Displaying publications 1 - 20 of 85 in total

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  1. Huang Q, Zhao G, Chen Y, Wu P, Li S, Peng C, et al.
    J Urol, 2023 Jan;209(1):99-110.
    PMID: 36194169 DOI: 10.1097/JU.0000000000002952
    PURPOSE: We introduce an intrapericardial control technique using a robotic approach in the surgical treatment of renal tumor with level IV inferior vena cava thrombus to decrease the severe complications associated with cardiopulmonary bypass and deep hypothermic circulatory arrest.

    MATERIALS AND METHODS: Eight patients with level IV inferior vena cava thrombi not extending into the atrium underwent transabdominal-transdiaphragmatic robot-assisted inferior vena cava thrombectomy obviating cardiopulmonary bypass/deep hypothermic circulatory arrest (cardiopulmonary bypass-free group) by an expert team comprising urological, hepatobiliary, and cardiovascular surgeons. The central diaphragm tendon and pericardium were transabdominally dissected until the intrapericardial inferior vena cava were exposed and looped proximal to the cranial end of the thrombi under intraoperative ultrasound guidance. As controls, 14 patients who underwent robot-assisted inferior vena cava thrombectomy with cardiopulmonary bypass (cardiopulmonary bypass group) and 25 patients who underwent open thrombectomy with cardiopulmonary bypass/deep hypothermic circulatory arrest (cardiopulmonary bypass/deep hypothermic circulatory arrest group) were included. Clinicopathological, operative, and survival outcomes were retrospectively analyzed.

    RESULTS: Eight robot-assisted inferior vena cava thrombectomies were successfully performed without cardiopulmonary bypass, with 1 open conversion. The median operation time and first porta hepatis occlusion time were shorter, and estimated blood loss was lower in the cardiopulmonary bypass-free group as compared to the cardiopulmonary bypass group (540 vs 586.5 minutes, 16.5 vs 38.5. minutes, and 2,050 vs 3,500 mL, respectively). Severe complications (level IV-V) were also lower in the cardiopulmonary bypass-free group than in cardiopulmonary bypass and cardiopulmonary bypass/deep hypothermic circulatory arrest groups (25% vs 50% vs 40%). Oncologic outcomes were comparable among the 3 groups in short-term follow-up.

    CONCLUSIONS: Pure transabdominal-transdiaphragmatic robot-assisted inferior vena cava thrombectomy without cardiopulmonary bypass/deep hypothermic circulatory arrest represents as an alternative minimally invasive approach for selected level IV inferior vena cava thrombi.

    Matched MeSH terms: Robotics*
  2. Du J, Salim NAM, Zakaria WZW, Gu Y, Ling J
    Comput Intell Neurosci, 2022;2022:4971849.
    PMID: 35860639 DOI: 10.1155/2022/4971849
    In light of the ongoing occurrence of epidemics, the general populace frequently makes the decision to curtail their nomadic lifestyle in order to protect both their health and their safety. This has resulted in a number of issues, the most notable of which are the drop in the people's living happiness index and the poor business that the tourism industry has been experiencing as a result. Therefore, the idea of "cloud tourism" is undoubtedly the first candidate for the tourism industry, and in order to meet the requirements of cloud tourism, it is necessary to have an entirely new system to serve this, of which the scenic guide robot is an important part. At the same time, the quickening development of 5G technology offers solutions that may be put into practice for the multifurther IoT's expansion in smart cities. People will be able to experience the real outdoors without having to leave their homes, which will improve the people's well-being and alleviate the chilly status quo in the tourism industry. This is the plan, and it will be accomplished through the use of innovative guide robots that will make the experience more convenient and reliable.
    Matched MeSH terms: Robotics*
  3. Ahmad FA, Ramli AR, Samsudin K, Hashim SJ
    ScientificWorldJournal, 2014;2014:153162.
