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This paper explores a novel stiffness sensor which is mounted on the tip of a laparoscopic camera. The proposed device is able to compute stiffness when interacting with soft surfaces. The sensor can be used in Minimally Invasive Surgery, for instance, to localise tumor tissue which commonly has a higher stiffness when compared to healthy tissue. The purely mechanical sensor structure utilizes the...
This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies...
The positioning of agricultural vehicle for autonomous navigation systems is important. We proposed a novel simple and inexpensive positioning system utilized by four artificial landmarks and an omni directional vision sensor. The red intensity pixels not less than threshold were extracted as a small area in the omni directional image and the center of the gravity was calculated as one landmark position...
Dominant plane detection is an essential task for autonomous navigation of mobile robots equipped with a vision system, as we assume that the mobile robot moves on the dominant plane. In this paper, the image point motion on a space plane is modeled, and the conception of planar flow which describes the image motion pattern of the points on a plane is introduced. Planar flow provides another geometric...
For the difficulty represented by the nonholonomic constraints of wheeled mobile robot (WMR), and the lack of stabilization ability via smooth time-invariant control law, all these factors make the visual servoing of WMR attractive research field. It seems that visual-based pose stabilization problem is more challenging than visual-based path following problem for WMR from the point of view of control...
This paper describes the architecture and implementation of a distributed autonomous gardening system. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation...
This paper presents the development of a novel application using motion analysis techniques to measure tooth movement in 3D space. Measuring the relative displacements of teeth under load allows a greater understanding of the mechanical properties of the periodontal ligament (PDL). Two marker clusters were fixed onto the measured tooth and the reference tooth via orthodontic brackets and movements...
Modern automated video analysis systems consist of large networks of heterogeneous sensors. These systems must extract, integrate and present relevant information from the sensors in real-time. This paper addresses some of the major challenges such systems face: efficient video processing for high-resolution sensors; data fusion across multiple modalities; robustness to changing environmental conditions...
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