Article
Engineering, Mechanical
Amanpreet Singh, Jitendra P. Khatait
Summary: This paper introduces a novel approach to model the kinematics of parallelogram-based mechanisms by accounting for the error in manufactured link parameters. The results obtained through the proposed approach showed better agreement with experimental results, indicating an improvement in positional accuracy of the RCM and surgical end-effector. The presented method proves to be effective and applicable to other parallelogram-based mechanisms as well.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2023)
Article
Computer Science, Artificial Intelligence
Hang Su, Wen Qi, Jiahao Chen, Dandan Zhang
Summary: This paper proposes a task-space control approach based on fuzzy approximation for a teleoperated surgery scenario utilizing a serial redundant robot manipulator. The accuracy and safety of the surgical operation are improved by considering and estimating the dynamical uncertainties caused by the physical interaction.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2022)
Article
Automation & Control Systems
Theodora Kastritsi, Zoe Doulgeri
Summary: This article presents a solution to the restriction of motion in minimally invasive surgery procedures. By designing a target admittance model and control scheme, the robot tool can be manipulated by a human without entering or touching forbidden regions, enhancing the user's feeling of control over the task.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2022)
Article
Computer Science, Artificial Intelligence
Ameer Tamoor Khan, Shuai Li
Summary: The paper proposes a optimization-driven approach for performing surgical maneuvers under RCM constraints, using a bio-inspired optimization algorithm to efficiently solve the problem. MATLAB was used to simulate a surgical procedure, and the ZNNBAS was tested on a 7-DOF surgical robot with promising results, demonstrating its efficiency and robustness in enforcing RCM constraints.
Article
Engineering, Mechanical
Zhi Wang, Wuxiang Zhang, Xilun Ding
Summary: A novel metamorphic RCM mechanism is proposed in this paper, which adapts to different motion requirements through analysis of mobilities and motion reconstructions. By establishing kinematic models and branch transformations, it can achieve movement with three different types of RCMs.
MECHANISM AND MACHINE THEORY
(2022)
Article
Health Care Sciences & Services
Xinwei Li, Zhipeng Deng, Qiaoling Meng, Shaoping Bai, Wenming Chen, Hongliu Yu
Summary: This study proposed a new design of HDP that restored the rotation center to the acetabulum of the amputated side and verified its effectiveness through experiments. The results showed that the new design improved the range of motion of the prosthesis and promoted symmetry.
TECHNOLOGY AND HEALTH CARE
(2021)
Article
Automation & Control Systems
Zhiwei Cui, Weibing Li, Xue Zhang, Philip Wai Yan Chiu, Zheng Li
Summary: This study focuses on the requirements for endoscope in minimally invasive surgery and proposes a dual neural network (DNN) controller for a flexible endoscopic robot (FER) with 10 DOF. A control scheme involving tracking error, joint motion, and RCM constraints is established and a DNN solver with adjustable parameters is designed to improve convergence rate and antinoise ability. Simulations and experiments verify the effectiveness of the control scheme.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Robotics
Yafei Ou, Mahdi Tavakoli
Summary: This letter presents a method for learning to automate internal tissue point manipulation in robotic surgeries. It utilizes a sim-to-real framework to learn a control policy using deep reinforcement learning (DRL) in a simulation environment, and plans grasping points that minimize local tissue deformation using Bayesian optimization (BO). Experimental results show accurate placement of internal tissue points and minimal tissue deformation.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Robotics
Parikshit Maini, Burak M. Gonultas, Volkan Isler
Summary: This paper presents the design of Cowbot, an autonomous weed mowing robot for maintaining cow pastures. The robot utilizes online planning to detect and mow weeds, optimizing path length based on real-time information. Field experiments show a 60% reduction in path length compared to traditional methods.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Mechanical
Amanpreet Singh, Jitendra P. Khatait
Summary: This study proposes a method to reduce errors in the RCM mechanism through accurate kinematic modeling and the design of flexible mechanical elements. The method is not only applicable to the adopted mechanism, but can also be extended to other mechanisms, offering a more simplified and economical design. The prototype of the mechanism is manufactured using laser micromachining and rapid prototyping techniques, and both theoretical and physical validations have been performed to demonstrate its effectiveness.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2023)
Article
Chemistry, Multidisciplinary
Minhyo Kim, Youqiang Zhang, Sangrok Jin
Summary: This paper introduces a control strategy for a surgical assistant robot to ensure precise maintenance of the remote center position. The robot maintains the position of the insertion port in three-dimensional space while moving smoothly during surgery with hand control.
