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Robot audition, which aims at multiple simultaneous human-robot communications in noisy environments, has undergone rapid development since last decade. For a common scenario, robot audition systems usually generate a huge amount of chronological data. These data fall into several categories: sound source locations and orientations, separated sound sources and recognized speeches. In order to efficiently...
Allowing a robot to acquire 3D object models autonomously not only requires robust feature detection and learning methods but also mechanisms for guiding learning and assessing learning progress. In this paper we present probabilistic measures for observed detection success, predicted detection success and the completeness of learned models, where learning is incremental and online. This allows the...
Particle filters for mobile robot localization must balance computational requirements and accuracy of localization. Increasing the number of particles in a particle filter improves accuracy, but also increases the computational requirements. Hence, we investigate a different paradigm to better utilize particles than to increase their numbers. To this end, we introduce the Corrective Gradient Refinement...
One of the key features of the human auditory system, is its nearly constant omni-directional sensitivity, e.g., the system reacts to alerting signals coming from a direction away from the sight of focused visual attention. In many surveillance situations where visual attention completely fails since the robot cameras have no direct line of sight with the sound sources, the ability to estimate the...
This paper describes the specification of an API called MultiArt, and its role is to support the production and presentation of telematic art in its many forms of expressions. This API abstracts specific art's applications that can be used together. We present an initial architecture and a case study demonstrating the use of MultiArt. Our case study makes use of a predefined functions that allow us...
This paper presents a method for multi-view 3D robotic object recognition targeted for cluttered indoor scenes. We explicitly model occlusions that cause failures in visual detectors by learning a generative appearance-occlusion model from a training set containing annotated 3D objects, images and point clouds. A Bayesian 3D object likelihood incorporates visual information from many views as well...
The main objective of this paper is to minimize the occluded areas in order to recognize the navigation of the surgeon's tools for a two-arm autonomous robotic system for laparoscopic procedures. This robotic assistant needs the tracking of the surgeon's surgical gestures in order to recognize the current maneuver and to execute the automated tasks of the robot. The surgical tools pose estimation...
Manipulation of biological cells has recently drawn tremendous attention for its wide applications in biomedical fields such as cell-cell interaction, drug discovery, and tissue engineering. This paper presents a rapidly-exploring random trees (RRT) based path planner for transportation of biological cells in robotic transportation with optical tweezers in three dimensions (3D). By integrating the...
Three-dimensional ultrasound has been an effective imaging modality for diagnostics and is now an emerging modality for image-guided minimally-invasive interventions since it enables visualization of both instruments and tissue. Challenges to ultrasound-guided interventions arise, however, due to the low signal-to-noise ratio and the imaging artifacts created by the interventional instruments. Metallic...
The past decades have witnessed the notable development of minimally invasive surgery (MIS). The benefits of this modality of surgery for patients are numerous, shortening convalescence, reducing trauma and surgery costs. In this context, robotic assistance aims to make the surgical act more intuitive and safer. In the domain of cardiac MIS, heartbeat and respiration represent two important sources...
Three dimensional scene reconstruction, sometimes referred as view synthesis, is a problem in the area of Stereo Vision, which is the most widely used method for gathering depth information from 2D scenes. Stereo vision finds many applications in automated systems such robotics, tracking object in 3D space and constructing a 3D spatial model of a scene. There are many human-machine control applications,...
The paper studies how to implement the motion simulation of scara robot, using Visual Basic 6.0 program language based on OpenGL and STL data model. After reading the STL data model, we can easily render the 3D model of SCARA using OpenGL. Then, according to the SCARA robot kinematics analysis, we can calculate the required joint parameters of the target and obtain the different pose of the robot...
The purpose of the study described here was to develop and feasibility test the Rutgers Ankle CP, aimed at ankle strengthening and improved control for children with cerebral palsy (CP). The system was an upgrade in hardware (new foot attachment, new robot controller) and software (new games and programming language) of the earlier Rutgers Ankle in order to permit training of children with CP. The...
A novel system has been developed which combines robotic therapy with electrical stimulation (ES) for upper limb stroke rehabilitation. This technology, termed SAIL: Stimulation Assistance through Iterative Learning, employs advanced model-based iterative learning control (ILC) algorithms to precisely assist participant's completion of 3D tracking tasks with their impaired arm. Data is reported from...
In this paper we present the research activity carried out in the integration of 2D and 3D vision systems into robot cells, to improve their performance in typical pick and place operations. Two projects have been developed: the former is the combination of a 2D vision system based on two cameras with a two-robot cell. The latter consists of the integration of a laser slit - based optical head in...
In this paper we present a technique to generate highly accurate reconstructions of underwater structures by employing bundle adjustment on visual features, rather than relying on a filtering approach using navigational sensor data alone. This system improves upon previous work where an extended information filter was used to estimate the vehicle trajectory. This filtering technique, while very efficient,...
Motor deficits in the growing population of stroke survivors continue to strain global healthcare capacities. The use of telerehabilitation to address this need has been discussed for over a decade without a clear consensus on development strategy or a clear market success. In this paper, the cyclic and iterative phases of the Planning, Execution, Assessment (PLEXAS) rehabilitation cycle are discussed,...
Virtual environments (VE) are emerging for the creation of effective and motivating exercise therapy for neurorehabilitation of MS and stroke patients. Although these interactive systems are promising tools in rehabilitation, the targeted end users often suffer from visual system disorders and cognitive dysfunctions, which may influence their capabilities while navigating in a virtual 3D world. Cues...
This paper introduces a novel link-driven, 1 DOF, three phalanges robotic finger. In order to improve the grasping performance of BHG-1 hand which is driven by tendon system, a link-driven finger is proposed. First, the design requirements of new finger are given on the basis of the new grasping scheme of BHG-1 hand. Then, the analysis and optimization design procedure of the linkage for the robotic...
Nine children with cerebral palsy and nine adults with stroke were trained using 5 different upper extremity simulations using the NJIT-RAVR system for approximately nine to twelve hours over a three week period. Both groups made improvements in clinical measurements of upper extremity function and reaching kinematics. Patterns and magnitudes of improvement differ between the two groups. Responses...
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