Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2007.1.206-1000
Y. Zhong, B. Shirinzadeh, Julian Smith
Soft tissue deformation is of great importance to virtual-reality-based-surgery simulation. This paper presents a new neural-dynamics-based methodology for simulation of soft tissue deformation from the perspective of energy propagation. A novel neural network is established to propagate the energy generated by an external force among mass points of a soft tissue. The stability of the proposed neural network system is proved by using the Lyapunov stability theory. A potential-based method is presented to derive the internal forces from the natural energy distribution established by the neural dynamics. Integration with a haptic device has been achieved for interactive deformation simulation with force feedback. The proposed methodology not only accommodates isotropic, anisotropic and inhomogeneous materials by simple modification of the control coefficients, but it also accepts large-range deformations.
{"title":"Soft Tissue Deformation with Neural Dynamics for Surgery Simulation","authors":"Y. Zhong, B. Shirinzadeh, Julian Smith","doi":"10.2316/Journal.206.2007.1.206-1000","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.1.206-1000","url":null,"abstract":"Soft tissue deformation is of great importance to virtual-reality-based-surgery simulation. This paper presents a new neural-dynamics-based methodology for simulation of soft tissue deformation from the perspective of energy propagation. A novel neural network is established to propagate the energy generated by an external force among mass points of a soft tissue. The stability of the proposed neural network system is proved by using the Lyapunov stability theory. A potential-based method is presented to derive the internal forces from the natural energy distribution established by the neural dynamics. Integration with a haptic device has been achieved for interactive deformation simulation with force feedback. The proposed methodology not only accommodates isotropic, anisotropic and inhomogeneous materials by simple modification of the control coefficients, but it also accepts large-range deformations.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125044838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2009.4.206-3160
L. Gracia, J. Tornero
{"title":"A Singularity-Based Approach to Improve Mobile Robot Motion Planning","authors":"L. Gracia, J. Tornero","doi":"10.2316/Journal.206.2009.4.206-3160","DOIUrl":"https://doi.org/10.2316/Journal.206.2009.4.206-3160","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125821487","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2013.4.206-3923
Xiangrong Shen, Garrett Waycaster, Sai-Kit Wu
{"title":"Design and Control of a Variable-radius Pulley-Based pneumatic Artificial muscle actuation System","authors":"Xiangrong Shen, Garrett Waycaster, Sai-Kit Wu","doi":"10.2316/Journal.206.2013.4.206-3923","DOIUrl":"https://doi.org/10.2316/Journal.206.2013.4.206-3923","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125855746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2017.5.206-5055
Yan Bai, Zhichen Li, Congzhi Huang, Huaicheng Yan
{"title":"New stability criteria for interval Time-delay Systems by Improved integral inequalities","authors":"Yan Bai, Zhichen Li, Congzhi Huang, Huaicheng Yan","doi":"10.2316/Journal.206.2017.5.206-5055","DOIUrl":"https://doi.org/10.2316/Journal.206.2017.5.206-5055","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126099367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Real-Time Data-Driven control System for Multi-motor-Driven Mechanisms","authors":"Huashan Liu, Lingbin Zeng, Wuneng Zhou, Shiqiang Zhu","doi":"10.2316/Journal.206.2017.6.206-5011","DOIUrl":"https://doi.org/10.2316/Journal.206.2017.6.206-5011","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123455562","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2017.2.206-4705
Christopher Archibald, Luke Schwalm, J. Ball
Robotic systems are rapidly becoming more prolific and being used for an increasing range of tasks. The more integrated they are with sensitive tasks and with their users’ lives and likelihoods, the greater desirability they possess as targets to would-be attackers. Security has not yet been a major focus within robotics. This article surveys literature related to robotic systems security, specifically identifying vulnerabilities, attacks, and solutions in order to help roboticists understand why to focus on security throughout their design, potential problems they could face, and steps they can take to address these.
{"title":"A Survey of Security in robotic Systems: Vulnerabilities, Attacks, and solutions","authors":"Christopher Archibald, Luke Schwalm, J. Ball","doi":"10.2316/Journal.206.2017.2.206-4705","DOIUrl":"https://doi.org/10.2316/Journal.206.2017.2.206-4705","url":null,"abstract":"Robotic systems are rapidly becoming more prolific and being used for an increasing range of tasks. The more integrated they are with sensitive tasks and with their users’ lives and likelihoods, the greater desirability they possess as targets to would-be attackers. Security has not yet been a major focus within robotics. This article surveys literature related to robotic systems security, specifically identifying vulnerabilities, attacks, and solutions in order to help roboticists understand why to focus on security throughout their design, potential problems they could face, and steps they can take to address these.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126613829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2018.3.206-5440
D. Yang, Anxiang Lu, Jihua Wang
{"title":"Classification of Cooked Beef, Lamb, and Pork using hyperspectral imaging","authors":"D. Yang, Anxiang Lu, Jihua Wang","doi":"10.2316/Journal.206.2018.3.206-5440","DOIUrl":"https://doi.org/10.2316/Journal.206.2018.3.206-5440","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126772320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2016.3.206-4334
S. M. Dehghan, H. Moradi, M. Shahabadi, M. Farmani
{"title":"Fusion of Drssi and AOA for Aerial localization of an RF Source with unknown transmitted Power","authors":"S. M. Dehghan, H. Moradi, M. Shahabadi, M. Farmani","doi":"10.2316/Journal.206.2016.3.206-4334","DOIUrl":"https://doi.org/10.2316/Journal.206.2016.3.206-4334","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115024620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2005.1.206-2774
Hellward Broszio, Thorsten Thormählen, Patrick Mikulastik
{"title":"Using Mosaic Images to Simplify the Integration of Virtual Objects into Image Sequences","authors":"Hellward Broszio, Thorsten Thormählen, Patrick Mikulastik","doi":"10.2316/Journal.206.2005.1.206-2774","DOIUrl":"https://doi.org/10.2316/Journal.206.2005.1.206-2774","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115097160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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