Effects of realistic force feedback in a robotic assisted minimally invasive surgery system

Robotic assisted minimally invasive surgery systems not only have the advantages of traditional laparoscopic procedures but also restore the surgeon's hand-eye coordination and improve the surgeon's precision by filtering hand tremors. Unfortunately, these benefits have come at the expense of the surgeon's ability to feel. Several research efforts have already attempted to restore this feature and study the effects of force feedback in robotic systems. The proposed methods and studies have some shortcomings. The main focus of this research is to overcome some of these limitations and to study the effects of force feedback in palpation in a more realistic fashion.

Mining streams of short text for analysis of world-wide event evolutions

Streams of short text, such as news titles, enable us to effectively and efficiently learn the real world events that occur anywhere and anytime. Short text messages that are companied by timestamps and generally brief events using only a few words differ from other longer text documents, such as web pages, news stories, blogs, technical papers and books. For example, few words repeat in the same news titles, thus frequency of the term (i.e., TF) is not as important in short text corpus as in longer text corpus. Therefore, analysis of short text faces new challenges. Also, detecting and tracking events through short text analysis need to reliably identify events from constant topic clusters; however, existing methods, such as Latent Dirichlet Allocation (LDA), generates different topic results for a corpus at different executions. In this paper, we provide a Finding Topic Clusters using Co-occurring Terms (FTCCT) algorithm to automatically generate topics from a short text corpus, and develop an Event Evolution Mining (EEM) algorithm to discover hot events and their evolutions (i.e., the popularity degrees of events changing over time). In FTCCT, a term (i.e., a single word or a multiple-words phrase) belongs to only one topic in a corpus. Experiments on news titles of 157 countries within 4 months (from July to October, 2013) demonstrate that our FTCCT-based method (combining FTCCT and EEM) achieves far higher quality of the event's content and description words than LDA-based method (combining LDA and EEM) for analysis of streams of short text. Our method also visualizes the evolutions of the hot events. The discovered world-wide event evolutions have explored some interesting correlations of the world-wide events; for example, successive extreme weather phenomenon occur in different locations - typhoon in Hong Kong and Philippines followed hurricane and storm flood in Mexico in September 2013. © 2014 Springer Science+Business Media New York.

Mining permission patterns for contrasting clean and malicious android applications

An Android application uses a permission system to regulate the access to system resources and users' privacy-relevant information. Existing works have demonstrated several techniques to study the required permissions declared by the developers, but little attention has been paid towards used permissions. Besides, no specific permission combination is identified to be effective for malware detection. To fill these gaps, we have proposed a novel pattern mining algorithm to identify a set of contrast permission patterns that aim to detect the difference between clean and malicious applications. A benchmark malware dataset and a dataset of 1227 clean applications has been collected by us to evaluate the performance of the proposed algorithm. Valuable findings are obtained by analyzing the returned contrast permission patterns. © 2013 Elsevier B.V. All rights reserved.

Data-mining twitter and the autism spectrum disorder: a pilot study

The autism spectrum disorder (ASD) is increasingly being recognized as a major public health issue which affects approximately 0.5-0.6% of the population. Promoting the general awareness of the disorder, increasing the engagement with the affected individuals and their carers, and understanding the success of penetration of the current clinical recommendations in the target communities, is crucial in driving research as well as policy. The aim of the present work is to investigate if Twitter, as a highly popular platform for information exchange, can be used as a data-mining source which could aid in the aforementioned challenges. Specifically, using a large data set of harvested tweets, we present a series of experiments which examine a range of linguistic and semantic aspects of messages posted by individuals interested in ASD. Our findings, the first of their nature in the published scientific literature, strongly motivate additional research on this topic and present a methodological basis for further work.

A novel parallel algorithm for frequent itemsets mining in massive small files datasets

In big data analysis, frequent itemsets mining plays a key role in mining associations, correlations and causality. Since some traditional frequent itemsets mining algorithms are unable to handle massive small files datasets effectively, such as high memory cost, high I/O overhead, and low computing performance, we propose a novel parallel frequent itemsets mining algorithm based on the FP-Growth algorithm and discuss its applications in this paper. First, we introduce a small files processing strategy for massive small files datasets to compensate defects of low read-write speed and low processing efficiency in Hadoop. Moreover, we use MapReduce to redesign the FP-Growth algorithm for implementing parallel computing, thereby improving the overall performance of frequent itemsets mining. Finally, we apply the proposed algorithm to the association analysis of the data from the national college entrance examination and admission of China. The experimental results show that the proposed algorithm is feasible and valid for a good speedup and a higher mining efficiency, and can meet the actual requirements of frequent itemsets mining for massive small files datasets. © 2014 ISSN 2185-2766.

Mining mechanism of top-k influential nodes based on voting algorithm in mobile social networks

In recent years, evaluating the influence of nodes and finding top-k influential nodes in social networks, has drawn a wide attention and has become a hot-pot research issue. Considering the characteristics of social networks, we present a novel mechanism to mine the top-k influential nodes in mobile social networks. The proposed mechanism is based on the behaviors analysis of SMS/MMS (simple messaging service / multimedia messaging service) communication between mobile users. We introduce the complex network theory to build a social relation graph, which is used to reveal the relationship among people's social contacts and messages sending. Moreover, intimacy degree is also introduced to characterize social frequency among nodes. Election mechanism is hired to find the most influential node, and then a heap sorting algorithm is used to sort the voting results to find the k most influential nodes. The experimental results show that the mechanism can finds out the most influential top-k nodes efficiently and effectively. © 2013 IEEE.

