15 research outputs found
An SVM learning approach to robotic grasping
Get PDFAbstract — Finding appropriate stable grasps for a hand (either robotic or human) on an arbitrary object has proved to be a challenging and difficult problem. The space of grasping parameters coupled with the degrees-of-freedom and geometry of the object to be grasped creates a high-dimensional, non- smooth manifold. Traditional search methods applied to this manifold are typically not powerful enough to find appropriate stable grasping solutions, let alone optimal grasps. We address this issue in this paper, which attempts to find optimal grasps of objects using a grasping simulator. Our unique approach to the problem involves a combination of numerical methods to recover parts of the grasp quality surface with any robotic hand, and contemporary machine learning methods to interpolate that surface, in order to find the optimal grasp. I
Experimental Evaluation of Human Grasps Using a Sensorized Object
No full textRoa M, Kõiva R, Castellini C. Experimental Evaluation of Human Grasps Using a Sensorized Object. Presented at the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome, Italy.Grasp quality measures have been studied for long time, given their importance to evaluate the goodness/convenience of a grasp made with a robotic hand. However, the application of these quality measures to the grasps made by humans has just recently received some attention. This paper presents an experimental evaluation and comparison of different measures, using data obtained with a sensorized object. The experiment compares power grasps and precision grasps obtained with different number of fingers. The results intend to be a guide to the application of such qualities in the evaluation of robotic grasp actions
Virtual Based Antropomorhic Gripper Application For Automation Grasping Tasks
No full textThe following work presents the followed methodology for development a low cost Virtual Based Anthropomorphic Gripper application for Automation Grasping Tasks of common object geometries in a robotics work-cell environment containing a 6 DOF Industrial Robot and an Anthropomorphic hand based device attached to it. In order to comply the low cost development requirement, a set of parameters are defined so the programming and editing of the virtual environment is within this scope. Next, the study of the human hand, the mechanical hand and its kinematics allows the recreation of virtual objects resembling their behavior and visual looks. By studying human grasp postures it can be seen that each finger has a position from which a grasping table can be created, this information also works for an anthropomorphic gripper as they share similar anatomy. From that study three basic shapes are chosen to test the application, a spherical, cylindrical and planar ones, these are available on the graphic user interface, so it can be executed on the desire virtual device. For testing purposes, a real anthropomorphic device is virtualized and from the virtual grasps performed, an information file is created for been executed on the workcell The developed application allows the virtualization of a six to nineteen degrees of freedom either using commercial or open source 3D modeling software, initial applications are on offline grasp task planning. The program execution is operating system independent, which makes it portable as well of the creation and edition of 3D geometries. Future work can be for training and educational purposes and the research expanded for improving the grasping technique using supervisory systems and shape recognition. © 2014 IEEE.521526Nicholson, D.T., Chalk, C., Robert Funnell, J.W., Daniel, S.J., Can virtual reality improve anatomy education? A randomised controlled study of a computer-generated three-dimensional anatomical ear model (2006) Medical Education, 40, pp. 1081-1087. , Blackwell Publishing 2006Yin, X., Wonka, P., Razdan, A., Generating 