Displaying publications 1 - 20 of 85 in total

Abstract:
Sort:
  1. Zhang G, Jing W, Tao H, Rahman MA, Salih SQ, Al-Saffar A, et al.
    Work, 2021;68(3):935-943.
    PMID: 33612535 DOI: 10.3233/WOR-203427
    BACKGROUND: Human-Robot Interaction (HRI) has become a prominent solution to improve the robustness of real-time service provisioning through assisted functions for day-to-day activities. The application of the robotic system in security services helps to improve the precision of event detection and environmental monitoring with ease.

    OBJECTIVES: This paper discusses activity detection and analysis (ADA) using security robots in workplaces. The application scenario of this method relies on processing image and sensor data for event and activity detection. The events that are detected are classified for its abnormality based on the analysis performed using the sensor and image data operated using a convolution neural network. This method aims to improve the accuracy of detection by mitigating the deviations that are classified in different levels of the convolution process.

    RESULTS: The differences are identified based on independent data correlation and information processing. The performance of the proposed method is verified for the three human activities, such as standing, walking, and running, as detected using the images and sensor dataset.

    CONCLUSION: The results are compared with the existing method for metrics accuracy, classification time, and recall.

    Matched MeSH terms: Robotics
  2. Kamarudin K, Mamduh SM, Shakaff AY, Zakaria A
    Sensors (Basel), 2014;14(12):23365-87.
    PMID: 25490595 DOI: 10.3390/s141223365
    This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were conducted in two different environments; a small room with no features and a typical office corridor with desks and chairs. Using the data logged from real-time experiments, each SLAM technique was simulated and tested with different parameter settings. The results show that the system is able to achieve real time SLAM operation. The system implementation offers a simple and reliable way to compare the performance of Windows-based SLAM algorithm with the algorithms typically implemented in a Robot Operating System (ROS). The results also indicate that certain modifications to the default laser scanner-based parameters are able to improve the map accuracy. However, the limited field of view and range of Kinect's depth sensor often causes the map to be inaccurate, especially in featureless areas, therefore the Kinect sensor is not a direct replacement for a laser scanner, but rather offers a feasible alternative for 2D SLAM tasks.
    Matched MeSH terms: Robotics
  3. Yahaya MR, Hj Razali MH, Abu Bakar CA, Ismail WI, Muda WM, Mat N, et al.
    Pak J Biol Sci, 2014 Jan 01;17(1):141-5.
    PMID: 24783795
    This alkaloid automated removal machine was developed at Instrumentation Laboratory, Universiti Sultan Zainal Abidin Malaysia that purposely for removing the alkaloid toxicity from Dioscorea hispida (DH) tuber. It is a poisonous plant where scientific study has shown that its tubers contain toxic alkaloid constituents, dioscorine. The tubers can only be consumed after it poisonous is removed. In this experiment, the tubers are needed to blend as powder form before inserting into machine basket. The user is need to push the START button on machine controller for switching the water pump ON by then creating turbulence wave of water in machine tank. The water will stop automatically by triggering the outlet solenoid valve. The powders of tubers are washed for 10 minutes while 1 liter of contaminated water due toxin mixture is flowing out. At this time, the controller will automatically triggered inlet solenoid valve and the new water will flow in machine tank until achieve the desire level that which determined by ultra sonic sensor. This process will repeated for 7 h and the positive result is achieved and shows it significant according to the several parameters of biological character ofpH, temperature, dissolve oxygen, turbidity, conductivity and fish survival rate or time. From that parameter, it also shows the positive result which is near or same with control water and assuming was made that the toxin is fully removed when the pH of DH powder is near with control water. For control water, the pH is about 5.3 while water from this experiment process is 6.0 and before run the machine the pH of contaminated water is about 3.8 which are too acid. This automated machine can save time for removing toxicity from DH compared with a traditional method while less observation of the user.
    Matched MeSH terms: Robotics/instrumentation*
  4. Kim HJ, Lee SH, Chang BS, Lee CK, Lim TO, Hoo LP, et al.
    Spine (Phila Pa 1976), 2015 Jan 15;40(2):87-94.
    PMID: 25575085 DOI: 10.1097/BRS.0000000000000680
    Prospective randomized controlled trial.
    Matched MeSH terms: Robotics*
  5. Al-Abdullah KI, Lim CP, Najdovski Z, Yassin W
    Int J Med Robot, 2019 Jun;15(3):e1989.
    PMID: 30721570 DOI: 10.1002/rcs.1989
    BACKGROUND: This paper presents a model-based bone milling state identification method that provides intraoperative bone quality information during robotic bone milling. The method helps surgeons identify bone layer transitions during bone milling.

