Search results for "Robotics"

Computer-aided navigation in neurosurgery

2003

The article comprises three main parts: a historical review on navigation, the mathematical basics for calculation and the clinical applications of navigation devices. Main historical steps are described from the first idea till the realisation of the frame-based and frameless navigation devices including robots. In particular the idea of robots can be traced back to the Iliad of Homer, the first testimony of European literature over 2500 years ago. In the second part the mathematical calculation of the mapping between the navigation and the image space is demonstrated, including different registration modalities and error estimations. The error of the navigation has to be divided into the …

Reaching and Grasping a Glass of Water by Locked-In ALS Patients through a BCI-Controlled Humanoid Robot

2017

Locked-in Amyotrophic Lateral Sclerosis (ALS) patients are fully dependent on caregivers for any daily need. At this stage, basic communication and environmental control may not be possible even with commonly used augmentative and alternative communication devices. Brain Computer Interface (BCI) technology allows users to modulate brain activity for communication and control of machines and devices, without requiring a motor control. In the last several years, numerous articles have described how persons with ALS could effectively use BCIs for different goals, usually spelling. In the present study, locked-in ALS patients used a BCI system to directly control the humanoid robot NAO (Aldebar…

Letter: Image-Guided Navigation and Robotics in Spine Surgery.

2020

Media-fill simulation tests in manual and robotic aseptic preparation of injection solutions in syringes

2014

Objective The purpose of this study was to evaluate the contamination rate of media-fill products either prepared automated with a robotic system (APOTECAchemo™) or prepared manually at cytotoxic workbenches in the same cleanroom environment and by experienced operators. Media fills were completed by microbiological environmental control in the critical zones and used to validate the cleaning and disinfection procedures of the robotic system. Methods The aseptic preparation of patient individual ready-to-use injection solutions was simulated by using double concentrated tryptic soy broth as growth medium, water for injection and plastic syringes as primary packaging materials. Media fills w…

Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety

2016

International audience; This paper presents a test methodology for evaluating the safety of mobile manipulators (robot arms mounted on mobile bases). This methodology addresses the safety concerns relevant to modern, agile, manufacturing practices in which mobile manipulators will play a significant role. We consider 1) the unique capabilities and anticipated uses of mobile manipulators and 2) the potential exemptions and special cases in which their behavior may be unpredictable or otherwise contrary to the safety requirements. Finally, we define metrics for assessing compliance with functional safety requirements and anticipated performance.

Ritz Solution for Transient Analysis of Variable-Stiffness Shell Structures

2020

The dynamic response of thin-walled structures is driven by mass and stiffness distribution. As such, variable-stiffness (VS) composites offer opportunities to tune structural dynamic responses. To this extent, efficient analysis tools become increasingly important for structural analysis and design purposes. In this work, an efficient and versatile Ritz method for free vibrations and linear transient analysis of VS doubly curved shell structures is presented. VS shell structures are modeled as an assembly of shell-like domains. The shell kinematics is based on the first-order shear deformation theory, and no further assumption is made on the shallowness or on the thinness of the structure.…

Optical flow estimation from multichannel spherical image decomposition

2011

International audience; The problem of optical flow estimation is largely discussed in computer vision domain for perspective images. It was also proven that, in terms of optical flow analysis from these images, we have difficulty distinguishing between some motion fields obtained with little camera motion. The omnidirectional cameras provided images with large filed of view. These images contain global information about motion and allow to remove the ambiguity present in perspective case. Nevertheless, these images contain significant radial distortions that is necessary to take into account when treating these images to estimate the motion. In this paper, we shall describe new way to comp…

Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU

2014

In this paper we present an experimental study on real-time collision avoidance with potential fields that are based on 3D point cloud data and processed on the Graphics Processing Unit (GPU). The virtual forces from the potential fields serve two purposes. First, they are used for changing the reference trajectory. Second they are projected to and applied on torque control level for generating according nullspace behavior together with a Cartesian impedance main control loop. The GPU algorithm creates a map representation that is quickly accessible. In addition, outliers and the robot structure are efficiently removed from the data, and the resolution of the representation can be easily ad…

Modeling and designing a robotic swarm: A quantum computing approach

2023

Nature is a neverending source of inspiration for technology. Quantum physics suggests applications to- ward quantum computing. Swarms’ self-organization leads to robotic swarm developments. Here, quantum computing is applied to swarm robotics. We model local interactions with a quantum circuit, testing it on simulators and quantum computers. To relate local with global behavior, we develop a block matrix-based model. Diagonal sub-matrices contain information on single robots; off-diagonal sub-matrices are the pairwise interaction terms. Comparing different swarms means comparing different block matrices. Choosing initial values and computation rules for off-diagonal blocks (with a particul…

Robots, privacy and data protection

2015

A research on robots, drones and privacy/data protection, with focus on cloud robotics, Internet of Things, contracts and the use cases of telepresence, courier robots and smart cities quadricopters.