Robotic grasping and manipulation controller framework: architecture redevelopment

This paper details the further improvements obtained by redesigning a previously offered Manipulation Controller Framework to provide support to an innovative, friction-based object slippage detection strategy employed by the robotic object manipulator. This upgraded Manipulation Controller Framework includes improved slippage detection functionality and a streamlined architecture designed to improve controller robustness, reliability and speed. Improvements include enhancements to object slippage detection strategy, the removal of the decision making module and integration of its functionality into the Motion Planner, and the stream-lining of the Motion Planner to improve its effectiveness. It is anticipated that this work will be useful to researchers developing integrated robot controller architectures and slippage control.

Preference mining techniques for customer behavior analysis

The thesis has studied a number of critical problems in data mining for customer behavior analysis and has proposed novel techniques for better modeling of the customers’ decision making process, more efficient analysis of their travel behavior, and more effective identification of their emerging preference.

Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems

An automated laparoscopic instrument capable of non-invasivemeasurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is introduced in this chapter. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of thispaper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this chapter. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.

The trickle-down effect of the mining boom in Australia: fact or myth?

This paper examines the relationship between the output levels in the mining sector and various non-mining sectors in an attempt to understand the role of the mining sector in Australia. The unobserved components time series model is used to estimate the effects of the output gap and the growth regime in the mining sector on the output level of each of several non-mining sectors. Overall, the estimates obtained do not suggest an overwhelmingly positive effect running from the mining sector to other production and services sectors, implying that the trickle-down effect of the mining boom may be a myth.

Gold and silver mining in the 16th and 17th centuries, land titles and agricultural productivity

Although agricultural productivity is critical for economic development very little is known about the causes of the large dispersion in agricultural productivity across the world. Microeconomic studies increasingly stress the lack of land rights in many poor countries as an important source of low productivity. This paper examines the role played by land titles in explaining differences in agricultural productivity for 93 countries. Using the per capita accumulated value of gold and silver production in the 16th and 17th centuries as instruments for land rights it is shown that enforcement of land titles is a significant source of agricultural productivity inequality across the world.

A method for stereo-vision based tracking for robotic applications

Vision based tracking of an object using the ideas of perspective projection inherently consists of nonlinearly modelled measurements although the underlying dynamic system that encompasses the object and the vision sensors can be linear. Based on a necessary stereo vision setting, we introduce an appropriate measurement conversion techniques which subsequently facilitate using a linear filter. Linear filter together with the aforementioned measurement conversion approach conforms a robust linear filter that is based on the set values state estimation ideas; a particularly rich area in the robust control literature. We provide a rigorously theoretical analysis to ensure bounded state estimation errors formulated in terms of an ellipsoidal set in which the actual state is guaranteed to be included to an arbitrary high probability. Using computer simulations as well as a practical implementation consisting of a robotic manipulator, we demonstrate our linear robust filter significantly outperforms the traditionally used extended Kalman filter under this stereo vision scenario. © 2008 IEEE.

Mining allocating patterns in one-sum weighted items

An Association Rule (AR) is a common knowledge model in data mining that describes an implicative cooccurring relationship between two disjoint sets of binary-valued transaction database attributes (items), expressed in the form of an "antecedent⇒ consequent" rule. A variant of the AR is the Weighted Association Rule (WAR). With regard to a marketing context, this paper introduces a new knowledge model in data mining -ALlocating Pattern (ALP). An ALP is a special form of WAR, where each rule item is associated with a weighting score between 0 and 1, and the sum of all rule item scores is 1. It can not only indicate the implicative co-occurring relationship between two (disjoint) sets of items in a weighted setting, but also inform the "allocating" relationship among rule items. ALPs can be demonstrated to be applicable in marketing and possibly a surprising variety of other areas. We further propose an Apriori based algorithm to extract hidden and interesting ALPs from a "one-sum" weighted transaction database. The experimental results show the effectiveness of the proposed algorithm. © 2008 IEEE.

Facilitating effects of transcranial direct current stimulation on motor imagery brain-computer interface with robotic feedback for stroke rehabilitation

OBJECTIVE: To investigate the efficacy and effects of transcranial direct current stimulation (tDCS) on motor imagery brain-computer interface (MI-BCI) with robotic feedback for stroke rehabilitation. DESIGN: A sham-controlled, randomized controlled trial. SETTING: Patients recruited through a hospital stroke rehabilitation program. PARTICIPANTS: Subjects (N=19) who incurred a stroke 0.8 to 4.3 years prior, with moderate to severe upper extremity functional impairment, and passed BCI screening. INTERVENTIONS: Ten sessions of 20 minutes of tDCS or sham before 1 hour of MI-BCI with robotic feedback upper limb stroke rehabilitation for 2 weeks. Each rehabilitation session comprised 8 minutes of evaluation and 1 hour of therapy. MAIN OUTCOME MEASURES: Upper extremity Fugl-Meyer Motor Assessment (FMMA) scores measured end-intervention at week 2 and follow-up at week 4, online BCI accuracies from the evaluation part, and laterality coefficients of the electroencephalogram (EEG) from the therapy part of the 10 rehabilitation sessions. RESULTS: FMMA score improved in both groups at week 4, but no intergroup differences were found at any time points. Online accuracies of the evaluation part from the tDCS group were significantly higher than those from the sham group. The EEG laterality coefficients from the therapy part of the tDCS group were significantly higher than those of the sham group. CONCLUSIONS: The results suggest a role for tDCS in facilitating motor imagery in stroke.