    METHODS: On the basis of a series of bone milling experiments with commercial artificial bones, an artificial neural network force model is developed to estimate the milling force of different bone densities as a function of the milling feed rate and spindle speed. The model estimations are used to identify the bone density at the cutting zone by comparing the actual milling force with the estimated one.

    RESULTS: The verification experiments indicate the ability of the proposed method to distinguish between one cortical and two cancellous bone densities.

    CONCLUSIONS: The significance of the proposed method is that it can be used to discriminate a set of different bone density layers for a range of the milling feed rate and spindle speed.

    Matched MeSH terms: Robotics
  6. Zheyuan C, Rahman MA, Tao H, Liu Y, Pengxuan D, Yaseen ZM
    Work, 2021;68(3):825-834.
    PMID: 33612525 DOI: 10.3233/WOR-203416
    BACKGROUND: The increasing use of robotics in the work of co-workers poses some new problems in terms of occupational safety and health. In the workplace, industrial robots are being used increasingly. During operations such as repairs, unmanageable, adjustment, and set-up, robots can cause serious and fatal injuries to workers. Collaborative robotics recently plays a rising role in the manufacturing filed, warehouses, mining agriculture, and much more in modern industrial environments. This development advances with many benefits, like higher efficiency, increased productivity, and new challenges like new hazards and risks from the elimination of human and robotic barriers.

    OBJECTIVES: In this paper, the Advanced Human-Robot Collaboration Model (AHRCM) approach is to enhance the risk assessment and to make the workplace involving security robots. The robots use perception cameras and generate scene diagrams for semantic depictions of their environment. Furthermore, Artificial Intelligence (AI) and Information and Communication Technology (ICT) have utilized to develop a highly protected security robot based risk management system in the workplace.

    RESULTS: The experimental results show that the proposed AHRCM method achieves high performance in human-robot mutual adaption and reduce the risk.

    CONCLUSION: Through an experiment in the field of human subjects, demonstrated that policies based on the proposed model improved the efficiency of the human-robot team significantly compared with policies assuming complete human-robot adaptation.

    Matched MeSH terms: Robotics
  7. Guangnan Z, Tao H, Rahman MA, Yao L, Al-Saffar A, Meng Q, et al.
    Work, 2021;68(3):871-879.
    PMID: 33612530 DOI: 10.3233/WOR-203421
    BACKGROUND: An isolated robot must take account of uncertainty in its world model and adapt its activities to take into account such as uncertainty. In the same way, a robot interaction with security and privacy issues (RISAPI) with people has to account for its confusion about the human internal state, as well as how this state will shift as humans respond to the robot.

    OBJECTIVES: This paper discusses RISAPI of our original work in the field, which shows how probabilistic planning and system theory algorithms in workplace robotic systems that work with people can allow for that reasoning using a security robot system. The problem is a general way as an incomplete knowledge 2-player game.

    RESULTS: In this general framework, the various hypotheses and these contribute to thrilling and complex robot behavior through real-time interaction, which transforms actual human subjects into a spectrum of production systems, robots, and care facilities.

    CONCLUSION: The models of the internal human situation, in which robots can be designed efficiently, are limited, and achieve optimal computational intractability in large, high-dimensional spaces. To achieve this, versatile, lightweight portrayals of the human inner state and modern algorithms offer great hope for reasoning.

    Matched MeSH terms: Robotics
  8. Timmis J, Ismail AR, Bjerknes JD, Winfield AF
    Biosystems, 2016 Aug;146:60-76.
    PMID: 27178784 DOI: 10.1016/j.biosystems.2016.04.001
    Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots.
    Matched MeSH terms: Robotics*
  9. Mehbodniya AH, Moghavvemi M, Narayanan V, Waran V
    World Neurosurg, 2019 Feb;122:e449-e454.
    PMID: 30347306 DOI: 10.1016/j.wneu.2018.10.069
    BACKGROUND: Navigation (image guidance) is an essential tool in modern neurosurgery, and most surgeons use an optical tracking system. Although the technology is accurate and reliable, one often is confronted by line of sight issues that interrupt the flow of an operation. There has been feedback on the matter, but the actual problem has not been accurately quantified, therefore making this the primary aim of this study. It is particularly important given that robotic technology is gradually making its way into neurosurgery and most of these devices depend on optical navigation when procedures are being conducted.