    PMID: 24949491 DOI: 10.1155/2014/153162
    Deploying large numbers of mobile robots which can interact with each other produces swarm intelligent behavior. However, mobile robots are normally running with finite energy resource, supplied from finite battery. The limitation of energy resource required human intervention for recharging the batteries. The sharing information among the mobile robots would be one of the potentials to overcome the limitation on previously recharging system. A new approach is proposed based on integrated intelligent system inspired by foraging of honeybees applied to multimobile robot scenario. This integrated approach caters for both working and foraging stages for known/unknown power station locations. Swarm mobile robot inspired by honeybee is simulated to explore and identify the power station for battery recharging. The mobile robots will share the location information of the power station with each other. The result showed that mobile robots consume less energy and less time when they are cooperating with each other for foraging process. The optimizing of foraging behavior would result in the mobile robots spending more time to do real work.
    Matched MeSH terms: Robotics*
  4. Yang T, Xiao Y, Zhang Z, Liang Y, Li G, Zhang M, et al.
    Sci Rep, 2018 09 28;8(1):14518.
    PMID: 30266999 DOI: 10.1038/s41598-018-32757-9
    Soft robots driven by stimuli-responsive materials have their own unique advantages over traditional rigid robots such as large actuation, light weight, good flexibility and biocompatibility. However, the large actuation of soft robots inherently co-exists with difficulty in control with high precision. This article presents a soft artificial muscle driven robot mimicking cuttlefish with a fully integrated on-board system including power supply and wireless communication system. Without any motors, the movements of the cuttlefish robot are solely actuated by dielectric elastomer which exhibits muscle-like properties including large deformation and high energy density. Reinforcement learning is used to optimize the control strategy of the cuttlefish robot instead of manual adjustment. From scratch, the swimming speed of the robot is enhanced by 91% with reinforcement learning, reaching to 21 mm/s (0.38 body length per second). The design principle behind the structure and the control of the robot can be potentially useful in guiding device designs for demanding applications such as flexible devices and soft robots.
    Matched MeSH terms: Robotics/instrumentation*
  5. Aslan MF, Hasikin K, Yusefi A, Durdu A, Sabanci K, Azizan MM
    Front Public Health, 2022;10:855994.
    PMID: 35734764 DOI: 10.3389/fpubh.2022.855994
    Artificial intelligence researchers conducted different studies to reduce the spread of COVID-19. Unlike other studies, this paper isn't for early infection diagnosis, but for preventing the transmission of COVID-19 in social environments. Among the studies on this is regarding social distancing, as this method is proven to prevent COVID-19 to be transmitted from one to another. In the study, Robot Operating System (ROS) simulates a shopping mall using Gazebo, and customers are monitored by Turtlebot and Unmanned Aerial Vehicle (UAV, DJI Tello). Through frames analysis captured by Turtlebot, a particular person is identified and followed at the shopping mall. Turtlebot is a wheeled robot that follows people without contact and is used as a shopping cart. Therefore, a customer doesn't touch the shopping cart that someone else comes into contact with, and also makes his/her shopping easier. The UAV detects people from above and determines the distance between people. In this way, a warning system can be created by detecting places where social distance is neglected. Histogram of Oriented-Gradients (HOG)-Support Vector Machine (SVM) is applied by Turtlebot to detect humans, and Kalman-Filter is used for human tracking. SegNet is performed for semantically detecting people and measuring distance via UAV. This paper proposes a new robotic study to prevent the infection and proved that this system is feasible.
    Matched MeSH terms: Robotics*
  6. Alshammari RFN, Abd Rahman AH, Arshad H, Albahri OS
    Sensors (Basel), 2023 Dec 05;23(24).
    PMID: 38139465 DOI: 10.3390/s23249619
    Existing methods for scoring student presentations predominantly rely on computer-based implementations and do not incorporate a robotic multi-classification model. This limitation can result in potential misclassification issues as these approaches lack active feature learning capabilities due to fixed camera positions. Moreover, these scoring methods often solely focus on facial expressions and neglect other crucial factors, such as eye contact, hand gestures and body movements, thereby leading to potential biases or inaccuracies in scoring. To address these limitations, this study introduces Robotics-based Presentation Skill Scoring (RPSS), which employs a multi-model analysis. RPSS captures and analyses four key presentation parameters in real time, namely facial expressions, eye contact, hand gestures and body movements, and applies the fuzzy Delphi method for criteria selection and the analytic hierarchy process for weighting, thereby enabling decision makers or managers to assign varying weights to each criterion based on its relative importance. RPSS identifies five academic facial expressions and evaluates eye contact to achieve a comprehensive assessment and enhance its scoring accuracy. Specific sub-models are employed for each presentation parameter, namely EfficientNet for facial emotions, DeepEC for eye contact and an integrated Kalman and heuristic approach for hand and body movements. The scores are determined based on predefined rules. RPSS is implemented on a robot, and the results highlight its practical applicability. Each sub-model is rigorously evaluated offline and compared against benchmarks for selection. Real-world evaluations are also conducted by incorporating a novel active learning approach to improve performance by leveraging the robot's mobility. In a comparative evaluation with human tutors, RPSS achieves a remarkable average agreement of 99%, showcasing its effectiveness in assessing students' presentation skills.
