Real-time Adaptive Techniques Research Articles

Humanoid robots imitation of human motion using offline and real-time adaptation techniques

This paper describes offline and real-time motion conversion approaches for imitating the motion of a human being using a humanoid robot. In both cases, the human motion is measured with marker points captured by the 3D motion capture system Vicon. A similar physical morphology between the shape of the robot and the human is assumed. This paper also demonstrates that the input measurements of the human motion to remain as close as possible to the real motion. In the offline approach, we use the iCub humanoid robot, while, for the real-time approach, James robot is used with some modification of the existing imitation and limiting human motion techniques. During the realisation of this work, we had a particular attention to obtain a 'natural' appearance of the motion. The proposed strategies, based on the obtained results, can be capable of accomplishing offline and real-time responses.

State-of-the-Art Radiotherapy in the Management of Clinically Localized Prostate Carcinoma

Four Phase III trials demonstrating higher prostate-specific antigen control rates in prostate cancer patients treated with higher doses of radiation have changed the standard of care. Emerging on-line technologies, improved imaging and computer algorithms, combined with an improved understanding of how best to apply them, have allowed radiation oncologists to move ever closer to the optimal application of curative radiation. This technology allows a higher dose to be delivered to tumor-bearing areas while minimizing the dose delivered to surrounding normal tissues. Real-time adaptive techniques have made each step more accurate, and commercialization has increasingly moved these advances further into the community setting. Phase III trials have also helped to define the role of hormonal therapy in combination with radiation and the benefits of prophylactic pelvic nodal radiotherapy in subsets of patients. We have also learnt how to optimize the use of prostate-specific antigen to better determine success and failure following radiotherapy.

Real-time adaptive control for haptic telemanipulation with Kalman active observers

This paper discusses robotic telemanipulation with Kalman active observers and online stiffness estimation. Operational space techniques, feedback linearization, discrete state space methods, augmented states, and stochastic design are used to control a robotic manipulator with a haptic device. Stiffness estimation only based on force data (measured, desired, and estimated forces) is proposed, avoiding explicit position information. Stability and robustness to stiffness errors are discussed, as well as real-time adaptation techniques. Telepresence is analyzed. Experiments show high performance in contact with soft and hard surfaces.