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Angelique Berens

dblp:216/0104 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 2020
—ORCID · unresolved

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Robot manipulation · 50% Motion planning and robot control · 50%
Interdisciplinary, comprehensive, and emerging computing
1 paper
Medical and health informatics · 100%

Topics — the 4 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot manipulation
telemanipulation
0.412020
RAVEN-S: Design and Simulation of a Robot for Teleoperated Microgravity Rodent Dissection Under Time Delay · ICRA 2020
Robotics › Motion planning and robot control › teleoperation
time-delay teleoperation
0.412020
RAVEN-S: Design and Simulation of a Robot for Teleoperated Microgravity Rodent Dissection Under Time Delay · ICRA 2020
Medical and health informatics
surgical robotics
0.112020
RAVEN-S: Design and Simulation of a Robot for Teleoperated Microgravity Rodent Dissection Under Time Delay · ICRA 2020
Medical and health informatics › surgical robotics › robot-assisted surgery
teleoperated surgery
0.112020
RAVEN-S: Design and Simulation of a Robot for Teleoperated Microgravity Rodent Dissection Under Time Delay · ICRA 2020

Methods — techniques the papers use, named apart from their topics

simulation · 0.9force estimation · 0.9
YearPublicationVenuePosition
2020 RAVEN-S: Design and Simulation of a Robot for Teleoperated Microgravity Rodent Dissection Under Time Delay
abstract
The International Space Station (ISS) serves as a research lab for a wide variety of experiments including some that study the biological effects of microgravity and spaceflight using the Rodent Habitat and Microgravity Science Glovebox (MSG). Astronauts train for onboard dissections of rodents following basic training. An alternative approach for conducting these experiments is teleoperation of a robot located on the ISS from earth by a scientist who is proficient in rodent dissection. This pilot study addresses (1) the effects of extreme time delay on skill degradation during Fundamentals of Laparoscopic Surgery (FLS) tasks and rodent dissections using RAVEN II; (2) derivation and testing of rudimentary interaction force estimation; (3) elicitation of design requirements for an onboard dissection robot, RAVEN-S; and (4) simulation of the RAVEN-S prototype design with dissection data. The results indicate that the tasks' completion times increased by a factor of up to 9 for a 3 s time delay while performing manipulation and cutting tasks (FLS model) and by a factor of up to 3 for a 0.75 s time delay during mouse dissection tasks (animal model). Average robot forces/torques of 14N/0.1Nm (peak 90N/0.75Nm) were measured along with average linear/angular velocities of 0.02m/s/4rad/s (peak 0.1m/s/40rad/s) during dissection. A triangular configuration of three arms with respect to the operation site showed the best configuration given the MSG geometry and the dissection tasks. In conclusion, the results confirm the feasibility of utilizing a surgically-inspired RAVEN-S robot for teleoperated rodent dissection for successful completion of the predefined tasks in the presence of communications time delay between the ISS and ground control.
Andrew Lewis 0001, David Drajeske, John Raiti, Angelique Berens, Jacob Rosen 0001, Blake Hannaford
ICRA4