In this chapter we analyse a SoC implementation for the non-holonomic robot path tracking task us... more In this chapter we analyse a SoC implementation for the non-holonomic robot path tracking task using a fuzzy logic controller, along with a non-linear feedback-equivalence transformation which reduces path tracking to straight line tracking. The major components of the SoC are a parametrized Digital Fuzzy Logic Controller (DFLC) soft IP core Deliparaschos et al. (2006) Deliparaschos & Tzafestas (2006), implementing the fuzzy tracking algorithm, and Xilinx’s Microblaze soft processor core as the top level flow controller. The system was tied to a differential drive robot and experiments were performed in order to asses the efficacy and performance of the overall control scheme. This was facilitated using an image analysis algorithm, presented in the following sections, which calculated the robot’s position from a video stream captured using an overhead camera. The analysis was made off-line.
This paper presents an innovative approach, based on industry 4.0 concepts, for monitoring the li... more This paper presents an innovative approach, based on industry 4.0 concepts, for monitoring the life cycle of optoelectronical devices, by adopting image processing and deep learning techniques regarding defect detection. The proposed system comprises defect detection and categorization during the front-end part of the optoelectronic device production process, providing a two-stage approach; the first is the actual defect identification on individual components at the wafer level, while the second is the pre-classification of these components based on the recognized defects. The system provides two image-based defect detection pipelines. One using low resolution grating images of the wafer, and the other using high resolution surface scan images acquired with a microscope. To automate the entire process, a communication middleware called Higher Level Communication Middleware (HLCM) is used for orchestrating the information between the processing steps. At the last step of the process...
International Journal on Artificial Intelligence Tools, Dec 1, 2005
In this paper the path tracking problem for non-holonomic mobile robots is dealt with. The model ... more In this paper the path tracking problem for non-holonomic mobile robots is dealt with. The model used is known as the Dubins Car model. A robust fuzzy logic controller that steers the car to the appropriate direction is proposed. A technique called "spatial window technique" which greatly increases the overall performance of the control scheme is also introduced. The simulations of this scheme show that the path following problem is treated very adequately and the noise tolerance of the overall system is high.
International Journal of Computer Assisted Radiology and Surgery
Purpose Using robotic technology and communications infrastructure to remotely perform surgery ha... more Purpose Using robotic technology and communications infrastructure to remotely perform surgery has been a persistent goal in medical research in the past three decades. The recent deployment of the Fifth-Generation Wireless Networks has revitalized the research efforts in the telesurgery paradigm. Offering low latency and high bandwidth communication, they are well suited for applications that require real-time data transmission and can allow smoother communication between surgeon and patient, making it possible to remotely perform complex surgeries. In this paper, we investigate the effects of the 5 G network on surgical performance during a telesurgical demonstration where the surgeon and the robot are separated by nearly 300 km. Methods The surgeon performed surgical exercises on a robotic surgery training phantom using a novel telesurgical platform. The master controllers were connected to the local site on a 5 G network, teleoperating the robot remotely in a hospital. A video f...
Invited talk which presents the technological research efforts of various academic and reasearch ... more Invited talk which presents the technological research efforts of various academic and reasearch institution in Greece, regarding Mininally Invasive Surgery, either "regular" of robotic.
Surgical robots are becoming mainstream in medical practice and present many advantages over clas... more Surgical robots are becoming mainstream in medical practice and present many advantages over classical methods. However, there is a golden standard that applies: it is the human who performs the surgery. Allowing the robot to act on its own has raised concerns and expectations. Who is really operating? The surgeon, the robot or the programmer? This talk will present the problems faced with inserting various levels of autonomy in surgical robots and the interaction between surgeon and robot. Current research results will be discussed along with emerging trends in surgical robotics.
Abstract. Mobility disabilities are prevalent in our ageing society and impede activities importa... more Abstract. Mobility disabilities are prevalent in our ageing society and impede activities important for the independent living of elderly people and their quality of life. The goal of this work is to support human mobility and thus enforce fitness and vitality by developing intelligent robotic platforms designed to provide user-centred and natural support for ambulating in indoor environments. We envision the design of cognitive mobile robotic systems that can monitor and understand specific forms of human activity, in order to deduce what the human needs are, in terms of mobility. The goal is to provide user and context adaptive active sup-port and ambulation assistance to elderly users, and generally to individuals with specific forms of moderate to mild walking impairment. To achieve such targets, a reliable multimodal action recognition system needs to be developed, that can monitor, analyse and predict the user actions with a high level of accuracy and detail. Different modalit...
