also special drive systems and effecters necessary for micromotions and micromanipulations, respectively. An attempt is made to describe these components and the problems encountered in configuring them to a microrobot. As an example of advanced microrobots, the design and functions of several autonomous microrobots of the University of Karlsruhe are shown;they employ different locomotion and subject handling principles. The paper also includes a discussion of the typical operating problems caused by the microworld and of future research that has to be done to conceive and build efficient microrobots.

关键词： autonomous microrobots microassembly station micromanipulator piezoelectric actuators robot control

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Learning and communication in multi-agent systems

Learning and communication in multi-agent systems

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12th European Conference on Artificial Intelligence, ECAI 1996, 2nd International Conference on Multiagent systems, ICMAS 1996, Workshop on Learning in Distributed Artificial Intelligence systems, LDAIS 1996 and Workshop on Learning, Interaction, and Organization in Multiagent Environments, LIOME 1996

作者： Friedrich, Holger Kaiser, Michael Rogalla, Oliver Dillmann, Rüdigex University of Karlsruhe Institute for Real-Time Computer Systems and Robotics KarlsruheD-76128 Germany

ISBN: (纸本)3540629343

This paper discusses the significance of communication between individual agents that are embedded into learning Multi-Agent systems. For several learning tasks occurring within a Multi-Agent System, communication activities are investigated and the need for a mutual understanding of agents participating in the learning process is made explicit. Thus, the need for a common ontology to exchange learning-related information is shown. Building this ontogy is an additional learning task that is not only extremely important, but also extremely difficult. We propose a solution that is motiwtted by the human ability to understand each other even in the absence of a common language by using alternative commuification channels, such as gestures. We show some results for the task of cooperative material handling by several manipulators. © 1997, Springer Verlag.

关键词： Multi agent systems

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Virtual cutting in medical data

Virtual cutting in medical data

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作者： Mazura, A. Seifert, S. Institute for Real-time Computer Systems and Robotics University of Karlsruhe Department for Computer Science 76128 Karlsruhe Germany

In this paper we present a method for virtual 3D cutting operations in 3D tomographic data. When cutting interactively the user specifies a serie of 3D cutting points and correponding cut depths on the surface of the object. Each pair of succeeding cutting points then defines a freeform shape of the incision. A 3D meshing algorithm constructs a Finite Element mesh formed by tetrahedrons, representing the surgical intervention. © 1997 The authors.

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Simulation of jaw-movements for the musculoskeletal diagnoses

Simulation of jaw-movements for the musculoskeletal diagnose...

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作者： Weingärtner, T. Dillmann, R. Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Department for Computer Science 76128 Karlsruhe Germany

Simulations of static and dynamic aspects of the functionality of the human body are getting more important as the complexity of operations increases. The preoperative planning of maxillofacial operations like the repositioning of the jaw is an example for such operation. Here, but also in other medical fields, simulation can help to estimate the results of a procedure or can facilitate the diagnosis through a better view of the anatomy and pathology of the patient. A virtual view on the pathology and the possibility of simulating the postoperative results simplifies and improves the preoperative planning. The goal of our research is the development of a graphical simulation of the human mastication system to give the surgeon an impression on the inner anatomy of his patient. This simulation allows him to predict the aesthetic and functional outcome of his operation. The main focus of this paper is the introduction of a kinematic model of the temporomandibular joint. This kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. It is the basis for an animated simulation of the mandible movement. Through integration of the muscles and muscle forces, we come to a realistic dynamic simulation of the whole mastication system. © 1997 The authors.

关键词： Pathology

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