This document provides an overview of diabetic retinopathy diagnosis through the analysis of retinal images. It discusses the aims of identifying patients with different stages of diabetic retinopathy. The stages of diabetic retinopathy and associated symptoms are defined. Pre-processing steps like color conversion, filtering and segmentation are described. A proposed methodology includes blood vessel and lesion detection through morphological operations, texture analysis, feature extraction and classification. Results of optic disc detection, blood vessel segmentation and texture analysis are shown. The conclusion discusses developing more accurate detection techniques and extracting smaller blood vessels to aid in diagnosis.
Diabetic Retinopathy Detection using Neural Networkingijtsrd
The clinical and laboratory studies states that diabetic retinopathy is the major cause of permanent blindness among the aged personalities. The problem with this disease is that there is no cure for it and the only thing we can do is to detect the disease as soon as possible in order to prevent further loss of vision. In this system we propose a CNN approach for diagnosing DR from retinal images and classifying the stages of the disease .The classification is done based on the haemorrhages, micro aneurysms present in the retinal image. We train this network using a high end graphics processor unit GPU using kaggle data set and the disease classification is done, hence we can identify the the disease and prevent the further loss of vision. N Rahul | Roy Eluvathingal | Sanith Jayan K | Mr. Anil Antony "Diabetic Retinopathy Detection using Neural Networking" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-4 , June 2020, URL: https://www.ijtsrd.com/papers/ijtsrd31487.pdf Paper Url :https://www.ijtsrd.com/engineering/computer-engineering/31487/diabetic-retinopathy-detection-using-neural-networking/n-rahul
Smart health disease prediction python djangoShaikSalman28
mca final year project of Smart health disease prediction python django ppt. It is also helpful for mtech students also. Can anyone need this project coding then call me 9491831577. if you want extra projects then also u can call me . Smart health disease prediction python django price is 300rs.
Diabetes is a disease which is rapidly increasing all over the world. It occurs when pancreas does not produce sufficient insulin, or body can not sufficiently use insulin it produces. Diabetes person has increase blood glucose in the body. One of the major problem diabetic patients suffers from is the Diabetic Retinopathy (DR) and blindness. Since the number of diabetes patients is continuously increasing, it increases the data as well.
Diabetic Retinopathy Detection using Neural Networkingijtsrd
The clinical and laboratory studies states that diabetic retinopathy is the major cause of permanent blindness among the aged personalities. The problem with this disease is that there is no cure for it and the only thing we can do is to detect the disease as soon as possible in order to prevent further loss of vision. In this system we propose a CNN approach for diagnosing DR from retinal images and classifying the stages of the disease .The classification is done based on the haemorrhages, micro aneurysms present in the retinal image. We train this network using a high end graphics processor unit GPU using kaggle data set and the disease classification is done, hence we can identify the the disease and prevent the further loss of vision. N Rahul | Roy Eluvathingal | Sanith Jayan K | Mr. Anil Antony "Diabetic Retinopathy Detection using Neural Networking" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-4 , June 2020, URL: https://www.ijtsrd.com/papers/ijtsrd31487.pdf Paper Url :https://www.ijtsrd.com/engineering/computer-engineering/31487/diabetic-retinopathy-detection-using-neural-networking/n-rahul
Smart health disease prediction python djangoShaikSalman28
mca final year project of Smart health disease prediction python django ppt. It is also helpful for mtech students also. Can anyone need this project coding then call me 9491831577. if you want extra projects then also u can call me . Smart health disease prediction python django price is 300rs.
Diabetes is a disease which is rapidly increasing all over the world. It occurs when pancreas does not produce sufficient insulin, or body can not sufficiently use insulin it produces. Diabetes person has increase blood glucose in the body. One of the major problem diabetic patients suffers from is the Diabetic Retinopathy (DR) and blindness. Since the number of diabetes patients is continuously increasing, it increases the data as well.
Segmentation of the Blood Vessel and Optic Disc in Retinal Images Using EM Al...iosrjce
IOSR Journal of Computer Engineering (IOSR-JCE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of computer engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in computer technology. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Detection of Diabetic Retinopathy using Kirsch Edge Detection and Watershed T...IJARIIT
Diabetic retinopathy (DR) is a common retinal complication associated with diabetics. A complication of diabetes is that it can also affect various parts of the body. When the small blood vessels have a high level of glucose in the retina, the vision will be blurred and can cause blindness eventually, which is known as diabetic retinopathy. However, if symptoms are identified in the early stage then proper treatment can be provided to prevent blindness. Usually the retinal images obtained from the fundus camera are examined directly and diagnosed. Due to this certain abnormalities due to diabetic retinopathy are not directly visible through the naked eye .Hence by using the image processing techniques these abnormalities can be extracted accurately and required treatments and precautions can be taken. And this also reduces the time for the ophthalmologists to detect the disease and give accurate treatments.
As Diabetes Mellitus combined with other ailments will become a deadly combination, hence there
is an urgent need to break the link between diabetes and its related complications. For this purpose image
processing based analysis can potentially be helpful for earlier detection, education and treatment. Medical
image analysis of Diabetic patients with its related complications such as DR, CVD & Diabetic
Myonecrosis (i.e. on Retinal Images, Coronary angiographs, Electron micrographs, MRI etc) is to be the
aprioristic because of its more prevalence. Thus the main work of this paper is on literature review about
Diabetes and Imaging such as the Prevalence, Classification, Causes and Medical Imaging & Survey of
Image processing methods applied on Diabetic Related Causes.
Keywords — Image, segmentation, retinopathy, Myonecrosis,
Diabetic retinopathy is a disease, caused by alternation in the retinal blood vessels. It is a strong sign of early blindness and if it is not treated may tend to complete blindness and the vision lost once cannot be restored once again. In this paper different image processing techniques are used to differentiate between the normal and the diseased image. The attempt is made to see where the problem actually lies so that proper diagnosis of patient can be done. Pre processing of an image, optic disk detection, Blood vessels extraction, Exudates detection are some of the methods that are applied here. Other algorithms are designed to obtain the desired result. A large number of populations are affected by this disease around the world.
Glaucoma Screening Test By Segmentation of Optical Disc& Cup Segmentation Usi...IJERA Editor
Glaucoma is one of the most common causes of blindness and it is becoming even more important considering
the ageing society. Because healing of died retinal nerve fibers is not possible early detection and prevention is
essential. Robust, automated mass-screening will help to extend the symptom-free life of affected patients. We
devised a novel, automated, appearance based glaucoma classification system that does not depend on
segmentation based measurements. Our purely data-driven approach is applicable in large-scale screening
examinations. The proposed segmentation methods have been evaluated in a database of 650 images with optic
disc and optic cup boundaries manually marked by trained professionals. Our expected Experimental results
may be average overlapping error of 9.5% and 24.1% in optic disc and optic cup segmentation, respectively.
An Approach for the Detection of Vascular Abnormalities in Diabetic Retinopathyijdmtaiir
Diabetic Retinopathy is a common complication of
diabetes that is caused by changes in the blood vessels of the
retina. The blood vessels in the retina get altered. Exudates are
secreted, micro-aneurysms and hemorrhages occur in the
retina. The appearance of these features represents the degree
of severity of the disease. In this paper the proposed approach
detects the presence of abnormalities in the retina using image
processing techniques by applying morphological processing
techniques to the fundus images to extract features such as
blood vessels, micro aneurysms and exudates. These features
are used for the detection of severity of Diabetic Retinopathy.
It can quickly process a large number of fundus images
obtained from mass screening to help reduce the cost, increase
productivity and efficiency for ophthalmologists.
Automated Screening of Diabetic Retinopathy Using Image Processingiosrjce
IOSR Journal of Pharmacy and Biological Sciences(IOSR-JPBS) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of Pharmacy and Biological Science. The journal welcomes publications of high quality papers on theoretical developments and practical applications in Pharmacy and Biological Science. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
EXUDATES DETECTION FROM DIGITAL FUNDUS IMAGE OF DIABETIC RETINOPATHYijabjournal
The aim of this paper is to detect exudates from the digital fundus images and provide information about Non Proliferative Diabetic Retinopathy. Diabetic retinopathy is very complicated disease that occurs when the retinal blood vessels changes. Exudates are the first sign of the diabetic retinopathy which cause blindness. So it is very important to find out these exudates in fundus image. In this paper we have proposed a method which is used for segmentation of optic disc and exudates. Morphological operations are used for detection of exudates. Before this operation we are applying Contrast Limited Adaptive Histogram Equalization technique. The results are compared with the standard database.
Diabetic retinopathy is the cause for
blindness in the human society. Early detection of it prevents
blindness. Image processing techniques can reduce the work of
ophthalmologists and the tools used to detect Diabetic
Retinopathy Patients. Proliferative diabetic retinopathy is the
most advanced stage of diabetic retinopathy, and is classified by
the growth of new blood vessels. These blood vessels are
abnormal and fragile, and are susceptible to leaking blood and
fluid onto the retina, which can cause severe vision loss. First,
vessel-like patterns are segmented by using Ridge Strength
Measurement and Watershed lines. The second step is measuring
the vessel pattern obtained [5][10]. Many features that are
extracted from the blood vessels such as shape, position,
orientation, brightness, contrast and line density have been used
to quantitative patterns in retinal vasculature. Based on the seven
features extracted, the segment is classified as normal or
abnormal by using Support Vector Machine Classifier [6][8]. The
obtained accuracy may be sufficient to reduce the workload of an
ophthalmologist and to prioritize the patient grading queues.
optical coherence tomography is a new tool that makes retinal diagnosis easier. the above ppt includes a detailed and precise notes on OCT and its interpretation.
Packet capture is a computer networking term for intercepting a data packet that is crossing or moving over a specific computer network. Once a packet is captured, it is stored temporarily so that it can be analyzed. The packet is inspected to help diagnose and solve network problems and determine whether network security policies are being followed. Hackers can also use packet capturing techniques to steal data that is being transmitted over a network.
A firewall of any description is a must for any user connecting to the Internet.
DPI proves to be a better security centric technology than SPI. However, from a security point of view
However, for a truly effective platform a dedicated hardware firewall with DPI provides the best all-round solution and goes a long way to securing networks from the more sophisticated and damaging Internet threats.
Basic Network Attacks
The active and passive attacks can be differentiated on the basis of what are they, how they are performed and how much extent of damage they cause to the system resources. But, majorly the active attack modifies the information and causes a lot of damage to the system resources and can affect its operation. Conversely, the passive attack does not make any changes to the system resources and therefore doesn’t causes any damage.
The development of intelligent network forensic tools to focus on specific type of network traffic analysis is a challenge in terms of future perspective.
This will reduce time delays, less computational resources requirement; minimize attacks, providing reliable and secured evidences, and efficient investigation with minimum efforts
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
Learn about the cost savings, reduced environmental impact, and minimal disruption associated with trenchless technology. Discover detailed explanations of popular techniques such as pipe bursting, cured-in-place pipe (CIPP) lining, and directional drilling. Understand how these methods can be applied to various types of infrastructure, from residential plumbing to large-scale municipal systems.
Ideal for homeowners, contractors, engineers, and anyone interested in modern plumbing solutions, this guide provides valuable insights into why trenchless pipe repair is becoming the preferred choice for pipe rehabilitation. Stay informed about the latest advancements and best practices in the field.
COLLEGE BUS MANAGEMENT SYSTEM PROJECT REPORT.pdfKamal Acharya
The College Bus Management system is completely developed by Visual Basic .NET Version. The application is connect with most secured database language MS SQL Server. The application is develop by using best combination of front-end and back-end languages. The application is totally design like flat user interface. This flat user interface is more attractive user interface in 2017. The application is gives more important to the system functionality. The application is to manage the student’s details, driver’s details, bus details, bus route details, bus fees details and more. The application has only one unit for admin. The admin can manage the entire application. The admin can login into the application by using username and password of the admin. The application is develop for big and small colleges. It is more user friendly for non-computer person. Even they can easily learn how to manage the application within hours. The application is more secure by the admin. The system will give an effective output for the VB.Net and SQL Server given as input to the system. The compiled java program given as input to the system, after scanning the program will generate different reports. The application generates the report for users. The admin can view and download the report of the data. The application deliver the excel format reports. Because, excel formatted reports is very easy to understand the income and expense of the college bus. This application is mainly develop for windows operating system users. In 2017, 73% of people enterprises are using windows operating system. So the application will easily install for all the windows operating system users. The application-developed size is very low. The application consumes very low space in disk. Therefore, the user can allocate very minimum local disk space for this application.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
1. CONTENTS
•INTRODUCTION
•AIMS & OBJECTIVE
•DEFINITION OF DIABETIC RETINOPATHY
•STAGES OF DR
•SYMPTOMS OF DR
•ANALYSIS OF RETINA
•ABNORMILITIES ASSOCIATED WITH EYE
•RELATED WORK
•MORPHOLOGICAL OPERATORS
•DIABETIC RETINOPATHY DIAGNOSIS
•PRE-PROCESSING STEPS
•PROPOSED METHODOLOGY
•RESULTS
•CONCLUSION
•REFERENCES
2. Introduction
• The Devastation
– Diabetic retinopathy – 4.1 million US Adults
• National Health Interview Survey and US Census Population
– Glaucoma – 2 million individuals in the US.
• Ophthalmologic images
– Important structures – Blood Vessels
– Help detect and treat Eye Diseases affecting blood
vessels
• Retina vessel map segmentation is very important to
medical applications, such as diabetic retinopathy,
aging related retina analysis etc.
3. Introduction
• Damaged blood vessels indicate retinal
disease.
Blood clots indicate diabetic retinopathy.
Narrow blood vessels indicate Central Retinal
Artery Occlusion.
• Observation of blood vessels in retinal
images
– Shows presence of disease
– Helps prevent vision loss by early detection
4. Aims and Objective
• The primary aim of this project is to develop a system
that will be able to identify patients with BDR and
PDR from either colour image or grey level image
obtained from the retina of the patient.
• The secondary aim includes developing a MATLAB
based Graphic User Interface (GUI) tool to be used
by the ophthalmologist in marking fundus images.
5. Definition of Diabetic Retinopathy
• Diabetic retinopathy is a complication of diabetes and a leading
cause of blindness.
• It occurs when diabetes damages the tiny blood vessels inside the
retina, the light-sensitive tissue at the back of the eye.
Healthy Retina Diabetic retinopathy
6. Stages of Diabetic Retinopathy
1. Mild Nonproliferative Retinopathy
2. Moderate Nonproliferative Retinopathy
3. Severe Nonproliferative Retinopathy
4. Proliferative Retinopathy
7. Stages of Diabetic Retinopathy
(a) normal (b) mild DR (c) moderate DR
(d) severe DR (e)prolific DR
8. Risk & Cause Vision Loss of DR
• All people with diabetes—both type 1 and type 2—are at risk. That's why
everyone with diabetes should get a comprehensive dilated eye exam at
least once a year.
• Blood vessels damaged from diabetic retinopathy can cause vision loss in
two ways:
1. proliferative retinopathy
2. macular edema.
Normal vision Same scene viewed by a person with DR
9. Diabetic Retinopathy Symptoms
• Blurred vision
• Floaters
• Fluctuating vision
• Distorted vision
• Dark areas in the vision
• Poor night vision
• Impaired color vision
• Partial or total loss of vision
15. Related Work
• Akara et. al discussed about the set of optimally
adjusted morphological operators used for exudates
detection for thai patients.
• Selvathi et. al uses fundus images are segmented &
they are classified as normal or DR images by
extracting features from these structures & GLCM
27. 5 methods for Proposed Methodology
• DATABASES: Publicly avalilable databases such as DRIVE, DIARETDB1
and MESSIDOR are used in this work.
• SEGMENTATION OF RETINAL STRUCTURE:
Detection of Blood Vessels: It is used for enhancing the retinal image.
Detection of Exudates and Microaneurysms: Morphological operators
are used for the detection of exudates and MA in this work.
• TEXTURE ANALYSIS:It gives information about the arrangement of
surface pixels and their relationship with the surrounding pixels
• FEATURE EXTRACTION:The feature vector used for classification
consists of seven features obtained from segmentation of retinal structures and
texture analysis.
• CLASSIFICATION
28. RESULTS AND DISCUSSION
OPTIC DISK DETECTION
Optic Disc Location (a) RGB Image, (b) I band after Pre-processing, (c) Image after
Closing, (d) Thresholded Image, (e)Marker Image, (f) Reconstructed Image, (g)
Threshold on Difference Image, (h) Optic Disc Area.
29. BLOOD VESSEL DETECTION
(a) Original image (b) Green channel image (c) Enhanced image
(d) Segmented image (e) Ground truth image
32. Conclusion and Future work
• Development of a system that will be able
to identify patients with BDR and PDR from
either color image or grey level fundus
image
• Develop techniques for not only better
detection of vessel edges,
• More anatomically exacting regarding
medical image standards.
• Extraction of Minute blood vessels.
33. REFERENCES
• DRIVE Database: http://www.isi.uu.nl/Research/Database/DRIVE
• Selvathi D, Neethi Balagopal (2012) Detection of Retinal Blood
Vessels using Curvelet Transform. IEEE International Conference on
devices, Circuits and Systems 325-329. doi:
10.1109/ICDCSyst.2012.6188730
• Pierre Soille (2002) Morphological Image Analysis, Principles and
Applications. 2nd Edition. Springer
• Bevilacqua,V., Cambò,S., Cariello,L., Mastronardi, G., ‘A combined
method to detect Retinal Fundus Features’, Conference on EACDA,
Italy, September, 2005.
• Martin M. and Tosunoglu S., 2000, “Image Processing Techniques
for Machine Vision”,Conference on Recent Advances in Robotics,
Florida, pp. 1-9.