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Magnetic tracking method can achieve wireless tracking and has no line-of-sight problem, therefore it is a good choice to track micro devices inside human body for minimally invasive examination or operation. This method is mainly based on the sensing of the magnetic field generated by small permanent magnets. Usually magnetic dipole model is used to estimate the magnetic field. The disadvantage is...
This paper introduces a generic framework for field surveillance using consumer rotorcrafts and ground vehicles. Building such an autonomous system comes with two key challenges in persistent perception and obstacle avoidance. We begin with explaining two core algorithms to solve the challenges: an auto-landing algorithm that enables a quadrotor to land on a moving ground vehicle at a speed of 6.00...
Target registration error (TRE) is widely adopted to evaluate the accuracy of a paired-point rigid registration (PPRR). However, TRE is defined in such a way that target localization error (TLE) is not considered. In this paper, we first propose a new type of error that is referred to as total target registration error (TTRE). The statistical model of TTRE is derived that we take the TLE in two spaces...
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor environments are designed with wheelchair accessibility in mind. This presents an opportunity for wheeled robots to navigate through sloped areas while avoiding staircases...
Flexible manipulator enables curvilinear accessibility through small incisions or natural orifices for minimally invasive surgery and diagnosis, which makes it a good choice for minimally invasive surgery. In order to control the robot precisely and safely, the real-time position and shape information of the robot need to be measured well. In this paper, we propose a magnetic tracking based tip pose...
Mobile manipulation tasks in warehouses require robots to grasp and transport objects autonomously. To carry out mobile manipulation tasks autonomously, robot needs integrate several components for perception, planning, grasping, and manipulation. In this paper, we consider the systematic implementation of grasping, transportation and placing by using a mobile robot. We design a mechanical gripper...
This paper introduces a complete heartbeat classification system based on modified stacked denoising autoencoders and neural networks. This system includes three parts and they are preprocessing, feature extraction, and classification. In the preprocessing part, the original ECG signal is filtered and segmented as each single heartbeat. In the feature extraction part, the features are extracted from...
Recently, visual inertial has became popular due to its excellent result. However, the excellent result severely depends on the accuracy of estimation of initial parameters. The existing method is not effective on estimating the initial parameters and lacks the function to perform the closed loop detection, which will cause the error accumulation and low accurate estimation to system's state. In the...
In spine surgery, nerve complications are inevitable question for clinicians. Spinal surgery needs to monitor the complete function of the spinal cord and nerve root effectively. However, single neural electrophysiological monitoring technology has limited scope. Influenced by many factors such as anesthesia, blood pressure, body temperature, position, the variant neural signals need to be monitored...
Gastrointestinal (GI) bleeding detection plays an essential role in wireless capsule endoscopy (WCE) examination. In this paper, we present a new approach for WCE bleeding detection that combines handcrafted (HC) features and convolutional neural network (CNN) features. Compared with our previous work, a smaller-scale CNN architecture is constructed to lower the computational cost. In experiments,...
Continuous blood pressure measurement based on pulse transit time (PTT) is a deeply research topic over recent decades. Advanced algorithms have been proposed by scholars to give satisfactory estimation in stationary position. Nevertheless, pulse transit time (PTT) is shown to be strongly affected by hand movement and the estimation of blood pressure is no longer accurate under strenuous exercise...
This paper develops a three-dimensional (3D) electromagnetic actuation system (EMA) for a magnetic microrobot locomotion in 3D space. The EMA system consists of stationary six-pair coils which include three pairs of Helmholtz coils and three pairs of Maxwell coils set in three orthogonal directions. The uniform magnetic field produced by Helmholtz coil and the uniform gradient magnetic field produced...
Composed of multi-section precurved tubes, continuous concentric-tube robot(CTR) has the potential of reaching surgical target during minimally invasive surgeries. Since concentric tubes are made of super-elastic nickel-titanium alloy, they can present different shapes when they extend and rotate with respect to each other. Compared to traditional surgical robots, CTR is superior in small size and...
Wire-driven flexible robot can work in confined and complex environments, so that it has been studied for minimally invasive surgery. On account of guarantee the accuracy and effectiveness of the robot, the real-time tip pose and shape information of the robot should be measured. In this paper, a tip pose and shape detection method based on magnetic tracking for the wire-driven flexible robot is presented...
A novel blood pressure estimation method based on long short-term memory neural network, one of the recurrent neural networks being commonly used nowadays, is proposed in this paper for better chronic diseases monitoring. Along with the neural network, a newly proposed ambulatory blood pressure (ABP) processing technique called Two-stage Zero-order Holding (TZH) algorithm has also been presented in...
Autonomous exploration is one of the key components for flying robots in 3D active perception. Fast and accurate exploration algorithms are essential for aerial vehicles due to their limited flight endurance. In this paper, we address the problem of exploring the environment and acquiring information using aerial vehicles within limited flight endurance. We propose an information potential field based...
Geometric structure and appearance information of environments are main outputs of Visual Simultaneous Localization and Mapping (Visual SLAM) systems. They serve as the fundamental knowledge for robotic applications in unknown environments. Nowadays, more and more robotic applications require semantic information in visual maps to achieve better performance. However, most of the current Visual SLAM...
In the human robot coexisting environment, to reach the goal efficiently and safely is very meaningful for the mobile service robot. In this paper, a Risk based Rapidly-exploring Random Tree for optimal motion planning (Risk-RRT∗) algorithm is proposed by combining the comfort and collision risk (CCR) map with the RRT∗ algorithm, which provides a variant of the RRT∗ algorithm in the dynamic human...
Rigid point-based registration technique is widely used in many aspects of image-guided surgery (IGS). Estimating target registration error (TRE) statistics considering a coordinate reference frame (CRF) is of essential value for applications such as optical tracking and image registration. In this paper, we extend the TRE estimation algorithm relative to a CRF to general fiducial localization error...
Wireless Capsule Endoscopy (WCE) is a novel diagnostic modality of endoscopic imaging which facilitates direct visualization of the gastrointestinal (GI) tract. Many computational methods that can automatically detect and/or characterize the abnormalities from WCE sequences are developed to support medical decision-making. This paper presents a new approach for automated segmentation of blood regions...
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