    Matched MeSH terms: Robotics*
  7. Zafar F, Malik SA, Ali T, Daraz A, Afzal AR, Bhatti F, et al.
    PLoS One, 2024;19(2):e0298624.
    PMID: 38354203 DOI: 10.1371/journal.pone.0298624
    In this paper, we propose two different control strategies for the position control of the ball of the ball and beam system (BBS). The first control strategy uses the proportional integral derivative-second derivative with a proportional integrator PIDD2-PI. The second control strategy uses the tilt integral derivative with filter (TID-F). The designed controllers employ two distinct metaheuristic computation techniques: grey wolf optimization (GWO) and whale optimization algorithm (WOA) for the parameter tuning. We evaluated the dynamic and steady-state performance of the proposed control strategies using four performance indices. In addition, to analyze the robustness of proposed control strategies, a comprehensive comparison has been performed with a variety of controllers, including tilt integral-derivative (TID), fractional order proportional integral derivative (FOPID), integral-proportional derivative (I-PD), proportional integral-derivative (PI-D), and proportional integral proportional derivative (PI-PD). By comparing different test cases, including the variation in the parameters of the BBS with disturbance, we examine step response, set point tracking, disturbance rejection analysis, and robustness of proposed control strategies. The comprehensive comparison of results shows that WOA-PIDD2-PI-ISE and GWO-TID-F- ISE perform superior. Moreover, the proposed control strategies yield oscillation-free, stable, and quick response, which confirms the robustness of the proposed control strategies to the disturbance, parameter variation of BBS, and tracking performance. The practical implementation of the proposed controllers can be in the field of under actuated mechanical systems (UMS), robotics and industrial automation. The proposed control strategies are successfully tested in MATLAB simulation.
    Matched MeSH terms: Robotics*
  8. Daoud HA, Md Sabri AQ, Loo CK, Mansoor AM
    PLoS One, 2018;13(4):e0195878.
    PMID: 29702697 DOI: 10.1371/journal.pone.0195878
    This paper presents the concept of Simultaneous Localization and Multi-Mapping (SLAMM). It is a system that ensures continuous mapping and information preservation despite failures in tracking due to corrupted frames or sensor's malfunction; making it suitable for real-world applications. It works with single or multiple robots. In a single robot scenario the algorithm generates a new map at the time of tracking failure, and later it merges maps at the event of loop closure. Similarly, maps generated from multiple robots are merged without prior knowledge of their relative poses; which makes this algorithm flexible. The system works in real time at frame-rate speed. The proposed approach was tested on the KITTI and TUM RGB-D public datasets and it showed superior results compared to the state-of-the-arts in calibrated visual monocular keyframe-based SLAM. The mean tracking time is around 22 milliseconds. The initialization is twice as fast as it is in ORB-SLAM, and the retrieved map can reach up to 90 percent more in terms of information preservation depending on tracking loss and loop closure events. For the benefit of the community, the source code along with a framework to be run with Bebop drone are made available at https://github.com/hdaoud/ORBSLAMM.
