by Keyword: Optimization

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Aviles, A. I., Sobrevilla, P., Casals, A., (2014). In search of robustness and efficiency via l1− and l2− regularized optimization for physiological motion compensation International Journal of Medical, Health, Pharmaceutical and Biomedical Engineering XII International Conference on Agricultural, Biological and Ecosystems Sciences (ICABES 2014) , World Academy of Science, Engineering and Technology (WASET) (Geneva, Switzerland) 8, 501-506

Compensating physiological motion in the context of minimally invasive cardiac surgery has become an attractive issue since it outperforms traditional cardiac procedures offering remarkable benefits. Owing to space restrictions, computer vision techniques have proven to be the most practical and suitable solution. However, the lack of robustness and efficiency of existing methods make physiological motion compensation an open and challenging problem. This work focusses on increasing robustness and efficiency via exploration of the classes of l1- and l2-regularized optimization, emphasizing the use of explicit regularization. Both approaches are based on natural features of the heart using intensity information. Results pointed out the l1-regularized optimization class as the best since it offered the shortest computational cost, the smallest average error and it proved to work even under complex deformations.

Keywords: Motion Compensation, Optimization, Regularization, Beating Heart Surgery, Ill-posed problem

Aviles, A. I., Marban, A., Sobrevilla, P., Fernandez, Josep, Casals, A., (2014). A recurrent neural network approach for 3D vision-based force estimation IPTA 2014 4th International Conference on Image Processing Theory, Tools and Applications (IPTA) , IEEE (Paris, France) , 1-6

Robotic-assisted minimally invasive surgery has demonstrated its benefits in comparison with traditional procedures. However, one of the major drawbacks of current robotic system approaches is the lack of force feedback. Apart from space restrictions, the main problems of using force sensors are their high cost and the biocompatibility. In this work a proposal based on Vision Based Force Measurement is presented, in which the deformation mapping of the tissue is obtained using the `2−Regularized Optimization class, and the force is estimated via a recurrent neural network that has as inputs the kinematic variables and the deformation mapping. Moreover, the capability of RNN for predicting time series is used in order to deal with tool occlusions. The highlights of this proposal, according to the results, are: knowledge of material properties are not necessary, there is no need of adding extra sensors and a good trade-off between accuracy and efficiency has been achieved.

Keywords: Force estimation, Regularized optimization, Deformable tracking, Recurrent neural network

Aviles, AngelicaI, Casals, Alicia, (2014). On genetic algorithms optimization for heart motion compensation Advances in Intelligent Systems and Computing ROBOT2013: First Iberian Robotics Conference (ed. Armada, Manuel A., Sanfeliu, Alberto, Ferre, Manuel), Springer International Publishing 252, 237-244

Heart motion compensation is a challenging problem within medical robotics and it is still considered an open research area due to the lack of robustness. As it can be formulated as an energy minimization problem, an optimization technique is needed. The selection of an adequate method has a significant impact over the global solution. For this reason, a new methodology is presented here for solving heart motion compensation in which the central topic is oriented to increase robustness with the goal of achieving a balance between efficiency and efficacy. Particularly, genetic algorithms are used as optimization technique since they can be adapted to any real application, complex and oriented to work in real-time problems.

Keywords: Genetic Algorithms, Deformation, Stochastic Optimization, Beating Heart Surgery, Robotic Assisted Surgery

Fonollosa, Jordi, Fernérndez, Luis, Huerta, Ramón, Gutiérrez-Gálvez, Agustín, Marco, Santiago, (2013). Temperature optimization of metal oxide sensor arrays using Mutual Information Sensors and Actuators B: Chemical Elsevier 187, (0), 331-339

The sensitivity and selectivity of metal oxide (MOX) gas sensors change significantly when the sensors operate at different temperatures. While previous investigations have presented systematic approaches to optimize the operating temperature of a single MOX sensor, in this paper we present a methodology to select the optimal operating temperature of all the MOX sensors constituent of a gas sensor array based on the multivariate response of all the sensing elements. Our approach estimates a widely used Information Theory measure, the so-called Mutual Information (MI), which quantifies the amount of information that the state of one random variable (response of the gas sensor array) can provide from the state of another random variable representing the gas quality. More specifically, our methodology builds sensor models from experimental data to solve the technical problem of populating the joint probability distribution for the MI estimation. We demonstrate the relevance of our approach by maximizing the MI and selecting the best operating temperatures of a four-sensor array sampled at 94 different temperatures to optimize the discrimination task of ethanol, acetic acid, 2-butanone, and acetone. In addition to being applicable in principle to sensor arrays of any size, our approach gives precise information on the ability of the system to discriminate odors according to the temperature of the MOX sensors, for either the optimal set of temperatures or the temperatures that may render inefficient operation of the system itself.

Keywords: MOX gas sensor, Temperature optimization, Limit of detection, Mutual Information, E-nose, Sensor array, Information Theory, Chemical sensing

Fonollosa, J., Carmona, M., Santander, J., Fonseca, L., Moreno, M., Marco, S., (2009). Limits to the integration of filters and lenses on thermoelectric IR detectors by flip-chip techniques Sensors and Actuators A: Physical , 149, (1), 65-73

In the trend towards miniaturization, a detector module containing multiple IR sensor channels is being built and characterized. In its final form it contains thermopiles, narrow band filters and Fresnel lenses. An important feature of such module is the assembly by flip-chip of the IR filters on top of the thermopiles. The performance of the filter-thermopile ensemble has been assessed by physical simulation and experiments and it has been optimized by the use of an empirically validated model. It has been found that integration of filters (or lenses) too close to the IR detector may lead to degraded performance due to thermal coupling. The impact and extent of this degradation has been thoroughly explored, being the main parameter the distance between the IR sensor and the filter. To avoid such detrimental effects a possibility is to set the device in vacuum conditions, obtaining an improved output response and avoiding the influence of the filters. Another way is to increase the solder joint height. Beyond a certain height, the filter is considered to be isolated from the thermopile.

Keywords: Assembly, Infrared sensor, Infrared filter, Fresnel lenses, FEM simulation, Optimization