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KVP: A knowledge of volumes approach to robot task planning

Andre Gaschler, Ronald P. A. Petrick, Manuel Giuliani, Markus Rickert, Alois Knoll
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a novel "knowledge of volumes" framework for solving generic robot tasks in partially known environments.  ...  In particular, this approach (abbreviated, KVP) combines the power of symbolic, knowledge-level AI planning with the efficient computation of volumes, which serve as an intermediate representation for  ...  In this paper, we describe a knowledge of volumes approach to robot task planning (abbreviated, KVP), which treats volumes as an intermediary representation between continuous-valued robot motions and  ... 
doi:10.1109/iros.2013.6696354 dblp:conf/iros/GaschlerPGRK13 fatcat:a4aljg64pvfqrpp3cnxct52kwq

Extending the Knowledge of Volumes approach to robot task planning with efficient geometric predicates

Andre Gaschler, Ingmar Kessler, Ronald P. A. Petrick, Alois Knoll
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We use an existing Knowledge of Volumes approach to robot task planning (KVP), which facilitates hybrid planning with symbolic actions and continuous-valued robot and object motion, and make two important  ...  For robots to solve hard tasks in real-world manufacturing and service contexts, they need to reason about both symbolic and geometric preconditions, and the effects of complex actions.  ...  In this work, we present two important extensions to the existing "knowledge of volumes" (KVP) approach to robot task planning [1] , [2] .  ... 
doi:10.1109/icra.2015.7139619 dblp:conf/icra/GaschlerKPK15 fatcat:o5yauks5gzc3zpufyudbk2frlu

Planning perception and action for cognitive mobile manipulators

Andre Gaschler, Svetlana Nogina, Ronald P. A. Petrick, Alois Knoll, Juha Röning, David Casasent
2014 Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques  
Our approach is based on contingent planning and run-time sensing, integrated in our "knowledge of volumes" planning framework, called KVP.  ...  We present a general approach to perception and manipulation planning for cognitive mobile manipulators.  ...  In order to address these difficulties, we present an application of a "knowledge of volumes" approach to robot task planning (KVP in short), which combines the power of symbolic artificial intelligence  ... 
doi:10.1117/12.2038967 fatcat:huiyegnejnh2zof4mivvjau56i

Trajectory Planning to Transfer Liquid Container and Simulation for Robot

Akihiro Sekine, Shokichi Ishibashi, Hajime Sugiuchi, Seiichi Koshizuka
2016 Journal of the Robotics Society of Japan  
Since a liquid in container can wave greatly by changes of transferring velocity due to the inertial force acting on its own, robots cannot carry the container as a rigid box.  ...  The proposed method, TGCW (Trajectory Generation to Control Wave) method, is a feed-forward control to realize the prevention of the spillover of content fluid.  ...  Rickert and A. Knoll: "KVP: A Knowledge of Volumes Approach to Robot Task Planning," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.202-208, 2013. [ 2 ] A. Gaschler, I.  ... 
doi:10.7210/jrsj.34.711 fatcat:s3tfckfr4zduhgeji3hbr6zgti

High-Resolution, Small Animal Radiation Research Platform With X-Ray Tomographic Guidance Capabilities

John Wong, Elwood Armour, Peter Kazanzides, Iulian Iordachita, Erik Tryggestad, Hua Deng, Mohammad Matinfar, Christopher Kennedy, Zejian Liu, Timothy Chan, Owen Gray, Frank Verhaegen (+3 others)
2008 International Journal of Radiation Oncology, Biology, Physics  
Purpose-To demonstrate the CT imaging, conformal irradiation and treatment planning capabilities of a small animal radiation research platform (SARRP).  ...  Methods- The SARRP employs a dual-focal spot, constant voltage x-ray source mounted on a gantry with a source-to-isocenter distance of 35 cm. Gantry rotation is limited to 120° from vertical.  ...  Acknowledgements We wish to thank Drs.  ... 
doi:10.1016/j.ijrobp.2008.04.025 pmid:18640502 pmcid:PMC2605655 fatcat:5mliub7ijfhmtnjnorhyf5xxt4

Feasibility Assessment of Optical Coherence Tomography-Guided Laser Labeling in Middle Cranial Fossa Approach