    METHODS: In this study, the frequency and causes of line of sight issues is assessed using recordings of Navigation probe locations and its synchronised video recordings.

    RESULTS: The mentioned experiment conducted for a series of 15 neurosurgical operations. This issue occured in all these surgeries except one. Maximum duration of issue presisting reached up to 56% of the navigation usage time.

    CONCLUSIONS: The arrangment of staff and equipment is a key factor in avoiding this issue.

    Matched MeSH terms: Robotics
  10. Syahrul Affandi Saidi, Beh, Jun Long, Mohd Sharizan Md Sarip, Wan Azani Mustafa
    MyJurnal
    This article presents a Wall Climbing Robot (WCR) that able to move on ferromagnetic vertical surface to carry out visual inspection process. Visual inspection process is important in the industry to check the condition of storage tank, surface of building, piping or equipment thus can prevents structures collapsing or explosion which would bring a huge loss to the company. Moreover, most of the structures nowadays is expose under the sun and rain, corrosion and cracks could easily occur on the surface after exposing under sunlight and rain a long period of time. Therefore the periodic visual inspection process need to be carry out to detect the damaged occur on the surface of the structure and take action at the fastest time to ensure the safety of the structures and extend the lifespan of the structures. With the well maintenance to the structures, the condition of the structures is monitored and the lifespan is longer. The risk of collapse of the building is decrease by a large margin. Normally, the periodic visual inspection process is performed by operator. Sometime the temporary scaffolding is needed to reach the higher place to carry out the inspection. However, this method create a hazardous environment to the operator and cause the safety of the operator threatened. Therefore, the proposed WCR could help operator to work at the hazardous environment. The permanent magnet is used to provide adhesion for WCR, thus WCR able to move on vertical ferromagnetic surface. The WCR is controlled by operator via wireless remote to reach the higher place or the hazardous environment. The operator then can stream the on the real time images via web browser which connected to the same network with the WCR. Hence, the condition of the surface can be observed.
    Matched MeSH terms: Robotics
  11. Cheung TT, Han HS, She WH, Chen KH, Chow PKH, Yoong BK, et al.
    Liver Cancer, 2018 Mar;7(1):28-39.
    PMID: 29662831 DOI: 10.1159/000481834
    Background: Laparoscopic liver resection has been gaining momentum, and it has become an accepted practice after the two international consensus conferences where experts worked up guidelines to standardize this approach and improve its safety. However, most laparoscopic hepatectomies were performed in patients with liver metastases. The concurrent presence of liver cirrhosis with hepatocellular carcinoma (HCC) poses a great challenge to clinicians trying to establish a routine use of laparoscopic liver resection for HCC.

    Summary: The first Asia Pacific consensus meeting on laparoscopic liver resection for HCC was held in July 2016 in Hong Kong. A group of expert liver surgeons with experience in both open and laparoscopic hepatectomy for HCC convened to formulate recommendations on the role and perspective of laparoscopic liver resection for primary liver cancer. The recommendations consolidate the most recent evidence pertaining to laparoscopic hepatectomy together with the latest thinking of practicing clinicians involved in laparoscopic hepatectomy, and give detailed guidance on how to deploy the treatment effectively for patients in need.

    Key Message: The panel of experts gathered evidence and produced recommendations providing guidance on the safe practice of laparoscopic hepatectomy for patients with HCC and cirrhosis. The inherent advantage of the laparoscopic approach may result in less blood loss if the procedure is performed in experienced centers. The laparoscopic approach to minor hepatectomy, particularly left lateral sectionectomy, is a preferred practice for HCC at experienced centers. Laparoscopic major liver resection for HCC remains a technically challenging operation, and it should be carried out in centers of excellence. There is emerging evidence that laparoscopic liver resection produces a better oncological outcome for HCC when compared with radiofrequency ablation, particularly when the lesions are peripherally located. Augmented features in laparoscopic liver resection, including indocyanine green fluorescence, 3D laparoscopy, and robot, will become important tools of surgical treatment in the near future. A combination of all of these features will enhance the experience of the surgeons, which may translate into better surgical outcomes. This is the first consensus workforce on laparoscopic liver resection for HCC, which is a unique condition that occurs in the Asia Pacific region.