APPLIED SCIENCES-BASEL
(2021)
Article
Automation & Control Systems
Claudia D'Ettorre, Andrea Mariani, Agostino Stilli, Ferdinando Rodriguez Y. Baena, Pietro Valdastri, Anton Deguet, Peter Kazanzides, Russell H. Taylor, Gregory S. Fischer, Simon P. DiMaio, Arianna Menciassi, Danail Stoyanov
Summary: Robotic-assisted surgery has become the gold-standard clinical treatment option for several clinical indications and is expected to see substantial growth in the next decade. The repurposing of decommissioned da Vinci surgical systems as a research platform through the da Vinci Research Kit has been crucial in addressing barriers for new research groups in surgical robotics.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2021)
Article
Engineering, Electrical & Electronic
Diego Silva, Julio Garrido, Enrique Riveiro
Summary: Research on motion control automation of Stewart Platforms with industrial configurations is relatively scarce in the literature. This paper presents an analysis of design, kinematic modelling, and trajectory generation, as well as the application of direct kinematics and automation architecture. The results of inverse kinematic in different scenarios are presented, along with the study of efficient real-time calculation of direct kinematics.
Article
Automation & Control Systems
Joyce Xin-Yan Lim, Dasheng Leow, Quang-Cuong Pham, Choon-Hong Tan
Summary: Automated chemical synthesis system based on a robot arm mimicking human motions enables complex reactions to be carried out without modifying existing apparatus, offering flexibility and convenience. The system is capable of liquid handling, mixing, filtering, and adding new skills and procedures with minimal effort. Customizable production sequence by chaining tasks together is possible, with the system demonstrating automated Michael reaction with comparable yield to a junior chemist.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2021)
Article
Computer Science, Information Systems
Ameer Hamza Khan, Shuai Li, Xinwei Cao
Summary: A recurrent neural network (RNN) is proposed for the tracking control of surgical robots while satisfying remote center-of-motion (RCM) constraints. The RCM constraints are unified with tracking control using a penalty-term approach, and an RNN-based metaheuristic optimization algorithm is proposed for solving the optimization problem in real time. The control framework can track the surgeon's commands and satisfy the RCM constraints simultaneously, with theoretical analysis demonstrating stability and convergence.
SCIENCE CHINA-INFORMATION SCIENCES
(2021)
Article
Computer Science, Hardware & Architecture
Sumbal Iqbal, Osman Hasan, Rehan Hafiz, Zeshan Aslam Khan
Summary: Approximate computing allows for compromising accuracy for energy and performance efficiency, but traditional hardware often falls short in meeting changing accuracy requirements. Quality scalable configurations, such as the proposed low-power quality scalable approximate multiplier (LPQ-SAM), show significant power reduction in approximate mode. The LPQ-SAM demonstrates effectiveness in real-time applications such as image masking.
JOURNAL OF CIRCUITS SYSTEMS AND COMPUTERS
(2021)
Article
Computer Science, Hardware & Architecture
Adnan Rashid, Osman Hasan
Summary: This paper proposes to use higher-order logic theorem proving to reason about the dynamical behavior of Cyber-Physical Systems (CPS) based on Laplace and Fourier transforms. By formalizing and verifying the solutions of differential equations in both time and frequency domains, this approach ensures absolute accuracy and facilitates formal dynamical analysis of CPS. This method serves as a crucial tool for the formal verification of CPS dynamics.
JOURNAL OF SYSTEMS ARCHITECTURE
(2021)
Article
Computer Science, Artificial Intelligence
M. Saqib Nawaz, M. Zohaib Nawaz, Osman Hasan, Philippe Fournier-Viger, Meng Sun
Summary: This paper presents two evolutionary and heuristic-based proof searching approaches applied to the HOL4 proof assistant. By using genetic algorithm and simulated annealing to optimize proof sequences, the results show that these methods can efficiently evolve random sequences to obtain target sequences. However, these approaches lack the ability to learn the proof process, prompting the proposal of combining deep learning techniques for proof learning and prediction.
APPLIED INTELLIGENCE
(2021)
Article
Robotics
Xixun Wang, Sajid Nisar, Fumitoshi Matsuno
Summary: By proposing a new grasp detection method using point cloud and sensor pose information to generate a "visible point-cloud", unsafe grasp candidates can be quickly and efficiently eliminated, resulting in higher grasp success rate.
