Human Hand Motion Analysis and Synthesis of Optimal Power Grasps for a Robotic Hand

Biologically inspired robotic systems can find important applications in biomedical robotics, since studying and replicating human behaviour can provide new insights into motor recovery, functional substitution and human-robot interaction. The analysis of human hand motion is essential for collecting information about human hand movements useful for generalizing reaching and grasping actions on a robotic system. This paper focuses on the definition and extraction of quantitative indicators for describing optimal hand grasping postures and replicating them on an anthropomorphic robotic hand. A motion analysis has been carried out on six healthy human subjects performing a transverse volar grasp. The extracted indicators point to invariant grasping behaviours between the involved subjects, thus providing some constraints for identifying the optimal grasping configuration. Hence, an optimization algorithm based on the Nelder-Mead simplex method has been developed for determining the optimal grasp configuration of a robotic hand, grounded on the aforementioned constraints. It is characterized by a reduced computational cost. The grasp stability has been tested by introducing a quality index that satisfies the form-closure property. The grasping strategy has been validated by means of simulation tests and experimental trials on an arm-hand robotic system. The obtained results have shown the effectiveness of the extracted indicators to reduce the non-linear optimization problem complexity and lead to the synthesis of a grasping posture able to replicate the human behaviour while ensuring grasp stability. The experimental results have also highlighted the limitations of the adopted robotic platform (mainly due to the mechanical structure) to achieve the optimal grasp configuration

TECHNIKI ROZPOZNAWANIA TWARZY

The problem of face recognition is discussed. The main methods of recognition are considered. The calibrated stereo pair for the face and calculating the depth map by the correlation algorithm are used. As a result, a 3D mask of the face is obtained. Using three anthropomorphic points, then constructed a coordinate system that ensures a possibility of superposition of the tested mask.Omawiany jest problem rozpoznawania twarzy. Rozważane są główne metody rozpoznawania. Użyta zostaje skalibrowana para stereo dla twarzy oraz obliczanie mapy głębokości poprzez algorytm korelacji. W wyniku takiego, uzyskiwana jest maska twarzy w wymiarze 3D. Użycie trzech antropomorficznych punktów, a następnie skonstruowany systemu współrzędnych zapewnia możliwość nakładania się przetestowanej maski

2D-fluoroscopic navigated percutaneous screw fixation of pelvic ring injuries - a case series

<p>Abstract</p> <p>Background</p> <p>Screw fixation of pelvic ring fractures is a common, but demanding procedure and navigation techniques were introduced to increase the precision of screw placement. The purpose of this case series was the evaluation of screw misplacement rate and functional outcome of percutaneous screw fixation of pelvic ring disruptions using a 2D navigation system.</p> <p>Methods</p> <p>Between August 2004 and December 2007, 44 of 442 patients with pelvic injuries were included for closed reduction and percutaneous screw fixation of disrupted pelvic ring lesions using an optoelectronic 2D-fluoroscopic based navigation system. Operating and fluoroscopy time were measured, as well as peri- and postoperative complications documented. Screw position was assessed by postoperative CT scans. Quality of live was evaluated by SF 36-questionnaire in 40 of 44 patients at mean follow up 15.5 ± 1.2 month.</p> <p>Results</p> <p>56 iliosacral- and 29 ramus pubic-screws were inserted (mean operation time per screw 62 ± 4 minutes, mean fluoroscopy time per screw 123 ± 12 seconds). In post-operative CT-scans the screw position was assessed and graded as follows: I. secure positioning, completely in the cancellous bone (80%); II. secure positioning, but contacting cortical bone structures (14%); III. malplaced positioning, penetrating the cortical bone (6%). The malplacements predominantly occurred in bilateral overlapping screw fixation. No wound infection or iatrogenic neurovascular damage were observed. Four re-operations were performed, two of them due to implant-misplacement and two of them due to implant-failure.</p> <p>Conclusion</p> <p>2D-fluoroscopic navigation is a safe tool providing high accuracy of percutaneous screw placement for pelvic ring fractures, but in cases of a bilateral iliosacral screw fixation an increased risk for screw misplacement was observed. If additional ramus pubic screw fixations are performed, the retrograde inserted screws have to pass the iliopubic eminence to prevent an axial screw loosening.</p

Roadmap on optical security

Postprint (author's final draft

Computational Imaging and Artificial Intelligence: The Next Revolution of Mobile Vision

Signal capture stands in the forefront to perceive and understand the environment and thus imaging plays the pivotal role in mobile vision. Recent explosive progresses in Artificial Intelligence (AI) have shown great potential to develop advanced mobile platforms with new imaging devices. Traditional imaging systems based on the "capturing images first and processing afterwards" mechanism cannot meet this unprecedented demand. Differently, Computational Imaging (CI) systems are designed to capture high-dimensional data in an encoded manner to provide more information for mobile vision systems.Thanks to AI, CI can now be used in real systems by integrating deep learning algorithms into the mobile vision platform to achieve the closed loop of intelligent acquisition, processing and decision making, thus leading to the next revolution of mobile vision.Starting from the history of mobile vision using digital cameras, this work first introduces the advances of CI in diverse applications and then conducts a comprehensive review of current research topics combining CI and AI. Motivated by the fact that most existing studies only loosely connect CI and AI (usually using AI to improve the performance of CI and only limited works have deeply connected them), in this work, we propose a framework to deeply integrate CI and AI by using the example of self-driving vehicles with high-speed communication, edge computing and traffic planning. Finally, we outlook the future of CI plus AI by investigating new materials, brain science and new computing techniques to shed light on new directions of mobile vision systems

NASA Tech Briefs, December 1990

Topics: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

LASER Tech Briefs, Spring 1994

Topics in this Laser Tech Brief include: Electronic Components and Circuits. Electronic Systems, Physical Sciences, Materials, Mechanics, Fabrication Technology, and books and reports

Advanced photonic and electronic systems - WILGA 2017

WILGA annual symposium on advanced photonic and electronic systems has been organized by young scientist for young scientists since two decades. It traditionally gathers more than 350 young researchers and their tutors. Ph.D students and graduates present their recent achievements during well attended oral sessions. Wilga is a very good digest of Ph.D. works carried out at technical universities in electronics and photonics, as well as information sciences throughout Poland and some neighboring countries. Publishing patronage over Wilga keep Elektronika technical journal by SEP, IJET by PAN and Proceedings of SPIE. The latter world editorial series publishes annually more than 200 papers from Wilga. Wilga 2017 was the XL edition of this meeting. The following topical tracks were distinguished: photonics, electronics, information technologies and system research. The article is a digest of some chosen works presented during Wilga 2017 symposium. WILGA 2017 works were published in Proc. SPIE vol.10445