Comparative Quantitative Analysis of Robotic Ultrasound Image Calibration Methods

Author(s):  
Ruixuan Li ◽  
Yuyu Cai ◽  
Kenan Niu ◽  
Emmanuel Vander Poorten
Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 45
Author(s):  
Roberto Pagani ◽  
Cristina Nuzzi ◽  
Marco Ghidelli ◽  
Alberto Borboni ◽  
Matteo Lancini ◽  
...  

Since cobots are designed to be flexible, they are frequently repositioned to change the production line according to the needs; hence, their working area (user frame) needs to be often calibrated. Therefore, it is important to adopt a fast and intuitive user frame calibration method that allows even non-expert users to perform the procedure effectively, reducing the possible mistakes that may arise in such contexts. The aim of this work was to quantitatively assess the performance of different user frame calibration procedures in terms of accuracy, complexity, and calibration time, to allow a reliable choice of which calibration method to adopt and the number of calibration points to use, given the requirements of the specific application. This has been done by first analyzing the performances of a Rethink Robotics Sawyer robot built-in user frame calibration method (Robot Positioning System, RPS) based on the analysis of a fiducial marker distortion obtained from the image acquired by the wrist camera. This resulted in a quantitative analysis of the limitations of this approach that only computes local calibration planes, highlighting the reduction of performances observed. Hence, the analysis focused on the comparison between two traditional calibration methods involving rigid markers to determine the best number of calibration points to adopt to achieve good repeatability performances. The analysis shows that, among the three methods, the RPS one resulted in very poor repeatability performances (1.42 mm), while the three and five points calibration methods achieve lower values (0.33 mm and 0.12 mm, respectively) which are closer to the reference repeatability (0.08 mm). Moreover, comparing the overall calibration times achieved by the three methods, it is shown that, incrementing the number of calibration points to more than five, it is not suggested since it could lead to a plateau in the performances, while increasing the overall calibration time.


2017 ◽  
Vol 62 ◽  
pp. 165-171 ◽  
Author(s):  
M.A. Masum ◽  
M.R. Pickering ◽  
A.J. Lambert ◽  
J.M. Scarvell ◽  
P.N. Smith

2018 ◽  
Vol 85 (3) ◽  
pp. 184-190 ◽  
Author(s):  
Michael Kopf ◽  
Robin Gruna ◽  
Thomas Längle ◽  
Jürgen Beyerer

Abstract Near-infrared (NIR) spectroscopy is a widespread technology for fruit and vegetable quality assessment. New fields of application of this technology, like mobile food analysis with handheld low-cost spectrometers, increase the demand for chemometric calibration models that are able to deal with multiple products and varieties thereof at once (so-called multi-product calibration models). While there are well studied methods for single-product calibration as partial least squares regression (PLSR), multi-product calibration is still challenging. Conventional approaches that work well for single-product calibration can lead to high errors for multi-product calibration. However, nonlinear methods as local regression and artificial neural networks were found to be suitable E. Micklander, K. Kjeldahl, M. Egebo, and L. Norgaard. Multi-product calibration models of near-infrared spectra of foods. Journal of Near Infrared Spectroscopy, 14:395–402, 2006. L. R. Lopez, T. Behrens, K. Schmidt, A. Stevens, J. A. M. Dematte, and T. Scholten. The spectrum-based learner: A new local approach for modeling soil vis-NIR spectra of complex datasets. Geoderma, 195–196:268–279, 2013. . Preliminary studies in multi-product calibration for quantitative analysis of food with near-infrared spectroscopy showed good results for memory-based learning (MBL) and a classification prediction hierarchy (CPH) M. C. Kopf and R. Gruna. Examination of multiproduct calibration approaches for quantitative analysis of food with near infrared spectroscopy. Bachelor's thesis, Karlsruhe Institute of Technology KIT, 2016. . In this study, three varieties of apples, pears and tomatoes with known sugar content (in ○Brix) are analysed with NIR hyperspectral imaging spectroscopy in the range from 900 nm to 2400 nm. Predictive performance of a linear PLSR model, two nonlinear models (CPH and MBL) and different pre-processing techniques are tested and evaluated. For error estimation, leave-one-product-out and leave-one-out cross-validation are used.


2020 ◽  
Vol 12 (27) ◽  
pp. 3530-3536
Author(s):  
Youjian Zhang ◽  
Zhang Xiong ◽  
Yiwen Ma ◽  
Chenwei Zhu ◽  
Ran Zhou ◽  
...  

LIBS technique assisted with four different chemometric methods was applied to rapid and accurate measurement of coal quality, and the modeling efficiency and prediction accuracy of the four calibration methods were compared and discussed.


Author(s):  
Felix von Haxthausen ◽  
Sven Böttger ◽  
Daniel Wulff ◽  
Jannis Hagenah ◽  
Verónica García-Vázquez ◽  
...  

Abstract Purpose of Review This review provides an overview of the most recent robotic ultrasound systems that have contemporary emerged over the past five years, highlighting their status and future directions. The systems are categorized based on their level of robot autonomy (LORA). Recent Findings Teleoperating systems show the highest level of technical maturity. Collaborative assisting and autonomous systems are still in the research phase, with a focus on ultrasound image processing and force adaptation strategies. However, missing key factors are clinical studies and appropriate safety strategies. Future research will likely focus on artificial intelligence and virtual/augmented reality to improve image understanding and ergonomics. Summary A review on robotic ultrasound systems is presented in which first technical specifications are outlined. Hereafter, the literature of the past five years is subdivided into teleoperation, collaborative assistance, or autonomous systems based on LORA. Finally, future trends for robotic ultrasound systems are reviewed with a focus on artificial intelligence and virtual/augmented reality.


2017 ◽  
Vol 90 (1078) ◽  
pp. 20160926 ◽  
Author(s):  
Stefan Gerlach ◽  
Ivo Kuhlemann ◽  
Floris Ernst ◽  
Christoph Fürweger ◽  
Alexander Schlaefer

2019 ◽  
Vol 25 (7) ◽  
pp. 610-616
Author(s):  
Tae-Ho Kim ◽  
Hae-June Park ◽  
Jun-Min Baek ◽  
Sung-Min Kim ◽  
Jeh-Won Lee ◽  
...  

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