Saleh Mohebbi, Jakob Lexow, Alexander Fuchs, Thomas Rau, Sebastian Tauscher, Marjan Mirsalehi, Seyed Mousa Sadr Hosseini, Tobias Ortmaier, Thomas Lenarz, Omid Majdani
2018 Iranian Journal of Otorhinolaryngology  
Different approaches have been developed to find the position of the internal auditory canal (IAC) in middle cranial fossa approach.  ...  Four titanium spheres attached to the edge of the craniotomy served as reference markers visible in both CBCT and OCT images in order to transfer the plan to the patient.  ...  To the best of our knowledge, this study is the first attempt to merge three different techniques, namely CT scan, OCT image, and laser beam, in order to simulate a robotic setup for image-guided surgery  ... 
pmid:30560097 pmcid:PMC6291819 fatcat:ttqxhdgksvbulmnopbregosq3i

Combined Megavoltage and Contrast-Enhanced Radiotherapy as an Intrafraction Motion Management Strategy in Lung SBRT

Daniel A. Coronado-Delgado, Héctor M. Garnica-Garza
2019 Technology in Cancer Research and Treatment  
Four-dimensional computed tomography images of 2 patients with a centrally located and a peripherally located tumor were obtained from a public database and subsequently used to plan robotic stereotactic  ...  For each patient model, 2 planning target volumes were designed: one following the recommendations from either Radiation Therapy Oncology Group (RTOG) 0813 or RTOG 0915 task group depending on the patient  ...  Table 1 . 1 Prescription Goals Used in the Optimization of the Treatment Plans. a Abbreviations: GTV, gross target volume; PTV, planning target volume. a D LOW and D UP refer to the minimum and maximum  ... 
doi:10.1177/1533033819883639 pmid:31630665 pmcid:PMC6801896 fatcat:vf54m3ddcffp3gwiesxlbvoovq

3D Head and Neck Tumor Segmentation in PET/CT [article]

Vincent Andrearczyk, Valentin Oreiller, Martin Vallières, Joel Castelli, Hesham Elhalawani, Mario Jreige, Sarah Boughdad, John O. Prior, Adrien Depeursinge
2020 Zenodo  
We also expect these progress and knowledge to be transferable for the s [...]  ...  However, locoregional failures remain a major challenge and occur in up to 40% of patients in the first two years after the treatment (Chajon et al. 2013).  ...  For example, a challenge could be designed around the task of medical instrument tracking in robotic kidney surgery.  ... 
doi:10.5281/zenodo.3714957 fatcat:kr6nzz2trrfz7kbqzb2rv6pxqe

Report of AAPM TG 135: Quality assurance for robotic radiosurgery

Sonja Dieterich, Carlo Cavedon, Cynthia F. Chuang, Alan B. Cohen, Jeffrey A. Garrett, Charles L. Lee, Jessica R. Lowenstein, Maximian F. d'souza, David D. Taylor, Xiaodong Wu, Cheng Yu
2011 Medical Physics (Lancaster)  
The task group (TG-135) had three main charges: (1) To make recommendations on a code of practice for Robotic Radiosurgery QA; (2) To make recommendations on quality assurance and dosimetric verification  ...  The task group (TG) for quality assurance for robotic radiosurgery was formed by the American Association of Physicists in Medicine's Science Council under the direction of the Radiation Therapy Committee  ...  The following sections will describe the approach the manufacturer of the CyberKnife V R robotic radiosurgery system currently utilizes to calibrate the robot pointing accuracy.  ... 
doi:10.1118/1.3579139 pmid:21815366 fatcat:qdyta3rognaqxj4tqofsd5i3pq

The management of imaging dose during image-guided radiotherapy: Report of the AAPM Task Group 75

Martin J. Murphy, James Balter, Stephen Balter, Jose A. BenComo, Indra J. Das, Steve B. Jiang, C.-M. Ma, Gustavo H. Olivera, Raymond F. Rodebaugh, Kenneth J. Ruchala, Hiroki Shirato, Fang-Fang Yin
2007 Medical Physics (Lancaster)  
Dose from radiography 1, [17] [18] [19] 23, 24, [33] [34] [35] 49, 76, 93 Overview of image-guided radiotherapy 5, 70, [94] [95] [96] Diagnostic (kV) x-ray imaging for patient setup and tracking 28  ...  If organ motion is going to be accommodated in a planning target volume ͑PTV͒ margin then the CT can provide the margin information.  ...  A third approach uses the treatment beam and a gantry-mounted EPID to obtain a megavoltage cone-beam CT.  ... 
doi:10.1118/1.2775667 pmid:17985650 fatcat:yk3z334ckbbupfauzxd5drp4rq

CARS 2020—Computer Assisted Radiology and Surgery Proceedings of the 34th International Congress and Exhibition, Munich, Germany, June 23–27, 2020