3d building models from architectural drawings: A survey (2009) IEEE Computer SocietyBurdea, G., The synergy between virtual reality and robotics (1999) IEEE Transactions on Robotics and Automation, 15, pp. 400-410Hirukawa, H., Matsui, T., Hirai, S., Konaka, K., Kawamura, S., A prototype of standard teleoperation systems on an enhanced vrml Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 97, 3, pp. 1801-1806. , Grenoble-FranceHaage, M., Nilsson, K., On the scalability of visualization in manufacturing Proceedings. ETFA 99 1999 7th IEEE International Conference on Emerging Technologies and Factory Automation, 1, pp. 43-51Freund, E., Rossmann, J., Multimedia and virtual reality techniques for the control of ERA Proceedings of the 2001 IEEE International Conference on Robotics &Automation, 2, pp. 1921-1926Safaric, R., Parkin, R.M., Czarnecki, C.A., Calkin, D.W., Virtual environment for telerobotics (2001) Integrated Computer-Aided Engineering, 8, pp. 95-104Yang, X., Chen, Q., Petriu, D., Petriu, E., Internet-based teleoperation of a robot manipulator for education (2004) Proceedings. The 3rd IEEE International Workshop on Haptic, Audio and Visual Environments and Their Applications, pp. 7-11Kartoun, U., Stern, H., Edan, Y., Virtual reality telerobotic system E-ENGDET 2004 4th International Conference on E-engineering &Digital Enterprise Technology, p. 10Butterfass, J., Grebenstein, M., Liu, H., Hirzinger, G., Dlr-hand II: Next generation of a dexterous robot hand Proceedings 2001 ICRA IEEE International Conference on Robotics and Automation, 1, pp. 109-114Lovchik, C., Diftler, M., The robonaut hand: A dexterous robot hand for space Proceedings 1999 IEEE International Conference on Robotics and Automation, 2, pp. 907-912. , Detroit-MI-USAAvilés, O.F., Rosário, J.M., Uribe, A., Lara, F., Five Fingered Antrhopomorphic Hand Design: Muc-1, , 7th Brazilian Conference on Dynamics, Control and Applications, Presidente Prudente, BrasilAfshari, K.E., Payandeh, S., Toward Implementation of Java/VRML environment for planning training and tele-operation of robotic systems (1999) Americas Conference on Information Systems-AMCISBelousov, I.R., Chellali, R., Clapworthy, G.J., Virtual reality tools for internet robotics (2004) Eighth IEEE International Symposium on Distributed Simulation and Real-Time ApplicationsMiller, Allen, P., Graspit! a versatile simulator for robotic grasping (2004) Robotics &Automation Magazine IEEE, 11 (4), pp. 110-122Allen, M.P., Santos, V., Valero-Cuevas, F., From robotic hands to human hands: A visualization and simulation engine for grasping research (2005) Industrial Robot: An International Journal, 32, pp. 55-63Goldfeder, C., Allen, P., Lackner, C., El Pelossof, R., (2007) Grasp Planning Via Decomposition Trees, , ICRA 07Tsepkovskiy, Y., Antonov, L., Kocev, Cv., Palis, F., Shoylev, N., Development of A 3D and VRML virtual hand models for different mechanical gripper (2007) Journal of the University of Chemical Technology and MetallurgyKollreider, A., Ram, D., Scherer, R., Grieshofer, P., Robotic hand/finger rehabilitation for apoplexy patients (2007) European Symposium Technical Aids for Rehabilitation-TAR, pp. 41-42. , Berlin-GermanyNapier, J., The prehensile movements of the human hand (1956) The Journal of Bone and Joint SurgeryCutkosky, M.R., On grasp choice, grasp models, and the design of hands formanufacturing tasks (1989) IEEE Transactions on Robotics and Automation, 5, pp. 269-279Smith, N., Egert, C., Cuddihy, E., Walters, D., Implementing virtual robots in java3d using a subsumption architecture (1999) WebNetSpeck, A., Klaeren, H., Robosim: Java 3d robot visualization (1999) Industrial Electronics Society. IECON99 Proceedings, 2, pp. 821-826Afshari, K.E., Payandeh, S., Toward implementation of java/vrml environment for planning, training and tele-operation of robotic. Systems (1999) Americas Conference on Information Systems-AMCISHaage, M., Nilsson, K., On the scalability