PubMed İndeksli Yayınlar Koleksiyonu / PubMed Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/20.500.11779/1928
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Article Citation - WoS: 5Citation - Scopus: 6Monitoring of Intracerebral Hemorrhage With a Linear Microwave Imaging Algorithm(Springer, 2022-10-29) Dilman, Ismail; Dogu, Semih; Bilgin, Egemen; Akinci, Mehmet Nuri; Cosgun, Sema; Çayören, Mehmet; Akduman, IbrahimIntracerebral hemorrhage is a life-threatening condition where conventional imaging modalities such as CT and MRI are indispensable in diagnosing. Nevertheless, monitoring the evolution of intracerebral hemorrhage still poses a technological challenge. We consider continuous monitoring of intracerebral hemorrhage in this context and present a differential microwave imaging scheme based on a linearized inverse scattering. Our aim is to reconstruct non-anatomical maps that reveal the volumetric evolution of hemorrhage by using the differences between consecutive electric field measurements. This approach can potentially allow the monitoring of intracerebral hemorrhage in a real-time and cost-effective manner. Here, we devise an indicator function, which reveals the position, volumetric growth, and shrinkage of hemorrhage. Later, the method is numerically tested via a 3D anthropomorphic dielectric head model. Through several simulations performed for different locations of intracerebral hemorrhage, the indicator function-based technique is demonstrated to be capable of detecting the changes accurately. Finally, the robustness under noisy conditions is analyzed to assess the feasibility of the method. This analysis suggests that the method can be used to monitor the evolution of intracerebral hemorrhage in real-world scenarios. Graphical abstract: [Figure not available: see fulltext.]. © 2022, International Federation for Medical and Biological Engineering.Article Citation - WoS: 44Citation - Scopus: 52Adaptive Human Force Scaling Via Admittance Control for Physical Human-Robot Interaction(IEEE, 2021-10-01) Başdoğan, Çağatay; Aydın, Yusuf; Hamad, Yahya M.The goal of this article is to design an admittance controller for a robot to adaptively change its contribution to a collaborative manipulation task executed with a human partner to improve the task performance. This has been achieved by adaptive scaling of human force based on her/his movement intention while paying attention to the requirements of different task phases. In our approach, movement intentions of human are estimated from measured human force and velocity of manipulated object, and converted to a quantitative value using a fuzzy logic scheme. This value is then utilized as a variable gain in an admittance controller to adaptively adjust the contribution of robot to the task without changing the admittance time constant. We demonstrate the benefits of the proposed approach by a pHRI experiment utilizing Fitts’ reaching movement task. The results of the experiment show that there is a) an optimum admittance time constant maximizing the human force amplification and b) a desirable admittance gain profile which leads to a more effective co-manipulation in terms of overall task performance.