Article
Engineering, Electrical & Electronic
Mishal Fatima Minhas, Osman Hasan, Sa'ed Abed
Summary: This paper presents a hybrid model checking - theorem proving approach for the formal functional verification of digital circuits (HVoC), which first replaces the structural implementations with behavior implementations and then verifies them using a model checker. This approach not only reduces computational complexity but is also effective in terms of counterexample generation time, showing an average 50% reduction in analysis time in experiments.
JOURNAL OF ELECTRONIC TESTING-THEORY AND APPLICATIONS
(2021)
Article
Computer Science, Information Systems
Bharath Srinivas Prabakaran, Asima Akhtar, Semeen Rehman, Osman Hasan, Muhammad Shafique
Summary: The study introduces the BioNetExplorer framework for systematic generation and exploration of multiple DNN architectures for biosignal processing in wearable devices. By varying neural architecture parameters and deploying genetic algorithms, the framework aims to find an embedded DNN architecture with low hardware overhead and reduce exploration time.
IEEE INTERNET OF THINGS JOURNAL
(2021)
Article
Computer Science, Hardware & Architecture
Faiq Khalid, Imran Hafeez Abbassi, Semeen Rehman, Awais Mehmood Kamboh, Osman Hasan, Muhammad Shafique
Summary: This article proposes a novel model checking-based methodology for analyzing hardware trojan-based security vulnerabilities in sequential circuits. By addressing the state-space explosion issue, it enables distributed security analysis of complex sequential circuits. Experimental results demonstrate that the proposed method provides a significantly faster analysis time compared to the state-of-the-art techniques.
IEEE TRANSACTIONS ON COMPUTER-AIDED DESIGN OF INTEGRATED CIRCUITS AND SYSTEMS
(2022)
Article
Robotics
Farhad Shabani, Sajid Nisar, Fumitoshi Matsuno
Summary: This paper describes the design and performance evaluation of a flexible wearable haptic device that aims to provide full kinesthetic haptic feedback for robot-assisted surgery. The proposed device separates the haptic loop and the leader-follower control, which circumvents control instability issues and enables a safe and immersive haptic experience.
ARTIFICIAL LIFE AND ROBOTICS
(2023)
Article
Computer Science, Information Systems
Mohammad Hassan, Falah Awwad, Mohamed Atef, Osman Hasan
Summary: The paper proposes using approximate computing-based algorithms on FPGAs for processing neural signals acquired from MEAs. By utilizing approximate computing, the system can achieve better performance in terms of system area, power consumption, and real-time processing latency at the cost of reduced output accuracy within certain bounds. Results show a speed enhancement of up to 37.6% in some approximate systems without a loss in accuracy.
Article
Computer Science, Information Systems
Neelma Naz, Hasan Sajid, Sara Ali, Osman Hasan, Muhammad Khurram Ehsan
Summary: Sign language recognition is important for the deaf and speech-impaired community to communicate with society. This paper proposes a lightweight pose-based graph convolution network for accurate and efficient recognition of signed words. The proposed model outperforms previous state-of-the-art methods in terms of accuracy and computational complexity.
Proceedings Paper
Computer Science, Cybernetics
Farhad Shabani, Sajid Nisar, Fumitoshi Matsuno
Summary: This is a new hand-grounded semi-flexible kinesthetic haptic device designed to fully meet the needs of Robot-Assisted Surgeries (RAS).
2021 IEEE WORLD HAPTICS CONFERENCE (WHC)
(2021)
Article
Computer Science, Cybernetics
Farhad Shabani, Sajid Nisar, Hemma Philamore, Fumitoshi Matsuno
Summary: This study proposes haptics as an alternative means for neurofeedback and investigates its effectiveness through two user studies. The results show that haptics feedback performs similarly to visual feedback in regular brain-training tasks, but outperforms visual feedback when users engage in a secondary task simultaneously.
IEEE TRANSACTIONS ON HAPTICS
(2021)
Proceedings Paper
Engineering, Electrical & Electronic
Tram Tariq Bhatti, Osman Hasan
PROCEEDINGS OF THE TWENTYFIRST INTERNATIONAL SYMPOSIUM ON QUALITY ELECTRONIC DESIGN (ISQED 2020)
(2020)
Article
Computer Science, Hardware & Architecture
Faiq Khalid, Syed Rafay Hasan, Sara Zia, Osman Hasan, Falah Awwad, Muhammad Shafique
IEEE TRANSACTIONS ON COMPUTER-AIDED DESIGN OF INTEGRATED CIRCUITS AND SYSTEMS
(2020)
Article
Engineering, Aerospace
Sa'ed Abed, Adnan Rashid, Osman Hasan
JOURNAL OF AEROSPACE INFORMATION SYSTEMS
(2020)