    Matched MeSH terms: Robotics
  9. Salleh, N.M., Shauri, R.L.A., Nasir, K., Remeli, N.H., Kamal, M.M.
    MyJurnal
    In an earlier study, a three-fingered robot hand was developed for assembly work. Proportional Integral Derivative (PID) control was used to control the position of a DC micromotor measured by an encoder. However, PID control alone could not cater the nonlinearities due to friction of gears and varying loads applied to the finger. Therefore, in order to develop an intelligent control algorithm in future, the effects of varying PID gains need to be investigated to distinguish the optimal value that could produce the best transient response performance. This paper discusses the effect of varying PID gains on position transient response of the joint motor of robot hand through real-time experiments. Several ranges of KP, KI and KD were identified based on the required transient response parameters such as percentage overshoot (%OS), settling time (TS) of within 2%, steady state error (SSE) and rise time (TR). The gains are tuned across the range by a fixed interval with the tuning order starting from KP, KI and KD. It can be observed that the suitable ranges of PID are 0.3 to 0.5 for KP, 1.15 to 1.45 for KI and 0.10 to 0.14 for KD. Meanwhile, the optimum value of 0.4, 1.45 and 0.10 for KP, KI and KD respectively is found to produce 0 of % OS, 5.09 sec of TS and 2.48 sec of TR. Hence, the gains can be applied to the development of an improved position control using intelligent method for the robot hand in future works.
    Matched MeSH terms: Robotics
  10. Azhar Ahmad, Jamaludin Md Ali
    Sains Malaysiana, 2013;42:989-997.
    Kertas ini membincangkan satu keluarga lengkung peralihan satahan licin yang dibina menggunakan dua lingkaran kuartik Bezier. Lingkaran kuartik yang diperkenalkan ini mempunyai enam darjah kebebasan yang memberi kelebihan untuk mempelbagaikan rupa bentuk lingkaran di dalam selangnya. Kelicinan adalah dirujuk melalui ciri-ciri keselanjaran geometri G2 dan kelengkungan monoton yang dimiliki oleh sesuatu lengkung peralihan. Oleh sebab lengkungan ini tidak memiliki sebarang juring, gelung dan titik lengkok balas, di samping tanpa perubahan kelengkungan yang mendadak maka ia amat sesuai untuk aplikasi tertentu dalam Reka Bentuk Berbantukan Komputer (RBK) bagi memenuhi keperluan estatis serta kepentingan fungsinya seperti reka bentuk produk industri, trajektori robot tidak holonomi dan juga reka bentuk mendatar landasan kereta api serta lebuh raya. Sebagai suatu perwakilan polinomial, lingkaran kuartik Bezier ini mampu digabungjalinkan ke dalam sistem RBK yang kebanyakannya berasaskan perwakilan NURBS (nonuniform rational B-splines).
    Matched MeSH terms: Robotics
  11. Abdul Wahit MA, Ahmad SA, Marhaban MH, Wada C, Izhar LI
    Sensors (Basel), 2020 Jul 27;20(15).
    PMID: 32727150 DOI: 10.3390/s20154174
    Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements are needed as this is closely related to structure efficiency. This paper proposes a robot hand structure with improved features (four-bar linkage mechanism) to overcome the deficiency of using the cable-driven actuated mechanism that leads to less structure durability and inaccurate motion range. Our proposed robot hand structure also took into account the existing design problems such as bulky structure, unindividual actuated finger, incomplete fingers and a lack of finger joints compared to the actual finger in its design. This paper presents the improvements achieved by applying the proposed design such as the use of a four-bar linkage mechanism instead of using the cable-driven mechanism, the size of an average human hand, five-fingers with completed joints where each finger is moved by motor individually, joint protection using a mechanical stopper, detachable finger structure from the palm frame, a structure that has sufficient durability for everyday use and an easy to fabricate structure using 3D printing technology. The four-bar linkage mechanism is the use of the solid linkage that connects the actuator with the structure to allow the structure to move. The durability was investigated using static analysis simulation. The structural details and simulation results were validated through motion capture analysis and load test. The motion analyses towards the 3D printed robot structure show 70-98% similar motion range capability to the designed structure in the CAD software, and it can withstand up to 1.6 kg load in the simulation and the real test. The improved robot hand structure with optimum durability for prosthetic uses was successfully developed.
    Matched MeSH terms: Robotics*
  12. 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*
  13. Abdullah MZ, Awang MS, Tan YC, Abdullah JM
    J Neurol Surg A Cent Eur Neurosurg, 2014 Mar;75(2):155-7.
    PMID: 23636911 DOI: 10.1055/s-0032-1330954
    The study assesses the capability and accuracy of a robotic arm to perform burr holes.
