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In this paper, a novel electromagnetic tracking system for detecting two-dimentional (2D) position and 1D orientation is proposed. This system utilizes the geomagnetic field and the magnetic field generated by the 2.5 kHz alternating signal from a uniaxial source coil. By extracting amplitudes, phases, and direct current component from the outputs of a triaxial magnetoresistive sensor, the tracking...
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...
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...
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...
Microrobots actuated by external magnetic field have potential for medical applications. The controllable external magnetic field requires a number of arrangement electromagnetic coils. Two stationary pairs of Helmholtz coils and two stationary pairs of Maxwell coils(8 coils) just can be used to control the motion of the microrobot for 2 degree of freedom(DOF) motion on two-dimensional(2D) plane....
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...
Fast and accurate performance estimation is a key challenge in modern system design. Recently, machine learning-based approaches have emerged that allow predicting the performance of an application on a target platform from executions on a different host. However, existing approaches rely on expensive instrumentation that requires source code to be available. We propose a novel sampling-based, binary-level...
With increasing deployment of virtual machines for cloud services and server applications, memory address translation overheads in virtualized environments have received great attention. In the radix-4 type of page tables used in x86 architectures, a TLB-miss necessitates up to 24 memory references for one guest to host translation. While dedicated page walk caches and such recent enhancements eliminate...
Micro-robots manipulated wirelessly with magnetic actuation system have great potential in the minimally invasive surgery. Both magnetic field components and gradients of the system are key factors for efficient actuation. In this paper, we proposed a new magnetic actuation system called RectMag. It consists four rectangular electromagnetic coils and provides 3 degree of freedom operation. Compared...
In modern cloud computing and analytics applications, large-scale data is often represented in the form of graphs. Many recent works have focused on understanding and improving performance of graph processing frameworks. Power consumption, which also serves as a key factor in the deployment and management of graph processing frameworks, has not been extensively studied. In this paper, we demonstrate...
Traditional underactuated fingers with the coupled and self-adaptive (COSA) grasping mode cannot parallel grip objects; fingers with the parallel and self-adaptive (PASA) grasping mode cannot hook objects. This paper reviewed all grasping modes of underactuated fingers and proposes a novel switching concept to combine the COSA mode and the PASA mode. This paper designs a novel underactuated robotic...
The transmission form of two-circuit lines on the same tower has been increasingly widely used in the actual power grid. With the increase of wires, the space electric field of transmission lines becomes more and more complex. Research shows that the space electric field of transmission lines will be affected by many factors, such as tower structure, wire properties and phase sequence arrangement...
Big data decision-making techniques take advantage of large-scale data to extract important insights from them. One of the most important classes of such techniques falls in the domain of graph applications, where data segments and their inherent relationships are represented as vertices and edges. Efficiently processing large-scale graphs involves many subtle tradeoffs and is still regarded as an...
According to the need of automatic weighing and pricing system for fruits in the supermarket and the limitation of current methods, this paper proposes a new segmentation method for fruits with plastic packing and a modified minimum distance classifier. Firstly, we segment images and obtain the region of interest (ROI) in the HSV color space. Secondly, we extract color features and texture features...
Magnetic actuation is an efficient way for remote wireless control of micro-robots. One key factor for efficient actuation is an accurate mapping of the magnetic field components and the field gradients that generated by the magnetic sources. Usually, magnetic dipole model or interpolation method is used to estimate the magnetic field. These methods are not well suited for the control of micro-robots...
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