of visualization in manufacturing Proceedings. ETFA 99 1999 7th IEEE International Conference on Emerging Technologies and Factory Automation, 1, pp. 43-51Herías, F.A.C., Puente, S.T., Medina, F.T., Segarra, V., Navarrete, J., Flexible system for simulating and tele-operating robots through the internet (2005) Journal of Robotic Systems, 22, pp. 157-166Mainardi, A., Rosário, J.M., Uribe, A.J., (2008) Virtual Environment for Cartesian Robot Teaching, , Robocontrol 08, 3rd Applied Robotics and Collaborative Systems Engineering with emphasis in Industrial Applications and Educational Environments Workshop, São Carlos and Bauru, São Paulo, Brazi
Anthropomorphic Gripper Virtual Environment For Automation Grasping Tasks
No full textThe following work presents the methodology used in order for develop a low cost Virtual Based Anthropomorphic Gripper application, for Automation Grasping Tasks of common object geometries in a robotics work-cell environment containing a six degrees of freedom Industrial Robot and an Anthropomorphic hand based device attached to it. In order to comply the low cost development requirement, a set of parameters are defined so the programming and editing of the virtual environment fulfills the specifications. Subsequently, the study of the human and mechanical hands kinematics allows the creation of virtual objects resembling their behavior and appearance. By studying human grasp postures it can be seen that each finger has a position from which a grasping table can be created, this information also works for an anthropomorphic gripper as they share similar anatomy. Based on these similarities, three basic shapes are chosen to test the application, a spherical, cylindrical and planar, which are available on the graphic user interface, so it can be executed on the defined virtual device. For testing purposes, a real anthropomorphic device is virtualized and from the virtual grasps performed, an information file is created for its execution on the workcell The developed application allows the virtualization of a six to nineteen degrees of freedom anthropomorphic hand, either using commercial or open source 3D modeling software, initial applications are on offline grasp task planning. The program execution is operating system independent, which makes it portable as well of the creation and edition of 3D geometries. Finally, future work can be aimed for training and educational purposes and the research expanded for improving the grasping technique using supervisory systems and shape recognition. © 2009 Praise Worthy Prize S.r.l.35547552Nicholson Daren T, Chalk, C., Robert, W., Funnell, J., Daniel, S.J., Can virtual reality improve anatomy education? A randomised controlled study of a computer-generated three-dimensional anatomical ear model (2006) Medical Education 2006, (40), pp. 1081-1087. , Blackwell PublishingYin, X., Wonka, P., Razdan, A., Generating 3D Building Models from Architectural Drawings: A Survey (2009) IEEE Computer SocietyBurdea, G., The synergy between virtual reality and robotics (1999) IEEE Transactions On Robotics and Automation, 15, pp. 400-410Hirukawa, H., Matsui, T., Hirai, S., Konaka, K., Kawamura, S., A Prototype of Standard Teleoperation Systems On An Enhanced Vrml, 3, pp. 1801-1806. , Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS '97, Grenoble - FranceHaage, M., Nilsson, K., On the Scalability of Visualization In Manufacturing, 1, pp. 43-51. , in Proceedings. ETFA '99. 