34 research outputs found
HEROES: Unreal Engine-based Human and Emergency Robot Operation Education System
Training and preparing first responders and humanitarian robots for Mass
Casualty Incidents (MCIs) often poses a challenge owing to the lack of
realistic and easily accessible test facilities. While such facilities can
offer realistic scenarios post an MCI that can serve training and educational
purposes for first responders and humanitarian robots, they are often hard to
access owing to logistical constraints. To overcome this challenge, we present
HEROES- a versatile Unreal Engine simulator for designing novel training
simulations for humans and emergency robots for such urban search and rescue
operations. The proposed HEROES simulator is capable of generating synthetic
datasets for machine learning pipelines that are used for training robot
navigation. This work addresses the necessity for a comprehensive training
platform in the robotics community, ensuring pragmatic and efficient
preparation for real-world emergency scenarios. The strengths of our simulator
lie in its adaptability, scalability, and ability to facilitate collaboration
between robot developers and first responders, fostering synergy in developing
effective strategies for search and rescue operations in MCIs. We conducted a
preliminary user study with an 81% positive response supporting the ability of
HEROES to generate sufficiently varied environments, and a 78% positive
response affirming the usefulness of the simulation environment of HEROES
ARTEMIS: AI-driven Robotic Triage Labeling and Emergency Medical Information System
Mass casualty incidents (MCIs) pose a formidable challenge to emergency
medical services by overwhelming available resources and personnel. Effective
victim assessment is paramount to minimizing casualties during such a crisis.
In this paper, we introduce ARTEMIS, an AI-driven Robotic Triage Labeling and
Emergency Medical Information System. This system comprises a deep learning
model for acuity labeling that is integrated with a robot, that performs the
preliminary assessment of injury severity in patients and assigns appropriate
triage labels. Additionally, we have developed a frontend (graphical user
interface) that is updated by the robots in real time and is accessible to the
first responders. To validate the reliability of our proposed algorithmic
triage protocol, we employed an off-the-shelf robot kit equipped with sensors
for vital sign acquisition. A controlled laboratory simulation of an MCI was
conducted to assess the system's performance and effectiveness in real-world
scenarios resulting in a triage-level classification accuracy of 92%. This
noteworthy achievement underscores the model's proficiency in discerning
crucial patterns for accurate triage classification, showcasing its promising
potential in healthcare applications
Graph-based Decentralized Task Allocation for Multi-Robot Target Localization
We introduce a new approach to address the task allocation problem in a
system of heterogeneous robots comprising of Unmanned Ground Vehicles (UGVs)
and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or
\textbf{G}raph \textbf{A}ttention \textbf{T}ask \textbf{A}llocato\textbf{R}
aggregates information from neighbors in the multi-robot system, with the aim
of achieving joint optimality in the target localization efficiency.Being
decentralized, our method is highly robust and adaptable to situations where
collaborators may change over time, ensuring the continuity of the mission. We
also proposed heterogeneity-aware preprocessing to let all the different types
of robots collaborate with a uniform model.The experimental results demonstrate
the effectiveness and scalability of the proposed approach in a range of
simulated scenarios. The model can allocate targets' positions close to the
expert algorithm's result, with a median spatial gap less than a unit length.
This approach can be used in multi-robot systems deployed in search and rescue
missions, environmental monitoring, and disaster response
DeFINE: Delayed Feedback based Immersive Navigation Environment for Studying Goal-Directed Human Navigation
With the advent of consumer-grade products for presenting an immersive
virtual environment (VE), there is a growing interest in utilizing VEs for
testing human navigation behavior. However, preparing a VE still requires a
high level of technical expertise in computer graphics and virtual reality,
posing a significant hurdle to embracing the emerging technology. To address
this issue, this paper presents Delayed Feedback based Immersive Navigation
Environment (DeFINE), a framework that allows for easy creation and
administration of navigation tasks within customizable VEs via intuitive
graphical user interfaces and simple settings files. Importantly, DeFINE has a
built-in capability to provide performance feedback to participants during an
experiment, a feature that is critically missing in other similar frameworks.
To show the usability of DeFINE from both experimentalists' and participants'
perspectives, a demonstration was made in which participants navigated to a
hidden goal location with feedback that differentially weighted speed and
accuracy of their responses. In addition, the participants evaluated DeFINE in
terms of its ease of use, required workload, and proneness to induce
cybersickness. The demonstration exemplified typical experimental manipulations
DeFINE accommodates and what types of data it can collect for characterizing
participants' task performance. With its out-of-the-box functionality and
potential customizability due to open-source licensing, DeFINE makes VEs more
accessible to many researchers.Comment: 43 pages, 10 figures, 5 tables, Submitted to Behavioral Research
Method
Pectoralis major myocutaneous flap in head and neck reconstruction: an interesting experience from central India regional cancer center
Background: Head and neck cancer are sixth most common cancers worldwide with cancer of oral cavity most common. The primary treatment modality for oral cavity cancer has been surgery and defects resulting from the ablation of the tumors require reconstruction. the PMMC flap offer an easy, less time consuming with minimal postoperative complication as a reconstructive option in the hands of reconstructive surgeon. The objective of our study was to give a precise description of our experience with the PMMC flap as a reconstructive option in post-ablative head and cancer surgery.Methods: The current prospective study was conducted in the Department of Surgical Oncology, Regional cancer center, Pt. JNMC, Raipur (C.G.), India from the January 2014 to June 2015. Detailed clinical history and examination of the patients were recorded. All Investigations relevant to the study were done before the surgical procedure. Procedure was performed as per standard protocol and reconstruction was made with PMMC flap. Data was compiled in MS Excel and checked for its completeness and correctness. Then it was analyzed.Results: In the present study male to female ratio was 2:1. Most of the patients belongs to the age group of 41-60 (55.55%) followed by 21-40 (30.15%). In the present study majority of patient of oral malignancy presented with lower alveolus malignancy (36.5%) followed by buccal mucosa malignancy (19.06%).Conclusions: Pectoralis major myocutaneous flap was found to be a versatile flap for reconstruction of large defects in Head and Neck region with minimal complication rate.