A5078219852- Soft Robotics and Applications
- Robotic Path Planning Algorithms
- Surgical Simulation and Training
- Video Surveillance and Tracking Methods
- Robotics and Sensor-Based Localization
- Advanced Neural Network Applications
- Infrared Target Detection Methodologies
- Augmented Reality Applications
- Fire Detection and Safety Systems
- Anatomy and Medical Technology
- Teleoperation and Haptic Systems
- Muscle activation and electromyography studies
- UAV Applications and Optimization
- Advanced Image and Video Retrieval Techniques
- Stroke Rehabilitation and Recovery
- Advanced Vision and Imaging
- Image Enhancement Techniques
- Power Line Inspection Robots
- Smart Agriculture and AI
- Smart Parking Systems Research
- Space Satellite Systems and Control
- Satellite Image Processing and Photogrammetry
- Visual Attention and Saliency Detection
- Aerospace Engineering and Control Systems
- Gaze Tracking and Assistive Technology
New York University Abu Dhabi
2018-2024
New York University
2022-2023
University of Patras
2011-2021
Manchester School of Architecture
1996
Recent object tracking methods depend upon deep networks or convoluted architectures. Most of those trackers can hardly meet real-time processing requirements on mobile platforms with limited computing resources. In this work, we introduce the Siamese Transformer Pyramid Network (SiamTPN), which inherits advantages from both CNN and Specifically, exploit inherent feature pyramid a lightweight network (ShuffleNetV2) reinforce it to construct robust target-specific appearance model. A...
The 1 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">st</sup> Workshop on Maritime Computer Vision (MaCVi) 2023 focused maritime computer vision for Unmanned Aerial Vehicles (UAV) and Surface Vehicle (USV), organized several subchallenges in this domain: (i) UAV-based Object Detection, (ii) Mar-itime Tracking, (iii) USV-based Obstacle Segmentation (iv) Detection. were based the SeaDronesSee MODS benchmarks. This report summarizes main findings...
The development and experimental evaluation of a prototype endoscopic robotic surgical tool is presented in this article. Smart memory alloys (SMA) are used as wires tendon-driven actuation mechanism. 27V-DOF redundant manipulator cascade configuration N-universal joint modules. kinematics the analyzed simple yet effective controllers relying on constrained non-linear optimization problem offered. tool's shape can be deformed according to predefined profile leading more versatile...
The visual tracking problem of Unmanned Aerial Vehicles (UAVs) with a Pan-Tilt-Zoom (PTZ) camera system is the subject this article. Given background an image acquired by PTZ-camera system, border encompassing moving object computed relying on optical flow and histogram oriented gradients. Deep Learning (DL) algorithms are trained off-line to decide existence UAV within border. Particularly, ResNet-50 model was using collected data set more than 50,000 registered positive images. Having...
UAVs operating in a leader-follower formation demand the knowledge of relative pose between collaborating members. This necessitates RF-communication this information which increases communication latency and can easily result lost data packets. In work, rather than relying on autopilot exchange, visual scheme using passive markers is presented. Each formation-member carries RhOct configuration. These are visually detected members on-board determined, thus eliminating need for...
This work is devoted to the presentation of a Wireless Sensor System implementation for upper limb rehabilitation function as complementary system patient’s progress supervision during exercises. A cost effective motion capture sensor node composed by 9 Degrees-of-Freedom (DoF) Inertial Measurement Unit (IMU) mounted on segments and sends wirelessly corresponding measured signals base station. The orientation individual movement in 3-Dimensional (3D) space are derived processing sensors’ raw...
The design, fabrication and testing of an SMA-actuated redundant robotic-probe for minimally invasive surgical procedures is the subject this article. resulting probe lightweight, modular its controller relies on antagonistic principle each pair tendons. developed platform consists a twelve Degree Freedom snake-like attached to pan-tilt mechanized unit. probe's dimensions are fit typical ablations endoscopic operations. An augmented reality environment developed, coupling haptic feedback...
A fuzzy rule-based and energy-efficient method for estimating the free size of parking places in smart cities is proposed. In particular, estimation output value a inference system (FIS) which was implemented on each wireless sensor mote (WSM) network (WSN) placed ground below it observed that requires 8.9 Kbytes 5 flash program memory RAM respectively. Moreover, rules were formulated by using real numerical data obtained from WSN. Next, well known simulator 2 (NS-2) used acquiring...
In this work the visual tracking of an evading UAV using a pursuer-UAV is examined. The developed method combines principles deep learning, optical flow, intra-frame homography and correlation based tracking. A Yolo tracker for short term employed, complimented by flow techniques. case there no detected evader-UAV, MOSSE algorithm re-initializes search PTZ-camera zooms-out to cover wider Filed View. camera's controller adjusts pan tilt angles so that evader-UAV as close center view possible,...
