Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

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Computer- and robot-assisted Medical Intervention

Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends is given. A case-study is detailed. Other types of robotic help in the medical environment (such as for assisting a handicapped person, for rehabilitation of a patient or for replacement of some damaged/suppressed limbs or organs) are out of the scope of this chapter.Comment: Handbook of Automation, Shimon Nof (Ed.) (2009) 000-00

High-speed multi-dimensional relative navigation for uncooperative space objects

This work proposes a high-speed Light Detection and Ranging (LIDAR) based navigation architecture that is appropriate for uncooperative relative space navigation applications. In contrast to current solutions that exploit 3D LIDAR data, our architecture transforms the odometry problem from the 3D space into multiple 2.5D ones and completes the odometry problem by utilizing a recursive filtering scheme. Trials evaluate several current state-of-the-art 2D keypoint detection and local feature description methods as well as recursive filtering techniques on a number of simulated but credible scenarios that involve a satellite model developed by Thales Alenia Space (France). Most appealing performance is attained by the 2D keypoint detector Good Features to Track (GFFT) combined with the feature descriptor KAZE, that are further combined with either the H∞ or the Kalman recursive filter. Experimental results demonstrate that compared to current algorithms, the GFTT/KAZE combination is highly appealing affording one order of magnitude more accurate odometry and a very low processing burden, which depending on the competitor method, may exceed one order of magnitude faster computation

Robot Autonomy for Surgery

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision of care due to sub-millimeter robot control, real-time utilization of biosignals for interventional care, improvements to surgical efficiency and execution, and computer-aided guidance under various medical imaging and sensing modalities. While these methods may displace some tasks of surgical teams and individual surgeons, they also present new capabilities in interventions that are too difficult or go beyond the skills of a human. In this chapter, we provide an overview of robot autonomy in commercial use and in research, and present some of the challenges faced in developing autonomous surgical robots

Application of advanced technology to space automation

Automated operations in space provide the key to optimized mission design and data acquisition at minimum cost for the future. The results of this study strongly accentuate this statement and should provide further incentive for immediate development of specific automtion technology as defined herein. Essential automation technology requirements were identified for future programs. The study was undertaken to address the future role of automation in the space program, the potential benefits to be derived, and the technology efforts that should be directed toward obtaining these benefits

Prototyping Operational Autonomy for Space Traffic Management

Current state of the art in Space Traffic Management (STM) relies on a handful of providers for surveillance and collision prediction, and manual coordination between operators. Neither is scalable to support the expected 10x increase in spacecraft population in less than 10 years, nor does it support automated manuever planning. We present a software prototype of an STM architecture based on open Application Programming Interfaces (APIs), drawing on previous work by NASA to develop an architecture for low-altitude Unmanned Aerial System Traffic Management. The STM architecture is designed to provide structure to the interactions between spacecraft operators, various regulatory bodies, and service suppliers, while maintaining flexibility of these interactions and the ability for new market participants to enter easily. Autonomy is an indispensable part of the proposed architecture in enabling efficient data sharing, coordination between STM participants and safe flight operations. Examples of autonomy within STM include syncing multiple non-authoritative catalogs of resident space objects, or determining which spacecraft maneuvers when preventing impending conjunctions between multiple spacecraft. The STM prototype is based on modern micro-service architecture adhering to OpenAPI standards and deployed in industry standard Docker containers, facilitating easy communication between different participants or services. The system architecture is designed to facilitate adding and replacing services with minimal disruption. We have implemented some example participant services (e.g. a space situational awareness provider/SSA, a conjunction assessment supplier/CAS, an automated maneuver advisor/AMA) within the prototype. Different services, with creative algorithms folded into then, can fulfil similar functional roles within the STM architecture by flexibly connecting to it using pre-defined APIs and data models, thereby lowering the barrier to entry of new players in the STM marketplace. We demonstrate the STM prototype on a multiple conjunction scenario with multiple maneuverable spacecraft, where an example CAS and AMA can recommend optimal maneuvers to the spacecraft operators, based on a predefined reward function. Such tools can intelligently search the space of potential collision avoidance maneuvers with varying parameters like lead time and propellant usage, optimize a customized reward function, and be implemented as a scheduling service within the STM architecture. The case study shows an example of autonomous maneuver planning is possible using the API-based framework. As satellite populations and predicted conjunctions increase, an STM architecture can facilitate seamless information exchange related to collision prediction and mitigation among various service applications on different platforms and servers. The availability of such an STM network also opens up new research topics on satellite maneuver planning, scheduling and negotiation across disjoint entities

Coordination of appearance and motion data for virtual view generation of traditional dances

A novel method is proposed for virtual view generation of traditional dances. In the proposed framework, a traditional dance is captured separately for appearance registration and motion registration. By coordinating the appearance and motion data, we can easily control virtual camera motion within a dancer-centered coordinate system. For this purpose, a coordination problem should be solved between the appearance and motion data, since they are captured separately and the dancer moves freely in the room. The present paper shows a practical algorithm to solve it. A set of algorithms are also provided for appearance and motion registration, and virtual view generation from archived data. In the appearance registration, a 3D human shape is recovered in each time from a set of input images after suppressing their backgrounds. By combining the recovered 3D shape and a set of images for each time, we can compose archived dance data. In the motion registration, stereoscopic tracking is accomplished for color markers placed on the dancer. A virtual view generation is formalized as a color blending among multiple views, and a novel and efficient algorithm is proposed for the composition of a natural virtual view from a set of images. In the proposed method, weightings of the linear combination are calculated from both an assumed viewpoint and a surface normal.</p

Ready or Not? Protecting the Public's Health From Diseases, Disasters, and Bioterrorism, 2009

Based on ten indicators, assesses progress in the readiness of states, federal government, and hospitals to respond to public health emergencies, with a focus on the H1N1 flu. Outlines improvements and concerns in funding, accountability, and other areas

High Seas Fisheries Governance: A Framework for the Future?

This paper focuses on the importance of accountable governance arrangements to successfully manage high seas fisheries. It proposes replacing the current right of open access to high seas fisheries with defined property rights issued to nation states and managed within a governance framework designed to optimise environmental and economic outcomes from the use of high seas fisheries. We propose that the high seas freedom to fish be transformed to a right to share in the net wealth generated from sustainable harvest of high seas fisheries. Management of high seas fisheries should ensure that: (i) all nations have a right to benefit from high seas fisheries, (ii) all harvesting is environmentally sustainable, (iii) fisheries resources are used efficiently, and (iv) management agencies are accountable. Rather than relying on the cooperation of nations through regional fisheries management organisations (RFMOs), we suggest the establishment of accountable management organisations of which nations are beneficial owners. The paper presents a proposal we hope will prompt discussion and further research on alternative governance arrangements to achieve sustainable management of high seas fisheries.Accountability, governance, high seas fisheries, Resource /Energy Economics and Policy, D02, P48, Q22,