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Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping
[article]
2015
arXiv
pre-print
Preserved Fulltext
To overcome the costly palpation of the entire organ, a Bayesian optimization framework is introduced to guide the end effector to palpate stiff regions while simultaneously updating the registration of ...
This work uses position and force measurements obtained during mechanical palpation for registration and stiffness mapping. ...
Registration and Stiffness Estimation Our group has previously developed a method for simultaneously estimating the registration and stiffness distribution over the surface of a flexible environment using ...
arXiv:1509.05830v1
fatcat:62emlmoxeferxhypeg7v6hv6xe
Using Bayesian optimization to guide probing of a flexible environment for simultaneous registration and stiffness mapping
2016
2016 IEEE International Conference on Robotics and Automation (ICRA)
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In this work, we use both stereo and contact measurements in a complementary manner to obtain fast and accurate registration estimates. ...
Contact-based point measurements have been typically used to perform registration. However, a lot of time is spent in moving the robot tool to obtain these measurements. ...
In the future we plan to compensate for this deformation using simultaneous force and position measurements as shown in [19] . ...
doi:10.1109/icra.2016.7487225
dblp:conf/icra/AyvaliSWRSC16
fatcat:7y5ll3gc3vewln6b4u4kwqm7ka
Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping
2018
Preserved Fulltext
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To overcome the costly palpation of the entire organ, a Bayesian optimization framework is introduced to guide the end effector to palpate stiff regions while simultaneously updating the registration of ...
This work uses position and force measurements obtained during mechanical palpation for registration and stiffness mapping. ...
Registration and Stiffness Estimation Our group has previously developed a method for simultaneously estimating the registration and stiffness distribution over the surface of a flexible environment using ...
doi:10.1184/r1/6561497.v1
fatcat:67epc76nkrfv3p72663ghzsgrm
Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments
2016
2016 IEEE International Conference on Robotics and Automation (ICRA)
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In this paper we present an approach for simultaneous registration and stiffness mapping using blind exploration of flexible environments. ...
During contact-based exploration of flexible environments, the physical interaction with the environment can induce local deformation, leading to erroneous registration if not accounted for. ...
An iterated extended Kalman filter (IEKF) was used to simultaneously estimate the registration parameters and generate a stiffness map of the environment. ...
doi:10.1109/icra.2016.7487224
dblp:conf/icra/SrivatsanAWRSC16
fatcat:n7eupulym5aetopvpfu6343goe
2020 Index IEEE Transactions on Automation Science and Engineering Vol. 17
2020
IEEE Transactions on Automation Science and Engineering
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Raisch, A., +, TASE July 2020 1388-1398
Indoor environment
Multi-Timescale Decision and Optimization for HVAC Control Systems
With Consistency Goals. ...
Ham, A., TASE April 2020 957-965
Operation Planning and Closed-Loop Control of a Soft Robotic Table for
Simultaneous Multiple-Object Manipulation. ...
., +, TASE July 2020 1237 -1249 Comments and Corrections to "Process Mining to Discover Shoppers' Pathways at a Fashion Retail Store Using a WiFi-Base Indoor Positioning System" [Oct 17 1786 [Oct 17 ...
doi:10.1109/tase.2020.3037603
fatcat:kyt63444lfc45amrjebyjw34qu
2019 Index IEEE Robotics and Automation Letters Vol. 4
2019
IEEE Robotics and Automation Letters
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., +, LRA April 2019 1838-1845
Environmental management
Information-Guided Robotic Maximum Seek-and-Sample in Partially
Observable Continuous Environments. ...
., +, LRA Oct. 2019
3782-3789
Environmental monitoring
Information-Guided Robotic Maximum Seek-and-Sample in Partially
Observable Continuous Environments. ...
Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots. ...
doi:10.1109/lra.2019.2955867
fatcat:ckastwefh5chhamsravandtnx4
2020 Index IEEE Robotics and Automation Letters Vol. 5
2020
IEEE Robotics and Automation Letters
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., +, LRA April 2020 1047-1054 Automatic Normal Positioning of Robotic Ultrasound Probe Based Only on Confidence Map Optimization and Force Measurement. ...
., +, LRA April 2020 1095-1102
Automatic Normal Positioning of Robotic Ultrasound Probe Based Only on
Confidence Map Optimization and Force Measurement. ...
doi:10.1109/lra.2020.3032821
fatcat:qrnouccm7jb47ipq6w3erf3cja
Table of Contents
2022
IEEE Robotics and Automation Letters
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Ehsan Stiffness Measurement of Organoids Using a Wide-Range Force Sensor Probe Fabricated Using a Quartz Crystal Resonator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
. . . . . . . . . . . . . . . . . . . . . . . . ...Seo End-to-End Optimization of LiDAR Beam Configuration for 3D Object Detection and Localization . . . . . . . . . . . . . . . ...A Surgeon Preference-Guided ...
doi:10.1109/lra.2022.3165102
fatcat:enjzebowe5hn7hsfwklc7nieuy
A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks
2016
Journal of Medical Robotics Research
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Full implementation of the proposed architecture has been tested on an experimental setup including a novel robot specifically designed for surgical applications, but adaptable to different selected tasks ...