1999 7th IEEE International Conference on Emerging Technologies and Factory AutomationFreund, E., Rossmann, J., Multimedia and Virtual Reality Techniques For the Control of ERA, 2, pp. 1921-1926. , Proceedings of the 2001 IEEE international Conference on Robotics & AutomationSafaric, R., Parkin, R.M., Czarnecki, C.A., Calkin, D.W., Virtual environment for telerobotics (2001) Integrated Computer-Aided Engineering, 8, pp. 95-104Yang, X., Chen, Q., Petriu, D., Petriu, E., (2004) Internet-based Teleoperation of A Robot Manipulator For Education, pp. 7-11. , Proceedings. The 3rd IEEE International Workshop on Haptic, Audio and Visual Environments and Their ApplicationsKartoun, U., Stern, H., Edan, Y., Virtual Reality Telerobotic System, p. 10. , e-ENGDET 2004 4th international conference on e-engineering & digital enterprise technologyButterfass, J., Grebenstein, M., Liu, H., Hirzinger, G., Dlr-hand II: Next Generation of A Dexterous Robot Hand, 1, pp. 109-114. , Proceedings 2001 ICRA. IEEE International Conference on Robotics and AutomationLovchik, C., Diftler, M., The Robonaut Hand: A Dexterous Robot Hand For Space, 2, pp. 907-912. , Proceedings. 1999 IEEE International Conference on Robotics and Automation, Detroit - MI - USAAvilés, O.F., Rosário, J.M., Uribe, A., Lara, F., Five Fingered Antrhopomorphic Hand Design: Muc-1, , 7th Brazilian Conference on Dynamics, Control and Applications, Presidente Prudente, BrasilAfshari, K.E., Payandeh, S., Toward Implementation of Java/VRML Environment for Planning Training and Tele-Operation of Robotic Systems (1999) Americas Conference On Information Systems-AMCISBelousov, I.R., Chellali, R., Clapworthy, G.J., Virtual Reality Tools for Internet Robotics (2004) Eighth IEEE International Symposium On Distributed Simulation and Real-Time Applications(2004) Robotics & Automation Magazine, 11 (4), pp. 110-122. , Miller and P. Allen, Graspit! a versatile simulator for robotic grasping, IEEEAllen, P., Santos, V., Valero-Cuevas, F., From robotic hands to human hands: A visualization and simulation engine for grasping research (2005) Industrial Robot: An International Journal, 32, pp. 55-63. , MillerGoldfeder, C., Allen, P., Lackner, C., el Pelossof, R., Grasp Planning via Decomposition Trees (2007) ICRA, p. 07Tsepkovskiy, Y., Antonov, L., Kocev, C., Palis, F., Shoylev, N., Development Of A 3D And VRML Virtual Hand Models For Different Mechanical Gripper (2007) Journal of The University of Chemical Technology and MetallurgyKollreider, A., Ram, D., Scherer, R., Grieshofer, P., (2007) Robotic Hand/finger Rehabilitation For Apoplexy Patients, pp. 41-42. , European Symposium Technical Aids for Rehabilitation - TAR, Berlin - GermanyNapier, J., The prehensile movements of the human hand (1956) The Journal of Bone and Joint SurgeryCutkosky, M.R., On grasp choice, grasp models, and the design of hands formanufacturing tasks (1989) IEEE Transactions On Robotics and Automation, 5, pp. 269-279Smith, N., Egert, C., Cuddihy, E., Walters, D., Implementing virtual robots in java3d using a subsumption architecture (1999) WebNetSpeck, A., Klaeren, H., (1999) Robosim: Java 3d Robot Visualization, 2, pp. 821-826. , Industrial Electronics Society. IECON'99 ProceedingsAfshari, K.E., Payandeh, S., (1999) Toward Implementation of Java/vrml Environment For Planning, Training and Tele-operation of Robotic. Systems, , Americas Conference on Information Systems-AMCISHaage, M., Nilsson, K., On the Scalability of Visualization In Manufacturing, 1, pp. 43-51. , Proceedings. ETFA '99. 1999 7th IEEE International Conference on Emerging Technologies and Factory AutomationHerías, F.A.C., Puente, S.T., Medina, F.T., Segarra, V., Navarrete, J., Flexible system for simulating and tele-operating robots through the internet (2005) Journal of Robotic Systems, 22, pp. 157-166Mainardi, A., Rosário, J.M., Uribe, A.J., (2008) Virtual Environment For Cartesian Robot Teaching, , Robocontrol 08, 3rd Applied Robotics and Collaborative Systems Engineering with emphasis in Industrial Applications and Educational Environments Workshop, São Carlos and Bauru, São Paulo, Brazi
Abstract LB-A24: Molecular alteration of SMAD4 in hindgut-derived colorectal tumors identifies a distinct subset of patients and is associated with worse recurrence-free survival
No full textKRAS and Combined KRAS/TP53 Mutations in Locally Advanced Rectal Cancer are Independently Associated with Decreased Response to Neoadjuvant Therapy.
