Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...

For patients refusing surgical treatment for deep early gastric cancer, hybrid natural orifice transluminal endoscopic surgery with sentinel lymph node navigation is a potential treatment option, particularly when the anatomic location of the cancer has low probability of lymph node metastasis. We report a case of deep early gastric cancer of the fundus beyond the endoscopic submucosal dissecti...

Ultrasound is an increasingly popular imaging modality in image-guided interventions, due to its safety, accessibility, and low cost. But ultrasound imaging has a steep learning curve, and requires significant coordination skills from the operator. It is difficult to interpret cross-sectional anatomy in arbitrary angles, and even more challenging to orient a needle with respect to the ultrasoun...

Positioning, Navigation, and Timing (PNT) services are the key basis for the provision of both essential (safety and security) and economically beneficial applications worldwide in the 21 century. Whether users are groundbased or sea-based or in the air, their primary/go to source of P and N and T is a Global Navigation Satellites System (GNSS). While the transition of various users/modes of tr...

Autonomous Cross-Country Navigation requires a system which can support a rapid traverse across challenging terrain while maintaining vehicle safety. This work describes a system for autonomous cross country navigation as implemented on the NavLab II, a computer-controlled off-road vehicle at Carnegie Mellon. The navigation software is discussed. The perception subsystem constructs digital maps...

This paper presents a novel navigation architecture for automated carlike vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known and highly dynamic with moving objects (other vehicles, pedestrians. . . ). The main feature of the navigation architecture proposed is its ability to make safe motion decisions in real-time, thus tak...

Several remote catheter navigation systems have been developed and are now commercially available. However, these systems typically require specialized catheters or equipment, as well as time-consuming operations for the system set-up. In this paper, we present CathROB, a highly compact and versatile robotic system for remote navigation of standard tip-steerable electrophysiology (EP) catheters...

This paper proposes an approach to achieve resilient navigation in the context of indoor mobile robots. Resilient navigation seeks to mitigate the impact of control, localisation, or map errors on the safety of the platform while enforcing the robot’s ability to achieve its goal. We show that resilience to unpredictable errors can be achieved by combining the benefits of independent and complem...

The ARK mobile robot project has designed and implemented a series of mobile robots capable of navigating within industrial environments without relying on arti cial landmarks or beacons. The ARK robots employ a novel sensor, Laser Eye, that combines vision and laser ranging to e ciently locate the robot in a map of its environment. Laser Eye allows self-location of the robot in both walled and...