ARAS PACR Group Introduction File
The ARAS Parallel and Cable Robotics (PACR) group is focused on the development of novel cable-driven manipulators and their possible applications. Interdisciplinary research fields such as dynamics and kinematic analysis using classic and modern approaches, development of easily deployable robots through robust controllers, implementation of novel self-calibration algorithms, and establishing modern and multi-sensor perception systems for them are among the active lines of research in this group. The theoretical results of this active research group are also directly incorporated for producing commercial products through the spin-off and startup companies originated from the team. Additionally, PACR exploits the simplicity of cable robots combined with SLAM and perception algorithms to create commercial inspection and imaging robots for various applications.
Prospect students and freelancer who want to join us need to have the required background in one or a number of these areas, while interested to flourish their skills in this area of specialization:
1- Nonlinear Control: Analysis and controller synthesis
2- Robust Control: Linear H-infinity or Nonlinear Robust schemes
3- Dynamical analysis of multibody systems: Lagrange and virtual work methods
4-CAD Softwares: Skills in Solidworks or CATIA.
5- Mechanical Softwares: Skills in ADAMS
6- PCB Sofware: Skills in Altium Designer
7-Microcontrollers: Skills in STM32 and Arduino
8- Programming Language: Python, C++, Matlab
9- Image processing and Opencv
10- Deep Learning
Intending to join us and flourish your research potentials: Please fill this form, and contact us.
ARAS AI and VR in the Medical Robotics
This research group implements projects based on artificial intelligence and virtual reality for medical applications while enjoying collaboration of eye surgeons of Farabi Eye Hospital. These projects focus on developing robotic tools and methods for surgical training, training assessment, and diagnosing eye diseases. There are three main projects currently under development in this group, which are detailed on the group website. The requirement to join either of these projects are given as follows.
Click on the button below:
Surgical Videos: Detection, Tracking, and Skill Assessment
This project was started in 2017 which is considered on the leading edge of technologies in medical applications, while benefiting from international cooperation. This project aims to separate the visual and motion characteristics of expert, intermediate, and novice surgeons to reach a skill-based feature space for surgical skill transfer. We tend to automate surgical skill assessment and leave it to an artificial intelligence.. By successfully implementing the automatic evaluation of surgical skills based on motion and simulated data of the JIGSAWS dataset, this project entered the automated evaluation of surgical skills from real surgical videos in 2020. To this end, a software and some structures based on deep learning and computer vision have been developed to analyze and evaluate surgical skills. This project also involves detecting and tracking key areas in surgery, such as surgical tools and tissues. The following keywords identify some current issues in this project: AI, Computer Vision, Video Classification, Video Understanding, Image Classification, Object Detection and Tracking, Image & Video Processing, CNN, Python and Qt, PyTorch and TensorFlow.
Medical Images: Diagnosis, Detection and Classification
Through the analysis of medical images, this project aims to diagnose eye diseases. The project is being led in collaboration with Farabi Hospital. One of the challenges facing the medical system is recognizing some eye features, such as Keratoconus, and categorizing them into normal, suspicious and KC categories. While these diagnoses are critical, they take up much time and resources from the medical system. AI and deep learning methods are being developed in this group for image classification and to assist surgeons with a more comprehensive view of medical images. To this end, a balanced dataset for the diagnosis of keratoconus is being collected, from the patients in Farabi Eye Hospital, and by using synthetic data generation by a variational autoencoder (VAE). The results of this project assist surgeons to decide whether to perform vision refractive surgeries on patients. The following keywords identify some current issues in this project to get a better understanding of the workspace: AI, Computer Vision, Image Classification, Image Analyzing, Image Processing, CNN, VAE, Python.
Mixed Reality in Surgery: VR and MR approaches
ARAS Mixed Reality research project is aimed to build a simulator of vitrectomy and cataract surgery using virtual reality to provide a completely similar environment to real surgery for eye surgery residents. The Objective of research in this group will be completed in joint collaboration research with the Surgical Robotic (SR) research group of ARAS. We aim to incorporate the mixed reality simulation tool developed in this group to ARASH:ASiST, the product developed in SR group for Vitrectomy training. The following keywords identify some current issues in this project to get a better understanding of the workspace: Mixed Reality, VR and MR approach in Simulation Environment, Sofa, Unity, and Game engines, Unreal Engine, Blender, UV mapping, Meshing, Texture, Cmake, CUDA, C++.
Need more talk and consult? Contact us!
Intending to join us and flourish your research potentials: Please fill this form, and contact us.
ARAS SR Group Introduction File
The surgical robotics group aims at developing new robotics-based technologies for robot-assisted surgery and surgery training applications. This includes the design and integration of mechanical and electrical components as well as the development of innovative control structures for these systems. These robotic systems will enhance the safety and efficiency of medical surgeries which leads to more satisfaction in all of the people dealing with the healthcare systems especially the patients, the surgeons, and the residents. This group has enjoyed the collaboration and consultation of several national and international partners in the fields of engineering and medical science.
The aim of the surgical robotics (SR) group is to develop new robotics-based technologies for robot-assisted surgery and surgery training applications with a special focus on eye surgery. This includes the design and construction of medical robotic systems, the development of innovative control architectures, data-based approaches for skill assessment, and clinical user studies. Prospect students who want to join the SR group need to have a sufficient background in one or a number of these fields with a strong interest to extend their skill in the required areas:
1- Kinematics, dynamics, and design of medical robotic systems
2- Position and force Control of medical robotic systems
3- Professional skills in electronics including implementation of advanced controllers in embedded systems
4- Medical applications of data mining and medical image processing
5- Skill assessment based on deep learning methods applied to surgery video clips
Intending to join us and flourish your research potentials: Please fill this form, and contact us.
ARAS MR Group Introduction File
Virtual Reality in Medicine is a three-dimensional teaching tool used across the field of healthcare as a means of both education and instruction. Virtual Reality commonly refers to healthcare simulation environments in which learners can experience visual stimuli delivered via computer graphics and other sensory experiences. This advanced technology allows learners to obtain the knowledge and understanding necessary to perform a number of tasks and procedures involving the human body, without ever having to practice on a live patient. Central to this technology is the immersive capacity of Virtual Reality, e.g. the simulated environment surrounds a learner’s perceptual field. This means that the user feels psychologically present in the digital world, rather than in their physical reality. Utilized to educate learners on diagnosis, treatment, rehabilitation, surgery, counseling techniques and more, Virtual Reality in medicine is helping to train the next generation of healthcare professionals. This medical simulation technology has shown to have a number of benefits, such as allowing learners to practice their skills without fear of error causing potentially life-threatening impacts. The Virtual Reality tools still provide the hands-on experience required to acquire a familiarity and comfort in performing procedures, but in a safe and controlled setting. Therefore, as learners make mistakes, they can be thoroughly corrected in real-time and without risk. As Virtual Reality modules still require interaction, skills are able to become second nature before they are applied in real world scenarios. ARAS Mixed Reality research group, is aimed to build a simulator of vitrectomy and cataract surgery using virtual reality to provide a completely similar environment for real surgery for eye surgery residents. The Objective of research in this group will be completed with a joint collaboration research with Surgical Robotic (SR) research group of ARAS. We aim to incorporate the mixed reality simulation tool developed in this group to ARASH:ASiST, the product developed in SR group for Vitrectomy training.
“Mixed Reality research group”, is aimed to build a simulator of vitrectomy and cataract surgery using virtual reality to provide a completely similar environment for real surgery for eye surgery residents
Prospect students and freelancer who want to join us need to have the required background in one or a number of these areas, while interested to flourish their skills in this area of specialization:
1 – Software Engineering: Skills in C++ and C# object oriented programming.
2 – 3D Tools: Skills in 3D modeling softwares such as Maya, Blender and game engines such as Unity, Unreal Engine.
3 – Artificial Intelligence: Skills in training of deep neural networks such as CNN, LSTM, RNN, GAN and etc
4 – AR/VR/MR: Knowledge and skills in software development for VR headsets such as Oculus Quest, Oculus Rift, HTC Vive.
مهارت های فنی مورد نیاز جهت کار در گروه MR:
-مهارت کار تیمی
-تسلط بالا بر روی زبان برنامه نویسی ++C ( تسلط بر زبان C و دانستن مختصری از مفاهیم ++C اعم از شی گرایی و … کافی نیست. باید فرد تسلط بالایی در برنامه نویسی ++C داشته باشد.)
-تجربه کار و اسکریپت نویسی برای موتور های بازی سازی اعم از Unity، Unreal Engine و …
-آشنایی نسبی با نرم افزار طراحی سه بعدی Blender
-آشنایی با مفاهیم گرافیک کامپیوتری (مش بندی، تکسچر، UV mapping و …)
-آشنایی با مفاهیم شبیه سازی اجسام نرم
-تسلط نسبی بر گیت (لزومی ندارد در زمینه ی گیت متخصص باشد اما در حدی که کار های خود را با آن انجام دهد لازم است.)
-آشنایی با برنامه نویسی موازی با استفاده از CUDA (اگر چنین باشد فرد بسیار موثر تر واقع خواهد شد اما وجود آن ضروری نیست)
-آشنایی با اسکریپت نویسی، کار کردن با Cmake و سایر ابزار های مرتبط با Build کردن یک پروژه متن باز
Intending to join us and flourish your research potentials: Please fill this form, and contact us.
ARAS Dynamical Systems Analysis & Control Group Introduction File
Two principal aims confront us. Firstly, to study dynamical systems theory, including methods for analyzing differential equations and iterated mappings, which draws on analysis, geometry, and topology. We specially concentrate on one of the most important theories in dynamical systems theory and control theory which comprises various topics such as stability, controllability and observability, robustness, identification, optimality. Secondly, to apply and to tailor aforementioned theories to practical systems. Some of the practical systems which we have recently been dealing with are brain-machine interface systems.
This group intends to provide theoretical development for all other research themes. Prospect students and freelancer who want to join us need to have the required background in one or a number of these areas, while interested to flourish their skills in this area of specialization:
1- Nonlinear Control: Analysis and controller synthesis
2- Robust Control: Linear H-infinity or Nonlinear Robust schemes
3- Nonlinear Observer design and estimation theory
4- Dynamical analysis of multibody systems: Lagrange and virtual work methods
5- Professional skills in Matlab control and robust control toolboxes
6- Any evidence on effective design tools accomplished by them
Intending to join us and flourish your research potentials: Please fill this form, and contact us.
Intending to join us and flourish your research potentials:
Please fill this form, and contact us.