Generally, mobile robots use differential drive for locomotion. Following are a few of the publications that resulted from this research venture. This research proposes a gravity compensated force-feedback control method and a center of mass regulator that allows for the emulation of a free-floating environment with minimal (for spatial) or no (for planar) knowledge of the system model or dynamic parameters. Generally, Hardware in the Loop (HITL) simulation is used, however accurate knowledge of the system model and dynamic parameters is necessary for such a simulation. Complex dynamic coupling between the satellite bodies and robotic manipulators on space robots make it very difficult to accurately emulate movement of the robot. Testing these systems on Earth saves companies and space agencies billions of dollars in failed launches. The system allows for testing of orbital control systems, attitude systems, camera systems, docking procedures, and other sub-systems. Such an emulated environment can be used for extensive testing of space robots on Earth prior to launch. The research is focused on using model-free or model-minimalistic methods to emulate a free-floating environment using a robotic platform. Below are the manuscripts.Ī lot of sponsored research has been conducted in the field of space robotics by Narendran Muraleedharan (Naru) - a founder and core developer at Aptus. This is a revolutionary tool for the medical industry, and we are working closely with Multus to make sure as many get the benefit of this as soon as possible! We have submitted (currently in editorial process) a few of these studies to the International Journal of Spine Surgery. We were able to show that the AI radiology bot performed on par and sometimes even better than radiologists. In partnership with Multus and the Center for Advanced Spine Care of Southern Arizona in Tucson, we conducted feasibility and reliability studies on the AI we developed against surgical outcomes and human board-certified radiologist reads. Below is a very high level diagram showing this. It then generates a radiology report comparable to those generated by radiologists. The software takes in slices of MRI images in series in DICOM format, performs 3D segmentation of the patient's spine to identify anatomy - discs, spinal cord, etc., crops regions of interest for each disc and runs them through AI detectors to identify pathologies and abnormalities. These include central canal stenosis, foraminal stenosis, abnormalities to the lordotic curvature, etc. This software takes in Magnetic Resonance Imaging (MRI) scans of patient's spine, and generates a radiology report that indicates abnormalities and pathologies it identified in the spine. A portion of the work we did for Multus included the development of Artificial Intelligence (AI) radiology software. We developed all operational technology and software for Multus. Aptus is a partner in Multus Medical - a medical technology company that develops 3D renderings of patient-specific anatomy based on MRI scans.
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