Search

Featured Application: Convolutional Neural Network (CNN) models are capable of learning complex patterns and features from images. An automatic teeth segmentation CNN model can accurately and efficiently identify the boundaries and contours of individual teeth in dental radiographs or 3D dental scans. This can save significant time and effort compared to manual segmentation by dental professionals. Precise segmentation of teeth can assist in the diagnosis and treatment planning process. By accurately identifying the boundaries of teeth, dental practitioners can more effectively analyze dental conditions, such as tooth decay, gum diseases, or orthodontic abnormalities. This enables them to make informed decisions regarding appropriate treatment options and personalized treatment plans. Background and purpose: Accurate instance segmentation of teeth in panoramic dental X-rays is a challenging task due to variations in tooth morphology and overlapping regions. In this study, we propose a new algorithm, for instance, segmentation of the different teeth in panoramic dental X-rays. Methods: An instance segmentation model was trained using the architecture of a Mask Region-based Convolutional Neural Network (Mask-RCNN). The data for the training, validation, and testing were taken from the Tuft dental database (1000 panoramic dental radiographs). The number of the predicted label was 52 (20 deciduous and 32 permanent). The size of the training, validation, and test sets were 760, 190, and 70 images, respectively, and the split was performed randomly. The model was trained for 300 epochs, using a batch size of 10, a base learning rate of 0.001, and a warm-up multistep learning rate scheduler (gamma = 0.1). Data augmentation was performed by changing the brightness, contrast, crop, and image size. The percentage of correctly detected teeth and Dice in the test set were used as the quality metrics for the model. Results: In the test set, the percentage of correctly classified teeth was 98.4%, while the Dice score was 0.87. For both the left mandibular central and lateral incisor permanent teeth, the Dice index result was 0.91 and the accuracy was 100%. For the permanent teeth right mandibular first molar, mandibular second molar, and third molar, the Dice indexes were 0.92, 0.93, and 0.78, respectively, with an accuracy of 100% for all three different teeth. For deciduous teeth, the Dice indexes for the right mandibular lateral incisor, right mandibular canine, and right mandibular first molar were 0.89, 0.91, and 0.85, respectively, with an accuracy of 100%. Conclusions: A successful instance segmentation model for teeth identification in panoramic dental X-ray was developed and validated. This model may help speed up and automate tasks like teeth counting and identifying specific missing teeth, improving the current clinical practice. [ABSTRACT FROM AUTHOR]

Safety plays a key role in human–robot interactions in collaborative robot (cobot) applications. This paper provides a general procedure to guarantee safe workstations allowing human operations, robot contributions, the dynamical environment, and time-variant objects in a set of collaborative robotic tasks. The proposed methodology focuses on the contribution and the mapping of reference frames. Multiple reference frame representation agents are defined at the same time by considering egocentric, allocentric, and route-centric perspectives. The agents are processed to provide a minimal and effective assessment of the ongoing human–robot interactions. The proposed formulation is based on the generalization and proper synthesis of multiple cooperating reference frame agents at the same time. Accordingly, it is possible to achieve a real-time assessment of the safety-related implications through the implementation and fast calculation of proper safety-related quantitative indices. This allows us to define and promptly regulate the controlling parameters of the involved cobot without velocity limitations that are recognized as the main disadvantage. A set of experiments has been realized and investigated to demonstrate the feasibility and effectiveness of the research by using a seven-DOF anthropomorphic arm in combination with a psychometric test. The acquired results agree with the current literature in terms of the kinematic, position, and velocity aspects; use measurement methods based on tests provided to the operator; and introduce novel features of work cell arranging, including the use of virtual instrumentation. Finally, the associated analytical–topological treatments have enabled the development of a safe and comfortable measure to the human–robot relation with satisfactory experimental results compared to previous research. Nevertheless, the robot posture, human perception, and learning technologies would have to apply research from multidisciplinary fields such as psychology, gesture, communication, and social sciences in order to be prepared for positioning in real-world applications that offer new challenges for cobot applications. [ABSTRACT FROM AUTHOR]

Since cobots are designed to be flexible, they are frequently repositioned to change the production line according to the needs; hence, their working area (user frame) needs to be often calibrated. Therefore, it is important to adopt a fast and intuitive user frame calibration method that allows even non-expert users to perform the procedure effectively, reducing the possible mistakes that may arise in such contexts. The aim of this work was to quantitatively assess the performance of different user frame calibration procedures in terms of accuracy, complexity, and calibration time, to allow a reliable choice of which calibration method to adopt and the number of calibration points to use, given the requirements of the specific application. This has been done by first analyzing the performances of a Rethink Robotics Sawyer robot built-in user frame calibration method (Robot Positioning System, RPS) based on the analysis of a fiducial marker distortion obtained from the image acquired by the wrist camera. This resulted in a quantitative analysis of the limitations of this approach that only computes local calibration planes, highlighting the reduction of performances observed. Hence, the analysis focused on the comparison between two traditional calibration methods involving rigid markers to determine the best number of calibration points to adopt to achieve good repeatability performances. The analysis shows that, among the three methods, the RPS one resulted in very poor repeatability performances (1.42 mm), while the three and five points calibration methods achieve lower values (0.33 mm and 0.12 mm, respectively) which are closer to the reference repeatability (0.08 mm). Moreover, comparing the overall calibration times achieved by the three methods, it is shown that, incrementing the number of calibration points to more than five, it is not suggested since it could lead to a plateau in the performances, while increasing the overall calibration time. [ABSTRACT FROM AUTHOR]

This paper describes the results of dynamic tests performed to study the robustness of a dynamics model of an industrial manipulator. The tests show that the joint friction changes during the robot operation. The variation can be identified in a double exponential law and thus the variation can be predicted. The variation is due to the heat generated by the friction. A model is used to estimate the temperature and related friction variation. Experimental data collected on two robots EFORT ER3A-C60 are presented and discussed. Repetitive tests performed on different days showed that the inertial and friction parameters can be robustly estimated and that the value of the measured joint friction can be used to estimate the unexpected conditions of the joints. Future applications may include sensorless identification of collisions, predictive maintenance programs, or human–robot interaction. [ABSTRACT FROM AUTHOR]