Search results for "Robot"
showing 10 items of 1036 documents
Minimally Invasive Pelvic Exenteration for Gynecologic Malignancies: A Multi-Institutional Case Series and Review of the Literature.
2019
ABSTRACT Study Objective To assess the feasibility and efficacy of minimally invasive pelvic exenteration (MIPE) in a multi-institutional Italian case series of women with gynecologic cancer and a review of the literature. Design Retrospective cohort study (Canadian Task Force classification II-2). Setting Three Italian university/teaching hospitals: “Agostino Gemelli” Foundation University Hospital in Rome, "ARNAS Civico Di Cristina Benfratelli” Hospital in Palermo, and “Maggiore della Carita” Hospital in Novara. Patients We reviewed all consecutive cases with gynecologic malignancies in this multi-institutional setting recorded between March 2014 and June 2017. Women with primary or centr…
A robust aerial image registration method using Gaussian mixture models
2014
Aerial image registration is one of the bases in many aerospace applications, such as aerial reconnaissance and aerial mapping. In this paper, we propose a novel aerial image registration algorithm which is based on Gaussian mixture models. First of all, considering the characters of the aerial images, the work uses a shape feature detector which computes the boundaries of regions with nearly the same gray-value to extract invariant feature. Then, a Gaussian mixture models (GMM) based image registration model is built and solved to estimate the transformation matrix between two aerial images. Furthermore, the proposed method is applied on real aerial images, and the results demonstrate the …
A Precessing Ferromagnetic Needle Magnetometer
2016
A ferromagnetic needle is predicted to precess about the magnetic field axis at a Larmor frequency $\Omega$ under conditions where its intrinsic spin dominates over its rotational angular momentum, $N\hbar \gg I\Omega$ ($I$ is the moment of inertia of the needle about the precession axis and $N$ is the number of polarized spins in the needle). In this regime the needle behaves as a gyroscope with spin $N\hbar$ maintained along the easy axis of the needle by the crystalline and shape anisotropy. A precessing ferromagnetic needle is a correlated system of $N$ spins which can be used to measure magnetic fields for long times. In principle, by taking advantage of rapid averaging of quantum unce…
Surgical anatomy of the upper esophagus related to robot-assisted cervical esophagectomy
2021
Abstract Robot-assisted cervical esophagectomy (RACE) enables radical surgery for tumors of the middle and upper esophagus, avoiding a transthoracic approach. However, the cervical access, narrow working space, and complex topographic anatomy make this procedure particularly demanding. Our study offers a stepwise description of appropriate dissection planes and anatomical landmarks to facilitate RACE. Macroscopic dissections were performed on formaldehyde-fixed body donors (three females, three males), according to the surgical steps during RACE. The topographic anatomy and surgically relevant structures related to the cervical access route to the esophagus were described and illustrated, a…
Real-time clothoid approximation by Rational Bezier curves
2008
This paper presents a novel technique for implementing Clothoidal real-time paths for mobile robots. As first step, rational Bezier curves are obtained as approximation of the Fresnel integrals. By rescaling, rotating and translating the previously computed RBC, an on-line Clothoidal path is obtained. In this process, coefficients, weights and control points are kept invariant. This on-line approach guarantees that an RBC has the same behavior as the original Clothoid using a low curve order. The resulting Clothoidal path allows any two arbitrary poses to be joined in a plane. RBCs working as Clothoids are also used to search for the shortest bounded-curvature path with a significant comput…
Modeling the insect mushroom bodies: application to a delayed match-to-sample task.
2013
Despite their small brains, insects show advanced capabilities in learning and task solving. Flies, honeybees and ants are becoming a reference point in neuroscience and a main source of inspiration for autonomous robot design issues and control algorithms. In particular, honeybees demonstrate to be able to autonomously abstract complex associations and apply them in tasks involving different sensory modalities within the insect brain. Mushroom Bodies (MBs) are worthy of primary attention for understanding memory and learning functions in insects. In fact, even if their main role regards olfactory conditioning, they are involved in many behavioral achievements and learning capabilities, as …
Guest editors' introduction: special issue on sensor evolution.
2001
Artificial life researchers, in their attempts to create life-as-it-could-be, have widely studied both the behavior of animals and artifacts. Early precursors of life-like artificial systems such as Grey Walter’s tortoises [4] or Valentino Braitenberg’s vehicles [1] were already demonstrating that ALife research is strongly motivated by the desire to understand and create life-like behavior and (neural) control. Creating life-like behavior in simulations or robots has increased our understanding of the design and evolution of controllers for artificial systems. Despite the interrelationship between behavior, sensors, and other morphological characteristics of animal systems, the evolution o…
A Segmentation System for Soccer Robot Based on Neural Networks
2000
An innovative technique for segmentation of color images is proposed. The technique implements an approach based on thresholding of the hue histogram and a feed-forward neural network that learns to recognize the hue ranges of meaningful objects. A new function for detecting valleys of the histogram has been devised and tested. A novel blurring algorithm for noise reduction that works effectively when used over hue image has been employed. The reported experimental results show that the technique is reliable and robust even in presence of changing environmental conditions. Extended experimentation has been carried on the framework of the Robot Soccer World Cup Initiative (RoboCup).
A vision system for symbolic interpretation of dynamic scenes using arsom
2001
We describe an artificial high-level vision system for the symbolic interpretation of data coming from a video camera that acquires the image sequences of moving scenes. The system is based on ARSOM neural networks that learn to generate the perception-grounded predicates obtained by image sequences. The ARSOM neural networks also provide a three-dimensional estimation of the movements of the relevant objects in the scene. The vision system has been employed in two scenarios: the monitoring of a robotic arm suitable for space operations, and the surveillance of an electronic data processing (EDP) center.
OmniFlowNet: a Perspective Neural Network Adaptation for Optical Flow Estimation in Omnidirectional Images
2021
International audience; Spherical cameras and the latest image processing techniques open up new horizons. In particular, methods based on Convolutional Neural Networks (CNNs) now give excellent results for optical flow estimation on perspective images. However, these approaches are highly dependent on their architectures and training datasets. This paper proposes to benefit from years of improvement in perspective images optical flow estimation and to apply it to omnidirectional ones without training on new datasets. Our network, OmniFlowNet, is built on a CNN specialized in perspective images. Its convolution operation is adapted to be consistent with the equirectangular projection. Teste…