2020 International Journal of Computer Assisted Radiology and Surgery  
In the times of COVID-19 overshadowing CARS 2020 and what the future may hold, a CARS meeting with these numbers of participants is not feasible anymore and new ways have to be explored to still fulfill  ...  A hybrid (analogue and digital) CARS 2020 has therefore been envisaged to take place at the University Hospital in Munich, with a balanced combination of analogue/personal and digital presentations and  ...  Besides, use of gloves is low, so doses of hands are still high. Therefore, a master-slave robotic system for VI is necessary for minimization of the radiation exposure.  ... 
doi:10.1007/s11548-020-02171-6 pmid:32514840 fatcat:lyhdb2zfpjcqbf4mmbunddwroq

Clinical Micro-CT Empowered by Interior Tomography, Robotic Scanning, and Deep Learning [article]

Mengzhou Li, Zheng Fang, Wenxiang Cong, Chuang Niu, Weiwen Wu, Josef Uher, James Bennett, Jay T. Rubinstein, Ge Wang
2020 arXiv   pre-print
X-ray source, photon-counting detector (PCD), and robotic arms for ultrahigh resolution localized tomography of a freely-selected volume of interest (VOI) at a minimized radiation dose level.  ...  The whole system consists of a standard CT scanner for a clinical CT exam and VOI specification, and a robotic-arm based micro-CT scanner for a local scan at much higher spatial and spectral resolution  ...  Compared to the above-mentioned prior designs, our approach aims at a much higher resolution 50 µm with a high-power micro-focus source and a state-of-the-art PCD with fine detector elements for electron-noise-free  ... 
arXiv:2011.08297v1 fatcat:ttq6whlhbna2lnefijljrhk3re

Three-dimensional printed surgical templates for fresh cadaveric osteochondral allograft surgery with dimension verification by multivariate computed tomography analysis

Eero Huotilainen, Mika Salmi, Jan Lindahl
2019 Knee (Oxford)  
For the surgery, a lateral longitudinal approach was employed. Results: The virtual operation allowed an efficient design of the saw templates.  ...  Methods: A patient with large osteochondral defects in the lateral femoral condyle was to undergo FOCA surgery.  ...  This model was used by the surgeon for assessment, operation planning, and knowledge transfer to the engineers, by pen-marking areas of interest and special consideration.  ... 
doi:10.1016/j.knee.2019.05.007 fatcat:otaokgksunesxfh5qyerzmkygy

3D cone-beam CT with a twin robotic x-ray system in elbow imaging: comparison of image quality to high-resolution multidetector CT

Jan-Peter Grunz, Andreas Max Weng, Andreas Steven Kunz, Maike Veyhl-Wichmann, Rainer Schmitt, Carsten Herbert Gietzen, Lenhard Pennig, Stefan Herz, Süleyman Ergün, Thorsten Alexander Bley, Tobias Gassenmaier
2020 European Radiology Experimental  
Methods A twin robotic x-ray system with new CBCT mode and a high-resolution clinical MDCT were compared in 16 cadaveric elbows.  ...  Both systems were operated with a dedicated low-dose (LD) protocol (equivalent volume CT dose index [CTDIvol(16 cm)] = 3.3 mGy) and a regular clinical scan dose (RD) protocol (CTDIvol(16 cm) = 13.8 mGy  ...  However, due to technical limitations such as small field of view, many CBCT scanners can only be used for a limited number of imaging tasks, lacking the versatility of a conventional MDCT scanner [3]  ... 
doi:10.1186/s41747-020-00177-y pmid:32895778 fatcat:djn4j7idzrav3ljcfjaor6w6lu

Applications of Computational Methods in Biomedical Breast Cancer Imaging Diagnostics: A Review

Kehinde Aruleba, George Obaido, Blessing Ogbuokiri, Adewale Oluwaseun Fadaka, Ashwil Klein, Tayo Alex Adekiya, Raphael Taiwo Aruleba
2020 Journal of Imaging  
Hence, the use of state of the art computational approaches has been proposed as a potential alternative approach for the design and development of novel diagnostic imaging methods for breast cancer.  ...  Thus, this review provides a concise overview of past and present conventional diagnostics approaches in breast cancer detection.  ...  The advantage of this approach to AI is that it allows an AI program to learn without a programmer spelling out how a system should perform the task; this type of approach is popularly called unsupervised  ... 
doi:10.3390/jimaging6100105 pmid:34460546 fatcat:icurmxu2fbeztlqy3g2pwhz5h4
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