    Matched MeSH terms: Robotics/methods*
  14. Sahabudin RM, Arni T, Ashani N, Arumuga K, Rajenthran S, Murali S, et al.
    World J Urol, 2006 Jun;24(2):161-4.
    PMID: 16607550
    Robotic surgery was started in the Department of Urology, Hospital Kuala Lumpur, in April 2004. We present our experience in developing the program and report the results of our first 50 cases of robotic radical prostatectomy. A three-arm da Vinci robotic system was installed in our hospital in March 2004. Prior to installation, the surgeons underwent training at various centers in the United States and Paris. The operating theatre was renovated to house the system. Subsequently, the initial few cases were done with the help of proctors. Data were prospectively collected on all patients who underwent robot-assisted radical prostatectomy for localized carcinoma of the prostate. Fifty patients underwent robot assisted radical prostatectomy from March 2004 to June 2005. Their ages ranged from 52 to 75 years, (average age 60.2 years). PSA levels ranged from 2.5 to 35 ng/ml (mean 10.6 ng/ml). Prostate volume ranged from 18 to 130 cc (average 32.4 cc). Average operating time for the first 20 cases was 4 h and for the next 30 cases was 2.5 h. Patients were discharged 1-3 days post-operatively. Catheters were removed on the fifth day following a cystogram. The positive margin rate as defined by the presence of cancer cells at the inked margin was 30%. Twenty-one patients had T1c disease and one had T1b on clinical staging. Of these, two were apical margin positive. Twenty-six patients had T2 disease and eight of them were apical margin positive. Two patients had T3 disease, one of whom was apical margin positive. Five patients (10%) had PSA recurrence. Five patients had a poorly differentiated carcinoma and the rest had Gleason 6 or 7. Eighty percent of the patients were continent on follow-up at 3 months. Of those who were potent before the surgery, 50% were potent at 3-6 months. The robotic surgery program was successfully implemented at our center on the lines of a structured program, developed at Vattikuti Urology Institute (VUI). We succeeded in creating a team and safely implemented the robotic program in our system. Adequate funding and extensive training followed by a short term proctoring are essential for this implementation.
    Matched MeSH terms: Robotics*
  15. Aole S, Elamvazuthi I, Waghmare L, Patre B, Meriaudeau F
    Sensors (Basel), 2020 Jun 30;20(13).
    PMID: 32630115 DOI: 10.3390/s20133681
    Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging affect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the quality of treatment. Amongst recent control strategies used for rehabilitation robots, active disturbance rejection control (ADRC) strategy is a systematic way out from a robust control paradox with possibilities and promises. In this modern era, we always try to find the solution in order to have minimum resources and maximum output, and in robotics-control, to approach the same condition observer-based control strategies is an added advantage where it uses a state estimation method which reduces the requirement of sensors that is used for measuring every state. This paper introduces improved active disturbance rejection control (I-ADRC) controllers as a combination of linear extended state observer (LESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF). The proposed controllers were evaluated through simulation by investigating the sagittal plane gait trajectory tracking performance of two degrees of freedom, Lower Limb Robotic Rehabilitation Exoskeleton (LLRRE). This multiple input multiple output (MIMO) LLRRE has two joints, one at the hip and other at the knee. In the simulation study, the proposed controllers show reduced trajectory tracking error, elimination of random, constant, and harmonic disturbances, robustness against parameter variations, and under the influence of noise, with improvement in performance indices, indicates its enhanced tracking performance. These promising simulation results would be validated experimentally in the next phase of research.
    Matched MeSH terms: Robotics*
  16. Saleh MA, Hanapiah FA, Hashim H
    Disabil Rehabil Assist Technol, 2021 08;16(6):580-602.
    PMID: 32706602 DOI: 10.1080/17483107.2019.1685016
    PURPOSE: Technological advances in robotics have brought about exciting developments in different areas such as education, training, and therapy. Recent research has suggested that the robot can be even more effective in rehabilitation, therapy, and education for individuals with Autism Spectrum Disorder (ASD). In this paper, a comprehensive review of robotic technology for children with ASD is presented wherein a large number of journals and conference proceedings in science and engineering search engines' databases were implicated.