    Matched MeSH terms: Robotics
  12. Mohd Romlay MR, Mohd Ibrahim A, Toha SF, De Wilde P, Venkat I
    PLoS One, 2021;16(8):e0256665.
    PMID: 34432855 DOI: 10.1371/journal.pone.0256665
    Low-end LiDAR sensor provides an alternative for depth measurement and object recognition for lightweight devices. However due to low computing capacity, complicated algorithms are incompatible to be performed on the device, with sparse information further limits the feature available for extraction. Therefore, a classification method which could receive sparse input, while providing ample leverage for the classification process to accurately differentiate objects within limited computing capability is required. To achieve reliable feature extraction from a sparse LiDAR point cloud, this paper proposes a novel Clustered Extraction and Centroid Based Clustered Extraction Method (CE-CBCE) method for feature extraction followed by a convolutional neural network (CNN) object classifier. The integration of the CE-CBCE and CNN methods enable us to utilize lightweight actuated LiDAR input and provides low computing means of classification while maintaining accurate detection. Based on genuine LiDAR data, the final result shows reliable accuracy of 97% through the method proposed.
    Matched MeSH terms: Robotics
  13. Teh GC
    Urol Oncol, 2010 Nov-Dec;28(6):682-5.
    PMID: 21062652 DOI: 10.1016/j.urolonc.2010.03.017
    With maturing functional and oncologic outcomes data, open partial nephrectomy (OPN) has become the standard of care for T1a renal tumor. Laparoscopic approach can provide a speedier recovery with less blood loss and postoperative pain. Presuming adequate laparoscopic expertise, laparoscopic partial nephrectomy can provide equivalent oncologic outcome as for OPN albeit with higher urologic complications rate and longer warm ischemia time. With refinement of technique and use of robotic assistant, the shortcomings of laparoscopic approach can be further reduced. This article is a mini-review on the current status of laparoscopic approach to partial nephrectomy in the management of small renal mass.
    Matched MeSH terms: Robotics
  14. Amir Abdullah, M.D., Leman, A.M., Norhidayah, A., Syafiq Syazwan, M.M.
    MyJurnal
    A poor Indoor Air Quality (IAQ) is a crucial problem which produces by the improper maintenance of Mechanical Ventilation and Air Conditioning (MVAC) ducting. A budget constraint intimidates for the practise of monitoring of the MVAC ducting. Thus IAQ measurements were conducted at the room where the air supplied by centralized air conditioning. It has been performed at four different offices that supply by two different Air Handling Unit (AHU). Walkthrough survey was conducted and the area samplings were selected for data collection. This paper examines the result of comparison of air ducting and air quality at academic office building, Universiti Tun Hussein Onn Malaysia (UTHM). The parameters involved were Temperature (°C), Relative Humidity (RH), Carbon Dioxide (CO2) and Carbon Monoxide (CO). Pictures were also captured to demonstrate the real conditions inside the ducting by using Mechanical Robot. Thus, duct cleaning was recommended to be an exceptional platform for the IAQ improvement.
    Matched MeSH terms: Robotics
  15. Al-Qaysi ZT, Zaidan BB, Zaidan AA, Suzani MS
    Comput Methods Programs Biomed, 2018 Oct;164:221-237.
    PMID: 29958722 DOI: 10.1016/j.cmpb.2018.06.012
    CONTEXT: Intelligent wheelchair technology has recently been utilised to address several mobility problems. Techniques based on brain-computer interface (BCI) are currently used to develop electric wheelchairs. Using human brain control in wheelchairs for people with disability has elicited widespread attention due to its flexibility.

    OBJECTIVE: This study aims to determine the background of recent studies on wheelchair control based on BCI for disability and map the literature survey into a coherent taxonomy. The study intends to identify the most important aspects in this emerging field as an impetus for using BCI for disability in electric-powered wheelchair (EPW) control, which remains a challenge. The study also attempts to provide recommendations for solving other existing limitations and challenges.

    METHODS: We systematically searched all articles about EPW control based on BCI for disability in three popular databases: ScienceDirect, IEEE and Web of Science. These databases contain numerous articles that considerably influenced this field and cover most of the relevant theoretical and technical issues.