This paper addresses the complete automation of a surgical robot by combining advanced sensing, cognition and control capabilities, developed according to rigorous assessment of surgical requirements, ...
We would like to extend our sincere gratitude to the Center for Biorobotics at the Tallinn University of Technology (Estonia), Fondazione Centro San Raffaele (Italy), Interventional Centre at the Oslo ...
doi:10.1142/s2424905x16500082
fatcat:dowbpmhnizdfjk3gxas6piubsu
2019 Index IEEE Transactions on Biomedical Engineering Vol. 66
2019
IEEE Transactions on Biomedical Engineering
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., +, TBME Jan. 2019 30-40 Model-Based Sparse-to-Dense Image Registration for Realtime Respiratory Motion Estimation in Image-Guided Interventions. ...
., +, TBME May 2019 1337-1345 Implantable Multi-Modality Probe for Subdural Simultaneous Measurement of Electrophysiology, Hemodynamics, and Temperature Distribution. ...
doi:10.1109/tbme.2020.2964087
fatcat:mdfzsmdahnao5ccnuj232hycsm
Image processing and analysis at ipag
2003
IEEE Transactions on Medical Imaging
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© he/she realizes that you are looking for interesting problems in your own (medical image analysis) research area, related to the methodology and underlying formulation of these issues -and they want ...
to walk side-by-side with you toward common goals. © is someone who you can genuinely resonate with and get along with. ...
This method can be exploited in fMRI studies where simultaneous segmentation and registration of local brain structures leads to a lowering of false positives in the activation map as shown in Figure ...
doi:10.1109/tmi.2003.819935
pmid:14649742
fatcat:f4s6pawf7zaqhgxnnheqybpd24
Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage
2020
Biomimetics
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We present a comprehensive tutorial review that explores the application of bio-inspired approaches to robot control systems for grappling and manipulating a wide range of space debris targets. ...
We place emphasis on bio-inspired forward modelling suggesting that all roads lead to this solution for robust and adaptive manipulator control. ...
Acknowledgments: I would like to thank my PhD student Collins Ogundipe for crafting the uncredited diagrams.
Conflicts of Interest: There are no conflicts of interest. Biomimetics 2020, 5, 19 ...
doi:10.3390/biomimetics5020019
pmid:32408615
pmcid:PMC7345424
fatcat:vjw2nklwunevnn2apee6vkdjx4
CARS 2016—Computer Assisted Radiology and Surgery Proceedings of the 30th International Congress and Exhibition Heidelberg, Germany, June 21–25, 2016
2016
International Journal of Computer Assisted Radiology and Surgery
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We would like to thank the Spanish company BQ for the donation of the 3D printing hardware for clinical use. ...
Acknowledgments The authors wish to thank Fundación CEIBA and Alcaldía Mayor de Bogotá, for the financial support of Ricardo Mendoza's PhD studies through the scholarship program ''Becas Rodolfo Llinás ...
This work investigated the combination of registration by a personalized guide with the flexibility of IGS navigation. ...
doi:10.1007/s11548-016-1412-5
pmid:27206418
fatcat:uk5r46n2xvhedkfjzmeiweyneq
Towards the Virtual Physiological Human
[article]
2007
Eurographics State of the Art Reports
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Human body representations have been used for centuries to help in understanding and documenting the shape and function of its compounding parts. ...
The objective of this tutorial is to train students and researchers in the various domains involving the modelling and simulation of the human body for medical purposes. ...
Finally, for multimodal registration, information theory has lead to popular and flexible measures, based on the joint entropy. ...
doi:10.2312/egt.20071062
fatcat:iyybqfp4nnadhfkaeagp6qr63q
Table of contents
2019
2019 International Conference on Robotics and Automation (ICRA)
Preserved Fulltext
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10.1109/LRA.2019.2894875 Pneumatically Attachable Flexible Rails for Track-Guided Ultrasound Scanning in Robotic-Assisted Partial Nephrectomy ? ...
Mohammad; Ye, Zisheng; Ma-Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands Hang, Kaiyu; Morgan, Andrew; Dollar, Aaron Bayesian Optimisation for Whole-Body Control ...
Chance-Constrained Collision Avoidance for MAVs in Dynamic Environments ...
doi:10.1109/icra.2019.8793964
fatcat:d6kv5odwjffollt7rbay2ev4vy
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