This article focuses on the utilization of a mobile robot as data mule for collecting and transferring from wireless sensor system (WSN). Each static node within WSN has its generation rate resulting in an imposed inter-visit duration due to hardware limitations. The element/robot approaches nodes, collects their stored data, transfers these depot station. In adopted scenario, assumes prior knowledge nodes' locations corresponding trajectories are extracted by solving combinatorial...
This article is concerned with the design, implementation and control of a redundant robotic tool for Minimal Invasive Surgical (MIS) operations. The modular, comprised identical stages dual rotational Degrees Freedom (DoF). An antagonistic tendon-driven mechanism using two DC-motors in puller-follower configuration used each DoF. inherent Coulomb friction compensated an adaptive scheme while varying follower's reaction. Preliminary experimental results are provided to investigate efficiency...
Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization capable of monitoring 360° Field-of-View (FoV) the immediate surroundings UAS using spherical camera. Collaborating UASs carry set fiducial markers which are detected by camera-system. The image is partitioned and rectified into square images. An algorithm proposed select number images...
The control problem of a multi-copter swarm, physically connected within modular lattice structure, is considered in this article. end-to-end mechanical structure having as nodes, copters, able to achieve proper flight an entire aerial vehicle. A graph-based procedure presented for analysing any type generated by the proposed usage polygons and rods. devised controller utilizes total thrust provided each copter lift vehicle regulate its roll pitch angles while attempting maximize time with...
The design of an omnidirectional octorotor (OmniOcta) is the scope this article. pose UAV's thrusters computed via optimization algorithm that guarantees omnidirectionality platform. thrusters' positions are restricted in a semispherical volume with different polar coordinates while their determined order to avoid interaction between propellers' air-funnels. manufactured using 3D printed parts and its employed electronics were selected so as have smallest weight. number was then minimal...
The design, implementation and experimental evaluation of a minimally invasive surgical robotic instrument is presented in this article. tool constructed using rapid prototyping techniques each degree-of-freedom actuated via an antagonistic tendon driven mechanism servo motors. accompanying software runs under the Robot Operating System framework. kinematics are discussed efficiency system investigated studies, which showcased order to assess its potential use clinical environment.
In this article, a novel robotic platform for assisted minimally invasive surgical operations is presented. The consists of 3 Degree-of-Freedom (DoF) passive tool holder and 12 DoF probe dexterous motion upon insertion. developed prototype presented in terms its mechatronic kinematic structure. Regarding actuation, hybrid solution comprising servo-motors the extraoperative part robot shape-memory-alloy actuators intraoperative adopted. latter are evaluated establishing an efficient...
A fire fighting aerial system is considered in this article. Such a comprised of tethered hose, high pressure water pump, and multirotor vehicle. In paper, the overall dynamic model developed, taking into account behavior hose recoil force exiting water-jet. The vehicle designed with vertical lateral rotors, offering an additional actuation input to aid compensation effects model-based controller developed guarantee stable flight localization method proposed, where vehicle's relative...
The development and experimental evaluation of a prototype robotic surgical tool is presented in this article. Servo motors are used as actuators tendon-driven actuation mechanism. 2 Degree-of-Freedom (DoF) manipulator cascade configuration rotational joint modules. Each DoF actuated independently by the corresponding tendon pair pulley-driven configuration. design, fabrication kinematics analyzed. Moreover, efficiency overall system investigated studies, utilizing two performance methods....
This article presents the development of a custom designed motion capture system for assisting physicians in upper limb rehabilitation. The scope implementation is reduction costs and hospitalization time related with existing systems. architecture revolves around sensing nodes, each utilizing an Inertial Measurement Unit (IMU), mounted on patient. A physical working prototype implemented evaluated using vision-based passive marker detection techniques. Additionally, generic kinematic model,...
In this paper the design and positioning efficiency tests of a robotic endoscope prototype for Minimally Invasive Surgical (MIS) operations are presented. The manufactured probe features twelve Degrees-of-Freedom (DoF), using universal joints links in redundant configuration. For actuation, Shape Memory Alloys (SMAs) used smart configuration, alongside custom electronics real-time motion monitoring. Preliminary vitro experiments presented an attempt to investigate robot typical surgical manoeuvres.
This article presents the design and experimental evaluation of a prototype robotic platform for minimally invasive surgical procedures. The utilizes hybrid actuation scheme, consisting 5 Degree-of-Freedom (DoF) servo-actuated manipulator extra-operative pivoting motion 4 DoF shape memory alloy actuated probe at distal end, intra-operative dexterity. architecture targets thoracic abdominal operations, with low interaction forces probe's end-effector. system, runs under Robot Operating System...
Demonstrates the training value of a new computer‐aided learning package, SQCC_ATT. Control charts are used extensively in quality management, and computer simulation provides valuable facility for generating under variety different working assumptions. Warns about potential misuse control by untrained inexperienced staff. Concludes that specialist games likely to play an increasingly important role management techniques.