    MATERIALS AND METHODS: A search for related literature was conducted in three search engines' databases, Web of Science, Scopus, and IEEE Xplore. Thematic keywords were used to identify articles in the recent ten years in titles, keywords, and abstracts. The retrieved articles were filtered, analysed, and evaluated based on specific inclusion and exclusion criteria.

    RESULTS: A total of 208 studies were retrieved, while 166 met the inclusion criteria. The selected studies were reviewed according to the type of robot, the participants, objectives, and methods. 68 robots were used in all studies, NAO robot was used in 30.5% of those studies. The total number of participants in all studies was 1671. The highest percentage of the studies reviewed were dedicated to augmenting the learning skills.

    CONCLUSIONS: Robots and the associated schemes were used to determine their feasibility and validity for augmenting the learning skills of autistic children. Most of the studies reviewed were focused on improving the social communication skills of autistic children and measuring the extent of robot mitigation of stereotyped autistic behaviours.Implications for rehabilitationSocial robots are not considered as promising tools to be utilized for rehabilitation of autistic children only, but also has been used for children and young people with severe intellectual disability.Rehabilitation for individuals with ASD using robots can augment their cognitive and social skills, but further studies should be conducted to clarify its effectiveness based on other factors such as sex, age and IQ of the participates.Robotic-based rehabilitation is not limited to the physical robots only, but virtual robots have been used also, whereas each of which can be used individually or simultaneously. However, further study is required to assess the extent of its efficiency and effectiveness for both cases.

    Matched MeSH terms: Robotics*
  17. 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
  18. Zakaria SM, Visvanathan R, Kamarudin K, Yeon AS, Md Shakaff AY, Zakaria A, et al.
    Sensors (Basel), 2015;15(12):30894-912.
    PMID: 26690175 DOI: 10.3390/s151229834
    The lack of information on ground truth gas dispersion and experiment verification information has impeded the development of mobile olfaction systems, especially for real-world conditions. In this paper, an integrated testbed for mobile gas sensing experiments is presented. The integrated 3 m × 6 m testbed was built to provide real-time ground truth information for mobile olfaction system development. The testbed consists of a 72-gas-sensor array, namely Large Gas Sensor Array (LGSA), a localization system based on cameras and a wireless communication backbone for robot communication and integration into the testbed system. Furthermore, the data collected from the testbed may be streamed into a simulation environment to expedite development. Calibration results using ethanol have shown that using a large number of gas sensor in the LGSA is feasible and can produce coherent signals when exposed to the same concentrations. The results have shown that the testbed was able to capture the time varying characteristics and the variability of gas plume in a 2 h experiment thus providing time dependent ground truth concentration maps. The authors have demonstrated the ability of the mobile olfaction testbed to monitor, verify and thus, provide insight to gas distribution mapping experiment.
    Matched MeSH terms: Robotics
  19. 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
  20. MohdIsa W, Hunt A, HosseinNia SH
    Sensors (Basel), 2019 Sep 14;19(18).
    PMID: 31540032 DOI: 10.3390/s19183967
    Ionic polymer-metal composites (IPMC) are smart material transducers that bend in response to low-voltage stimuli and generate voltage in response to bending. IPMCs are mechanically compliant, simple in construction, and easy to cut into desired shape. This allows the designing of novel sensing and actuation systems, e.g., for soft and bio-inspired robotics. IPMC sensing can be implemented in multiple ways, resulting in significantly different sensing characteristics. This paper will review the methods and research efforts to use IPMCs as deformation sensors. We will address efforts to model the IPMC sensing phenomenon, and implementation and characteristics of different IPMC sensing methods. Proposed sensing methods are divided into active sensing, passive sensing, and self-sensing actuation (SSA), whereas the active sensing methods measure one of IPMC-generated voltage, charge, or current; passive methods measure variations in IPMC impedances, or use it in capacitive sensor element circuit, and SSA methods implement simultaneous sensing and actuation on the same IPMC sample. Frequency ranges for reliable sensing vary among the methods, and no single method has been demonstrated to be effective for sensing in the full spectrum of IPMC actuation capabilities, i.e., from DC to ∼100 Hz. However, this limitation can be overcome by combining several sensing methods.
    Matched MeSH terms: Robotics
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