ABSTRACT Motion compensation is a prominent application in robotic beating heart surgery, with si... more ABSTRACT Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking task, which helps the surgeon guide the robot on a predefined reference. The control is implemented on top of a shared control system, which serves as a basis for implementing higher level controllers. Experiments with a trained surgeon are also presented, which show the positive effect of the approach.
In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mo... more In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mobile robots is presented. The SoC consists of a digital fuzzy logic processor and a flow control program that runs under the Xilinx Microblaze™ soft processor core. The fuzzy processor implements a fuzzy path tracking algorithm introduced by the authors. The system was tied to an actual P3-DX8 robot and field experiments have been performed in order to assess the overall performance. Quantization problems and limitations imposed by the system configuration are also discussed.
In this chapter we analyse a SoC implementation for the non-holonomic robot path tracking task us... more In this chapter we analyse a SoC implementation for the non-holonomic robot path tracking task using a fuzzy logic controller, along with a non-linear feedback-equivalence transformation which reduces path tracking to straight line tracking. The major components of the SoC are a parametrized Digital Fuzzy Logic Controller (DFLC) soft IP core Deliparaschos et al. (2006) Deliparaschos & Tzafestas (2006), implementing the fuzzy tracking algorithm, and Xilinx’s Microblaze soft processor core as the top level flow controller. The system was tied to a differential drive robot and experiments were performed in order to asses the efficacy and performance of the overall control scheme. This was facilitated using an image analysis algorithm, presented in the following sections, which calculated the robot’s position from a video stream captured using an overhead camera. The analysis was made off-line.
This paper presents an innovative approach, based on industry 4.0 concepts, for monitoring the li... more This paper presents an innovative approach, based on industry 4.0 concepts, for monitoring the life cycle of optoelectronical devices, by adopting image processing and deep learning techniques regarding defect detection. The proposed system comprises defect detection and categorization during the front-end part of the optoelectronic device production process, providing a two-stage approach; the first is the actual defect identification on individual components at the wafer level, while the second is the pre-classification of these components based on the recognized defects. The system provides two image-based defect detection pipelines. One using low resolution grating images of the wafer, and the other using high resolution surface scan images acquired with a microscope. To automate the entire process, a communication middleware called Higher Level Communication Middleware (HLCM) is used for orchestrating the information between the processing steps. At the last step of the process...
International Journal on Artificial Intelligence Tools, Dec 1, 2005
In this paper the path tracking problem for non-holonomic mobile robots is dealt with. The model ... more In this paper the path tracking problem for non-holonomic mobile robots is dealt with. The model used is known as the Dubins Car model. A robust fuzzy logic controller that steers the car to the appropriate direction is proposed. A technique called "spatial window technique" which greatly increases the overall performance of the control scheme is also introduced. The simulations of this scheme show that the path following problem is treated very adequately and the noise tolerance of the overall system is high.
International Journal of Computer Assisted Radiology and Surgery
Purpose Using robotic technology and communications infrastructure to remotely perform surgery ha... more Purpose Using robotic technology and communications infrastructure to remotely perform surgery has been a persistent goal in medical research in the past three decades. The recent deployment of the Fifth-Generation Wireless Networks has revitalized the research efforts in the telesurgery paradigm. Offering low latency and high bandwidth communication, they are well suited for applications that require real-time data transmission and can allow smoother communication between surgeon and patient, making it possible to remotely perform complex surgeries. In this paper, we investigate the effects of the 5 G network on surgical performance during a telesurgical demonstration where the surgeon and the robot are separated by nearly 300 km. Methods The surgeon performed surgical exercises on a robotic surgery training phantom using a novel telesurgical platform. The master controllers were connected to the local site on a 5 G network, teleoperating the robot remotely in a hospital. A video f...
Invited talk which presents the technological research efforts of various academic and reasearch ... more Invited talk which presents the technological research efforts of various academic and reasearch institution in Greece, regarding Mininally Invasive Surgery, either "regular" of robotic.
