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Multichannel Nonnegative Matrix Factorization With Motor Data-Regularized Activations For Robust Ego-Noise Suppression
The suppression of ego-noise is often addressed using dictionary-based methods where the characteristic spectral structure of ego-noise is approximated by a linear combination of dictionary entries. A blind, entirely audio data-based select...
Estimation Of Fields Using Binary Measurements From A Mobile Agent
In this paper we consider the problem of field estimation using a mobile autonomous agent. The agent is equipped with a sensor which can make noisy binary measurements of the field. We model the field as a sum of radial basis functions, who...
Information-Bottleneck-Based Behavior Representation Learning for Multi-Agent Reinforcement Learning
In multi-agent deep reinforcement learning, extracting sufficient and compact information of other agents is critical to attain efficient convergence and scalability of an algorithm. In canonical frameworks, distilling of such information i...
Toward Semi-Autonomous Stiffness Adaptation of Pneumatic Soft Robots: Modeling and Validation
The constant stiffness of the soft medical robots imposes a cap on their force transmission capacity. To address this limitation, the objective of this study was to investigate the effects of chamber pressure on the stiffness of pneumatic s...
Improving a User’s Haptic Perceptual Sensitivity by Optimizing Effective Manipulability of a Redundant User Interface
Human perceptual sensitivity of various types of forces, e.g., stiffness and friction, is important for surgeons during robotic surgeries such as needle insertion and palpation. However, force feedback from robot end-effector is usually a c...
An Open-Source Platform for Cooperative, Semi-Autonomous Robotic Surgery
Introduction: In this paper, we present and assess a proof of concept platform for semi-autonomous, cooperative robotic surgery. The platform is easily reproducible thanks to simple hardware components and open-source software. Moreover, th...
A Classical Machine Learning Approach For Emg-Based Lower Limb Intention Detection For Human-Robot Interaction Systems
Surface Electromyography (sEMG)-based intention-detection systems of lower limb can intelligently augment human- robot interaction (HRI) systems to detect subject’s walking direction prior-to or during walking. Ten Subject-Exclusive (Subj-...
A Vision-Based Method For Estimating Contact Forces In Intracardiac Catheters
Atrial fibrillation is a kind of cardiac arrhythmia in which the electrical signals of the heart are uncoordinated. The prevalence of this disease is increasing globally and the curative treatment for this problem is catheter ablation thera...
Experimental Validation of Domain Knowledge Assisted Robotic Exploration and Source Localization
In situations where toxic or dangerous airborne material is leaking, mobile robots equipped with gas sensors are a safe alternative to human reconnaissance. This work presents the Domain Knowledge Assisted Robotic Exploration and Source Loc...
Deliberation For Intra-Vehicle Robotic Activities In Space
Intra-Vehicular Robotics (IVR) for space exploration vehicles describes robotic capabilities to perform Intra-vehicle activity (IVA) in an autonomous or remotely operated manner. This paper focuses on autonomy, and more specifically, on the...