Kim Mathiassen

• Baksaas, Magnus; Olsen, Lars Erik & Mathiassen, Kim (2021). Evaluation of Two Path Following Controllers for an Ackermann Off-road Vehicle in Winter and Summer Conditions, In Dan Zhang (ed.),  2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE).  IEEE.  ISBN 978-0-7381-3205-1.  Chapter IV: Mechanical Design and Control Engineering.  s 121 - 130 Show summary

  Off-road driving can be a challenging task with rapid changes in the driving conditions, terrain and vehicle behavior. For off-road autonomous vehicles, it is important to be robust to these changes, and parts of this robustness comes from the path following controller of the vehicle. In this paper we compare two different path following controllers using a kinematic model of Ackermann vehicles, the Stanley controller and a controller originally made for unicycles, but adapted for Ackermann vehicles. The comparison is done using an Off-road Polaris vehicle modified for autonomous driving. Two experiments are conducted, where the first experiment is during wintertime, driving with belts in snowy conditions, and the second experiments is during summer time, driving with wheels in muddy conditions. Our research vehicle can be fitted with different payloads that affect the weight and center of gravity. Therefore our main motivation for using kinematic controllers is to have a simple and robust controller that handles all situations using the same control parameters. Both controllers are used on the same path, and the cross-track errors are compared. The main conclusion is that the Stanley controller showed the most robustness against variations in driving conditions and vehicle dynamics, compared to the adapted unicycle method.

• Mathiassen, Kim; Baksaas, Magnus; Aas Græe, Sindre; Mentzoni, Eilert André & Nielsen, Niels Hygum (2021). Making the Milrem Themis UGV ready for autonomous operations. Proceedings of SPIE, the International Society for Optical Engineering.  ISSN 0277-786X. . doi: 10.1117/12.2585879 Show summary

  The usage of Unmanned Ground Vehicles (UGVs) in defence application is increasing, and much research effort is put into the field. Also, many defence vehicle producers are developing UGV platforms. However, the autonomy functionality of these systems are still in need of improvement. At the Norwegian Defence Research Establishment a project for developing an autonomous UGV was started in 2019 and use a Milrem THeMIS 4.5 from Milrem Robotics as the base platform for achieving this. In this paper we will describe the modifications made to the vehicle to make it ready for autonomous operations. We have added three cameras and a Lidar as vision sensors, for navigation we have added a GNSS, IMU and velocity radar, and all sensors get a common time stamp from a time server. All the sensors have been mounted on a common aluminium profile, which is mounted in the front of the vehicle. The vision and navigation sensors have been mounted on the common aluminium profile to ensure that the direction the vision sensors observe is known with as little uncertainty as possible. In addition to the hardware modification, a control software framework has been developed on top of Milrem’s controller. The vehicle is interfaced using ROS2, and is controlled by sending velocity commands for each belt. We have developed a hardware abstraction module that interfaces the vehicle and adds some additional safety features, a trajectory tracking module and a ROS simulation framework. The control framework has been field tested and results will be shown in the paper.

• Thoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim & Pettersen, Kristin Y. (2021). Path Planning for UGVs Based on Traversability Hybrid A*. IEEE Robotics and Automation Letters.  ISSN 2377-3766.  6(2), s 1216- 1223 . doi: 10.1109/LRA.2021.3056028 Full text in Research Archive. Show summary

  In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability is not considered, the planned path may lead a UGV into areas that will cause rough vehicle motion or lead to the UGV getting stuck if the traversability is low. The proposed path planning method is based on the Hybrid A* algorithm and uses estimated terrain traversability to find the path that optimizes both traversability and distance for the UGV. The path planning method is demonstrated using simulated traversability maps and is compared to the original Hybrid A* algorithm. The method is also verified through real-time experiments in real terrain, further demonstrating the benefits of terrain traversability optimization using the proposed path planning method. In the experiments, the proposed method was successfully applied for autonomous driving over distances of up to 270 m in rough terrain. Compared with the existing Hybrid A* method, the proposed method produces more traversable paths.

• Larsen, Martin Vonheim; Haavardsholm, Trym Vegard & Mathiassen, Kim (2020). In-operation calibration of clock-bias and intrinsic parameters for pan-tilt-zoom cameras based on keypoint tracking. Proceedings of SPIE, the International Society for Optical Engineering.  ISSN 0277-786X.  11538:115380D, s 1- 17 . doi: 10.1117/12.2573611 Full text in Research Archive. Show summary

  We propose a method for jointly estimating intrinsic calibration and internal clock synchronisation for a pantilt- zoom (PTZ) camera using only data that can be acquired in the field during normal operation. Results show that this method is a promising starting point towards using software to replace costly timing hardware in such cameras. Through experiments we provide calibration and clock synchronisation for an off-the-shelf low-cost PTZ camera, and observe a greatly improved directional accuracy, even during mild manoeuvres.

• Løvlid, Rikke Amilde; Mathiassen, Kim; Ruud, Else-Line Malene; Simonsen, Aleksander & Hermansen, Fredrik (2019). Battle Management Language for Robotic Systems Experiences from Applications on an UGV and an USV. Lecture Notes in Computer Science (LNCS).  ISSN 0302-9743.  11472 LNCS, s 302- 320 . doi: 10.1007/978-3-030-14984-0_23
• Mathiassen, Kim; Baksaas, Magnus; Olsen, Lars Erik; Thoresen, Marius & Tveit, Bjørn (2016). Development of an Autonomous Off-Road Vehicle for Surveillance Missions, In  STO-MP-IST-127: Intelligence and Autonomy In Robotics.  NATO Science and Technology Organization.  ISBN 978-92-837-2068-3.  Paper 5.
• Mathiassen, Kim; Dall'Alba, Diego; Muradore, Riccardo; Fiorini, Paolo & Elle, Ole Jakob (2016). Robust real-time needle tracking in 2-D ultrasound images using statistical filtering. IEEE Transactions on Control Systems Technology.  ISSN 1063-6536.  PP(99), s 1- 13 . doi: 10.1109/TCST.2016.2587733
• Mathiassen, Kim; Fjellin, Jørgen Enger; Glette, Kyrre Harald; Hol, Per Kristian & Elle, Ole Jakob (2016). An Ultrasound Robotic System Using the Commercial Robot UR5. Frontiers in Robotics and AI.  ISSN 2296-9144.  3 . doi: 10.3389/frobt.2016.00001 Full text in Research Archive. Show summary

  The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

• Mathiassen, Kim; Glette, Kyrre & Elle, Ole Jakob (2016). Visual servoing of a medical ultrasound probe for needle insertion. IEEE International Conference on Robotics and Automation (ICRA).  ISSN 1050-4729.  2016-June, s 3426- 3433 . doi: 10.1109/ICRA.2016.7487520
• Syre Wiig, Martin; Løvlid, Rikke Amilde; Mathiassen, Kim & Krogstad, Thomas Røbekk (2016). