Yun-Hui Liu's research while affiliated with The University of Hong Kong and other places
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Publications (194)
In this paper, an ultra-low-power MEMS lead-free piezoelectric accelerometer digital system is developed. This proposed system is mainly composed of a MEMS lead-free piezoelectric accelerometer and a readout circuit with successive approximation register (SAR) analog-to-digital converter (ADC). In this work, ANSYS software is used to design the str...
Achieving in-hand manipulation of a grasped object is challenging in robotic communities. This article proposes a planar intrinsic in-hand manipulation approach based on isometric transformation. We demonstrate that the isometric transformation (excluding reflections) can be reduced to rotations with two fixed centers, if more than two rotations ar...
Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and localization becomes inefficient. To solve these problems, map sparsification becomes a practical necessity to acq...
In this article, a complete 3-D integrated sensing system intended for practical applications was presented on a printed circuit board (PCB) board, starting with lead-free piezoelectric films deposited using an RF sputtering system, an MEMS structure design/simulation, device fabrication, and a signal processing chip design, including charge- to-vo...
Achieving high repetitive accuracy and operation uniformity of small lesion targeting are the main challenges in robot-assisted procedures of MRI-guided breast biopsy. In this paper, we present a visual servo controlled robotic system for MRI-guided breast intervention. This robot system is developed based on the manual control version of previous...
Rapid advances in modern technologies have completely revolutionized many industries in recent years. It is anticipated that mechatronic and automation technologies would play an important role in transforming the construction industry to embrace for the fourth industrial revolution. However, construction automation problems bring up new research c...
In this work, we study the problem of how to leverage instructional videos to facilitate the understanding of human decision-making processes, focusing on training a model with the ability to plan a goal-directed procedure from real-world videos. Learning structured and plannable state and action spaces directly from unstructured videos is the key...
This paper proposes a novel pretext task to address the self-supervised video representation learning problem. Specifically, given an unlabeled video clip, we compute a series of spatio-temporal statistical summaries, such as the spatial location and dominant direction of the largest motion, the spatial location and dominant color of the largest co...
Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical videos and robotic kinematics can be recorded, which provide complementary knowledge for understanding surgical ges...
This paper addresses the problem of self-supervised video representation learning from a new perspective – by video pace prediction. It stems from the observation that human visual system is sensitive to video pace, e.g., slow motion, a widely used technique in film making. Specifically, given a video played in natural pace, we randomly sample trai...
This paper proposes a novel pretext task to address the self-supervised video representation learning problem. Specifically, given an unlabeled video clip, we compute a series of spatio-temporal statistical summaries, such as the spatial location and dominant direction of the largest motion, the spatial location and dominant color of the largest co...
This paper addresses the problem of self-supervised video representation learning from a new perspective -- by video pace prediction. It stems from the observation that human visual system is sensitive to video pace, e.g., slow motion, a widely used technique in film making. Specifically, given a video played in natural pace, we randomly sample tra...
In logistics warehouse sorting, rubbish classification, and household services, scenarios exist in which rigid and soft objects are randomly piled together. In such situations, two major challenges arise in robotic picking tasks: the first is to distinguish rigid objects from soft objects, and the second is to grasp one object of each type at a tim...
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to surgeons, especially during the tedious wound closure task. In this paper, we present a vision-based method to...
Targeted therapy results in objective responses in cervical cancer. However, the responses are short. In contrast, treatment with immune checkpoint inhibitors results in a lower responses rate, but the responses tend to be more durable. Based on these findings, we hypothesized that HPV16 E6/E7-targeted therapy may synergize with the PD-1 pathway bl...
Thanks to the rapid development of CNNs and depth sensors, great progress has been made in 3D hand pose estimation. Nevertheless, it is still far from being solved for its cluttered circumstance and severe self-occlusion of hand. In this paper, we propose a method that takes advantage of human hand morphological topology (HMT) structure to improve...
In MRI-guided breast intervention, the biopsy procedure is carried out by manually inserting a biopsy gun. However, some lesions are barely accessible with conventional tools, and the imaging process must be repeated multiple times for a better insertion coordinate. In this paper, we present a parallel robot for MRI-guided breast intervention. The...
Thanks to the rapid development of CNNs and depth sensors, great progress has been made in 3D hand pose estimation. Nevertheless, it is still far from being solved for its cluttered circumstance and severe self-occlusion of hand. In this paper, we propose a method that takes advantage of human hand morphological topology (HMT) structure to improve...
In Magnetic Resonance Imaging (MRI) guided intervention procedures, the flexibility and reliability of the mammary gland fixation device are important indicators for ensuring the quality of surgery. This paper presents a bionic flexible fixation system for MRI-guided breast biopsy, and establishes a mathematical model of the palm-type curved plate...
In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are not actual features of the target but the reflections of surroundings. Moreover, the similarity of color also...
The research of hand pose estimation is a hot topic in computer vision, robotics and virtual reality. Compared with using data glove, vision based methods show great advantage for its contactless property, low-cost and convenience. With the commercial depth cameras became widely available and the great success of Convolution Neural Network (CNN) on...
In this study, piezoelectric Pb(Zr0.52 Ti0.48)O3 (PZT) thick films were fabricated on Pt‐coated Si substrates by a modified sol‐gel method via dispersing the piezoelectric submicron powders of composition (Pb, Sr)Lax(Ti, Zr)1‐1/4xO3 (PZT‐5A, having a high d33 value of 520 and a high kp value of 0.64) in the PZT sol‐gel solution. Then, piezoelectric...
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been developed to automate one or two steps in the sanding works, the autonomous capability of existing solutions is...
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been developed to automate one or two steps in the sanding works, the autonomous capability of existing solutions is...
Visual inertial fusion is the problem to estimate vehicle states using visual and inertial measurements, and has recently been an active research topic. Existing visual inertial fusion approaches formulate their estimation algorithms for mobile robots in general 3-D space, and cannot satisfactorily model the nearly planar motion of ground vehicles....
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This paper focuses on the motion estimation problem of ground vehicles using odometry and monocular visual sensors. While the keyframe-based batch optimization methods become the mainstream approach in mobile vehicle localization and mapping, the keyframe poses are usually represented by SE(3) in vision-based methods or SE(2) in methods based on ra...
Existing control techniques for rehabilitation robots commonly ignore robot dynamics by assuming a perfect inner control loop or are limited to rigid-joint robots. The dynamic stability of compliantly-actuated rehabilitation robots, consisting of the dynamics of both robot and compliant actuator, is not theoretically grounded. This paper presents a...
The problem of the leader-following formation control of nonholonomic mobile robots is addressed in this paper. A distributed formation control strategy using explicitly the coordination errors among robots is proposed without assuming that each follower robot knows the full state of the leader. First, a distributed estimation law is proposed for e...
This paper addresses the design of a vision-based method to automatically deform soft objects into desired 2D shapes with robot manipulators. The method presents an innovative feedback representation of the object's shape (based on truncated Fourier series) and effectively exploits it to guide the soft object manipulation task. A new model calibrat...
This paper reports the development of a vision-based calibration method for dual remote center-of-motion (RCM) based robot arms in a human-robot collaborative minimally invasive surgery (MIS) scenario. The method does not require any external tracking sensors and directly uses images captured by the endoscopic camera and the robot encoder readings...
Despite tremendous efforts made for years, trajectory tracking control (TC) of a nonholonomic mobile robot (NMR) without global positioning system remains an open problem. The major reason is the difficulty to localize the robot by using its onboard sensors only. In this paper, a newly designed adaptive trajectory TC method is proposed for the NMR...
CRISPR/Cas9 is a novel and effective genome editing technique, but its application is not widely expanded to manipulate long non-coding RNA (lncRNA) expression. The lncRNA urothelial carcinoma-associated 1 (UCA1) is upregulated in bladder cancer and promotes the progression of bladder cancer. Here, we design gRNAs specific to UCA1 and construct CRI...
Magnetic Resonance Imaging (MRI) presents better performance in breast imaging compared to computed tomography or ultrasound, however, its image quality critically depends on the stabilization of breast tissues during interventions. Conventionally, 2D compression plates for immobilization have been used by various researchers, however, not only do...
Obstacle detection is one of the main components of the control system and navigation of autonomous vehicles. This paper presents a novel approach to obstacle detection and segmentation with a RGB-D sensor. Different from the traditional approaches which only detect whether there exist obstacles, our approach not only can detect the obstacles but a...
For the localization problem of mobile robots in 3D space, vision-based methods are being extensively investigated in recent years, due to the information richness provided by images. To improve the robustness and continuity, usually more sensors are introduced to assist visual localization in practices. In this paper, we propose a geometric model...
![Fig. 13. Magnitude of the position error coordinates e = [ex, ey, ez]...](profile/David-Navarro-Alarcon/publication/303886288/figure/fig1/AS:371747510603777@1465642921764/Magnitude-of-the-position-error-coordinates-e-ex-ey-ez-obtained-with-the_Q320.jpg)
In this paper, we present a new feedback method to automatically servo-control the 3-D shape of soft objects with robotic manipulators. The soft object manipulation problem has recently received a great deal of attention from robotics researchers because of its potential applications in, e.g., food industry, home robots, medical robotics, and manuf...
A novel piezoelectric driven compliant stage and its associated PC-based X–Y axes control schemes have been developed as a potential carrier of automatic optical inspection (AOI) systems and other possible applications in precision positioning. The design is based on compliant structure with a mechanical amplifier mechanism. Two orthogonal stages a...
Compliant stages are critical subsystems in precision motion control applications. Traditionally, they are usually fabricated by using conventionally machining methods such as line cutting of metallic structures. Although such an approach could yield excellent performance in many applications, it suffers from two major concerns, i.e., weight concer...
