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Robots in urban environments will inevitably encounter situations beyond their capabilities (e.g., delivery robots unable to press traffic light buttons), necessitating bystander assistance. These spontaneous collaborations possess…
Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…
A task-sequencing simulator in robotics manipulation to integrate simulation-for-learning and simulation-for-execution is introduced. Unlike existing machine-learning simulation where a non-decomposed simulation is used to simulate a…
Objective: Image reconstruction in high resolution PET scanners with depth of interaction (DOI) capability is computationally challenging due to the high sampling in detector and image space. This study evaluates the use of a virtual…
Learning from Demonstration (LfD) provides an intuitive and fast approach to program robotic manipulators. Task parameterized representations allow easy adaptation to new scenes and online observations. However, this approach has been…
Explicit predictions for Scanning Tunneling Microscopy (STM) on interacting one-dimensional electron systems are made using the Luttinger liquid formalism. The STM current changes with distance from an impurity or boundary in a…
Intraoperative shape reconstruction of organs from endoscopic camera images is a complex yet indispensable technique for image-guided surgery. To address the uncertainty in reconstructing entire shapes from single-viewpoint occluded images,…
Automated segmentation tools often encounter accuracy and adaptability issues when applied to images of different pathology. The purpose of this study is to explore the feasibility of building a workflow to efficiently route images to…
Reconstruction of digital breast tomosynthesis is a challenging problem due to the limited angle data available in such systems. Due to memory limitations, deep learning-based methods can help improve these reconstructions, but can not…
This paper presents an enhancement to the free surface lattice Boltzmann method (FSLBM) for the simulation of bubbly flows including rupture and breakup of bubbles. The FSLBM uses a volume of fluid approach to reduce the problem of a…
Computer modeling can provide quantitative insight into cardiac fluid dynamics phenomena that are not evident from standard imaging tools. We propose a new approach to modeling left ventricle fluid dynamics based on an image-driven…
Flexible tendon sheath mechanism is commonly used in NOTES systems because it offers high flexibility, light weight, and easy transmission. Due to the size constraints and sterilization problems, traditional sensors like force/torque sensor…
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under…
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D…
Automatic recognition of surgical phases in surgical videos is a fundamental task in surgical workflow analysis. In this report, we propose a Transformer-based method that utilizes calibrated confidence scores for a 2-stage inference…
Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. Robotic ultrasound can further enhance its utility by reducing operator dependence and improving…
We discuss the variational method used in lattice spectroscopy calculations. In particular we address the role of ghost contributions which appear in quenched or partially quenched simulations and have a non-standard euclidean time…
Depletion forces play a role in the compaction and de-compation of chromosomal material in simple cells but it remains debatable whether they are sufficient to account for chromosomal collapse. We present coarse-grained molecular dynamics…
This work analyzes the viscous flow and elastic deformation created by the forced axial motion of a rigid cylinder within an elastic liquid-filled tube. The examined configuration is relevant to various minimally invasive medical procedures…
Photoacoustic (PA) waves are strongly distorted and attenuated in skull bone. To study these effects on PA imaging, we designed and 3D-printed tissue-mimicking phantoms of human skull. We present a comparison of results in phantom and ex…