Surgical robots are becoming mainstream in medical practice and present many advantages over clas... more Surgical robots are becoming mainstream in medical practice and present many advantages over classical methods. However, there is a golden standard that applies: it is the human who performs the surgery. Allowing the robot to act on its own has raised concerns and expectations. Who is really operating? The surgeon, the robot or the programmer? This talk will present the problems faced with inserting various levels of autonomy in surgical robots and the interaction between surgeon and robot. Current research results will be discussed along with emerging trends in surgical robotics.
Abstract. Mobility disabilities are prevalent in our ageing society and impede activities importa... more Abstract. Mobility disabilities are prevalent in our ageing society and impede activities important for the independent living of elderly people and their quality of life. The goal of this work is to support human mobility and thus enforce fitness and vitality by developing intelligent robotic platforms designed to provide user-centred and natural support for ambulating in indoor environments. We envision the design of cognitive mobile robotic systems that can monitor and understand specific forms of human activity, in order to deduce what the human needs are, in terms of mobility. The goal is to provide user and context adaptive active sup-port and ambulation assistance to elderly users, and generally to individuals with specific forms of moderate to mild walking impairment. To achieve such targets, a reliable multimodal action recognition system needs to be developed, that can monitor, analyse and predict the user actions with a high level of accuracy and detail. Different modalit...
ABSTRACT Motion compensation is a prominent application in robotic beating heart surgery, with si... more ABSTRACT Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking task, which helps the surgeon guide the robot on a predefined reference. The control is implemented on top of a shared control system, which serves as a basis for implementing higher level controllers. Experiments with a trained surgeon are also presented, which show the positive effect of the approach.
In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mo... more In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mobile robots is presented. The SoC consists of a digital fuzzy logic processor and a flow control program that runs under the Xilinx Microblaze™ soft processor core. The fuzzy processor implements a fuzzy path tracking algorithm introduced by the authors. The system was tied to an actual P3-DX8 robot and field experiments have been performed in order to assess the overall performance. Quantization problems and limitations imposed by the system configuration are also discussed.
Abstract—During the past decade, robotic technology has evolved considerably towards the developm... more Abstract—During the past decade, robotic technology has evolved considerably towards the development of cognitive robotic systems that enable close interaction with humans. Application fields of such novel robotic technologies are now wide spreading covering a variety of human assistance function-alities, aiming in particular at supporting the needs of human beings experiencing various forms of mobility or cognitive impairments. Mobility impairments are prevalent in the elderly population and constitute one of the main causes related to difficulties in performing Activities of Daily Living (ADLs) and consequent reduction of quality of life. This paper reports current research work related to the control of an intelligent robotic rollator aiming to provide user-adaptive and context-aware walking assistance. To achieve such targets, a large spectrum of multimodal sensory processing and interactive
Surgical robots are becoming mainstream in medical practice and present many advantages over clas... more Surgical robots are becoming mainstream in medical practice and present many advantages over classical methods. However, there is a golden standard that applies: it is the human who performs the surgery. Allowing the robot to act on its own has raised concerns and expectations. Who is really operating? The surgeon, the robot or the programmer? This talk will present the problems faced with inserting various levels of autonomy in surgical robots and the interaction between surgeon and robot. Current research results will be discussed along with emerging trends in surgical robotics.
Invited talk which presents the technological research efforts of various academic and reasearch ... more Invited talk which presents the technological research efforts of various academic and reasearch institution in Greece, regarding Mininally Invasive Surgery, either "regular" of robotic.
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Books by George Moustris
algorithm, and Xilinx’s Microblaze soft processor core as the top level flow controller. The system was tied to a differential drive robot and experiments were performed in order to asses the efficacy and performance of the overall control scheme. This was facilitated using an image analysis algorithm, presented in the following sections, which calculated the robot’s
position from a video stream captured using an overhead camera. The analysis was made off-line.
Papers by George Moustris
algorithm, and Xilinx’s Microblaze soft processor core as the top level flow controller. The system was tied to a differential drive robot and experiments were performed in order to asses the efficacy and performance of the overall control scheme. This was facilitated using an image analysis algorithm, presented in the following sections, which calculated the robot’s
position from a video stream captured using an overhead camera. The analysis was made off-line.