In traditional laparoscopic hysterectomy, an assistant is typically assigned to hold a uterus manipulator to facilitate the surgical procedures. The responsibility of the assistant is to position the uterus according to the primary surgeon’s instructions. Throughout the surgery, which typically lasts more than 90 min, the assistant has to support t...
In this study, we investigate whether miR-128 is capable of regulating the apoptosis and proliferation of human U251 glioma cells by downregulating RhoE. The expression of miR-128 was assessed by quantitative polymerase chain reaction in normal brain tissue and glioma samples. A significant downregulation of the expression of miR-128 was detected i...
This paper presents a lens-free and portable quantitative phase microscope. This microscope employs a concise off-axis set-up where a dual-pinhole aperture is utilized to generate the reference wave and the object wave. As no lenses or beamsplitters are used in this microscope, the total size of this microscope is only slightly larger than a smart...
In this paper, we present a new robotic uterine positioner for total laparoscopic hysterectomy. The robot is designed to actively position the patient's uterus during surgery, a lengthy and tedious task that is traditionally performed by a human assistant. Safety is simply the most important concern when developing robots for surgical purposes; we...
This paper presents the development of an en-doscope manipulator with passive and active structures for functional endoscopic sinus surgery (FESS). The 5-DoF passive structure has three translations and two rotations (T3R2) that allows the surgeon to manually place the endoscope near to the entry point during. The 4-DoF motorized structure (T2R2) a...
In this paper, we address the positioning problem of remote centre of motion (RCM) mechanisms with uncali-brated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry port; note that in most surgical applications, the...
Objectives/HypothesisTo evaluate the feasibility of a unique prototype foot-controlled robotic-enabled endoscope holder (FREE) in functional endoscopic sinus surgery.Study DesignCadaveric study.Methods
Using human cadavers, we investigated the feasibility, advantages, and disadvantages of the robotic endoscope holder in performing endoscopic sinus...
miR-18a represses angiogenesis and tumor evasion by weakening vascular endothelial growth factor and transforming growth factor-β signaling to prolong the survival of glioma patients, although it is thought to be an oncogene. This study investigates the potential effects of miR-18a on the permeability of the blood–tumor barrier (BTB) and its possib...
This paper develops a new vision-based intelligent forklift Automatic Guided Vehicle (A GV) to perform various transporting tasks in factories and warehouses for improving the quality and efficiency as well as saving the manpower in manufacturing and service industries. Based on a vision-based adaptive localization algorithm with the global pose co...
In this paper, we propose a novel design of compliant safe joint, which has flexibility when the work load exceeds a pre-defined threshold. The compliance is generated by a spring. We design a special transmission mechanism to convert axial motion into circumferential motion such that the linear compliance can be converted into circular one. When t...
The adaptive image-based trajectory tracking control problem of rigid-link electrically driven (RLED) robotic manipulators is addressed in this paper. A fixed camera configuration is considered and the camera intrinsic and extrinsic parameters are assumed to be unknown. Furthermore, the manipulator dynamic and motor dynamic parameters are assumed t...
The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the 'torso protective strategy' for safe landing of a biped humanoid robot. First, the effectiveness of the tor...
This paper presents a novel and effective method for estimating the position and linear velocity of a mobile robot in real-time in unknown environments by fusing visual information from an omnidirectional vision system with the measurements of an inertial sensor system. Based on a new projection model of the omnidirectional vision system, we propos...
Although consistent stability is desirable, a biped humanoid robot encounters a high risk of falling. Such falls may cause serious damage to both the robot and the environment. This study focuses on this issue and investigates four strategies based on human protective falling motion. These strategies are: 'knee flexion', 'torso flexion forward', 't...
This paper presents a six-degree-of-freedom hybrid vibration isolation system integrated with an active sky-hook damper and a passive weight support mechanism for highly sensitive measurement equipment, e.g. atomic force microscopes, suffering from building vibration. Active sky-hook damper applies proportional controller incorporated with an adapt...
Remote center of motion (RCM) mechanisms are widely used in surgical robots to mechanically constrain the position of a certain point in the operation space. Examples of well-known RCM mechanisms include parallelogram mechanisms, spherical linkages, circular guiding arcs, etc. In this paper, a reinforced circular-guided RCM mechanism is presented....
Nowadays, robotic systems make use of compliant joint actuation to provide safe human-robot physical interactions, and in general, to improve the friendliness of the mechanism. However, note that with the introduction of these passive flexible elements, the actuators (which input the control actions) can not explicitly set the driving torque of the...
In this brief, we address the robust force regulation problem of mechanical systems in physical interaction with compliant environments. The control method that we present is entirely derived under the energy shaping framework. Note that for compliant interactions, standard energy shaping methods (i.e., potential shaping controls using static-state...