    RESULTS: We selected 100 articles on the basis of our inclusion and exclusion criteria. A large set of articles (55) discussed on developing real-time wheelchair control systems based on BCI for disability signals. Another set of articles (25) focused on analysing BCI for disability signals for wheelchair control. The third set of articles (14) considered the simulation of wheelchair control based on BCI for disability signals. Four articles designed a framework for wheelchair control based on BCI for disability signals. Finally, one article reviewed concerns regarding wheelchair control based on BCI for disability signals.

    DISCUSSION: Since 2007, researchers have pursued the possibility of using BCI for disability in EPW control through different approaches. Regardless of type, articles have focused on addressing limitations that impede the full efficiency of BCI for disability and recommended solutions for these limitations.

    CONCLUSIONS: Studies on wheelchair control based on BCI for disability considerably influence society due to the large number of people with disability. Therefore, we aim to provide researchers and developers with a clear understanding of this platform and highlight the challenges and gaps in the current and future studies.

    Matched MeSH terms: Robotics
  16. Sundram M
    Urol Oncol, 2010 Nov-Dec;28(6):677-81.
    PMID: 21062651 DOI: 10.1016/j.urolonc.2010.03.003
    Matched MeSH terms: Robotics/trends*; Robotics/statistics & numerical data*
  17. Obaid, Kadhim Jawad, Sood, Suneet
    Medical Health Reviews, 2009;2009(1):59-73.
    MyJurnal
    Robotic surgery is a technique that uses mechanical, computercontrolled arms to conduct surgical operations. It carries the advantages of minimal access associated with laparoscopic surgery, and of precision associated with open surgery. It is also feasible to conduct robotic surgery with the surgeon far away, by “telerobotics”. The robot is more versatile than the human arm, and less susceptible to tremors. The view is excellent, and it is possible to conduct more intricate procedures than are possible with the human hand. Robotics has been in use for over seven years, and the initial experience shows that the success rate is over 90%, with only about 10% of cases needing to be converted to open surgery. Blood loss is low, and tumour margins in cancer surgery are satisfactory. Surgeons have used robotics for procedures in urology, gastrointestinal surgery, gynecology, cardiac surgery, neurosurgery, orthopedics, and other specialties. Presently, robotics suffers from two major disadvantages: one, that it is very expensive, and two, that robotic procedures take significantly longer than do open or laparoscopic procedures.
    Matched MeSH terms: Robotics
  18. Pahl C, Ebelt H, Sayahkarajy M, Supriyanto E, Soesanto A
    J Med Syst, 2017 Aug 15;41(10):148.
    PMID: 28812247 DOI: 10.1007/s10916-017-0786-4
    This paper proposes a robotic Transesophageal Echocardiography (TOE) system concept for Catheterization Laboratories. Cardiovascular disease causes one third of all global mortality. TOE is utilized to assess cardiovascular structures and monitor cardiac function during diagnostic procedures and catheter-based structural interventions. However, the operation of TOE underlies various conditions that may cause a negative impact on performance, the health of the cardiac sonographer and patient safety. These factors have been conflated and evince the potential of robot-assisted TOE. Hence, a careful integration of clinical experience and Systems Engineering methods was used to develop a concept and physical model for TOE manipulation. The motion of different actuators of the fabricated motorized system has been tested. It is concluded that the developed medical system, counteracting conflated disadvantages, represents a progressive approach for cardiac healthcare.
    Matched MeSH terms: Robotics
  19. Savall J, Ho ET, Huang C, Maxey JR, Schnitzer MJ
    Nat. Methods, 2015 Jul;12(7):657-60.
    PMID: 26005812 DOI: 10.1038/nmeth.3410
    We present a robot that enables high-content studies of alert adult Drosophila by combining operations including gentle picking; translations and rotations; characterizations of fly phenotypes and behaviors; microdissection; or release. To illustrate, we assessed fly morphology, tracked odor-evoked locomotion, sorted flies by sex, and dissected the cuticle to image neural activity. The robot's tireless capacity for precise manipulations enables a scalable platform for screening flies' complex attributes and behavioral patterns.
    Matched MeSH terms: Robotics*
  20. Amini H, Farzaneh B, Azimifar F, Sarhan AAD
    ISA Trans, 2016 Sep;64:293-302.
    PMID: 27329852 DOI: 10.1016/j.isatra.2016.05.006
    This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm.
    Matched MeSH terms: Robotics
Filters
Contact Us

Please provide feedback to Administrator (afdal@afpm.org.my)

External Links