No full textKRAS and Combined KRAS/TP53 Mutations in Locally Advanced Rectal Cancer are Independently Associated with Decreased Response to Neoadjuvant Therapy
No full textKRAS and Combined KRAS/TP53 Mutations in Locally Advanced Rectal Cancer are Independently Associated with Decreased Response to Neoadjuvant Therapy
Get PDFBackgroundThe response of rectal cancers to neoadjuvant chemoradiation (CRT) is variable, but tools to predict response remain lacking. We evaluated whether KRAS and TP53 mutations are associated with pathologic complete response (pCR) and lymph node metastasis after adjusting for neoadjuvant regimen.MethodsRetrospective analysis of 229 pretreatment biopsies from patients with stage II/III rectal cancer was performed. All patients received CRT. Patients received 0-8 cycles of FOLFOX either before or after CRT, but prior to surgical excision. A subset was analyzed to assess concordance between mutation calls by Sanger Sequencing and a next-generation assay.ResultsA total of 96 tumors (42 %) had KRAS mutation, 150 had TP53 mutation (66 %), and 59 (26 %) had both. Following neoadjuvant therapy, 59 patients (26 %) achieved pCR. Of 133 KRAS wild-type tumors, 45 (34 %) had pCR, compared with 14 of 96 (15 %) KRAS mutant tumors (p = .001). KRAS mutation remained independently associated with a lower pCR rate on multivariable analysis after adjusting for clinical stage, CRT-to-surgery interval and cycles of FOLFOX (OR 0.34; 95 % CI 0.17-0.66, p < .01). Of 29 patients with KRAS G12V or G13D, only 2 (7 %) achieved pCR. Tumors with both KRAS and TP53 mutation were associated with lymph node metastasis. The concordance between platforms was high for KRAS (40 of 43, 93 %).ConclusionsKRAS mutation is independently associated with a lower pCR rate in locally advanced rectal cancer after adjusting for variations in neoadjuvant regimen. Genomic data can potentially be used to select patients for "watch and wait" strategies
Consolidation mFOLFOX6 Chemotherapy After Chemoradiotherapy Improves Survival in Patients With Locally Advanced Rectal Cancer: Final Results of a Multicenter Phase II Trial
Get PDFBackgroundAdding modified FOLFOX6 (folinic acid, fluorouracil, and oxaliplatin) after chemoradiotherapy and lengthening the chemoradiotherapy-to-surgery interval is associated with an increase in the proportion of rectal cancer patients with a pathological complete response.ObjectiveThe purpose of this study was to analyze disease-free and overall survival.DesignThis was a nonrandomized phase II trial.SettingsThe study was conducted at multiple institutions.PatientsFour sequential study groups with stage II or III rectal cancer were included.InterventionAll of the patients received 50 Gy of radiation with concurrent continuous infusion of fluorouracil for 5 weeks. Patients in each group received 0, 2, 4, or 6 cycles of modified FOLFOX6 after chemoradiation and before total mesorectal excision. Patients were recommended to receive adjuvant chemotherapy after surgery to complete a total of 8 cycles of modified FOLFOX6.Main outcome measuresThe trial was powered to detect differences in pathological complete response, which was reported previously. Disease-free and overall survival are the main outcomes for the current study.ResultsOf 259 patients, 211 had a complete follow-up. Median follow-up was 59 months (range, 9-125 mo). The mean number of total chemotherapy cycles differed among the 4 groups (p = 0.002), because one third of patients in the group assigned to no preoperative FOLFOX did not receive any adjuvant chemotherapy. Disease-free survival was significantly associated with study group, ypTNM stage, and pathological complete response (p = 0.004, <0.001, and 0.001). A secondary analysis including only patients who received ≥1 cycle of FOLFOX still showed differences in survival between study groups (p = 0.03).LimitationsThe trial was not randomized and was not powered to show differences in survival. Survival data were not available for 19% of the patients.ConclusionsAdding modified FOLFOX6 after chemoradiotherapy and before total mesorectal excision increases compliance with systemic chemotherapy and disease-free survival in patients with locally advanced rectal cancer. Neoadjuvant consolidation chemotherapy may have benefits beyond increasing pathological complete response rates. See Video Abstract at http://links.lww.com/DCR/A739
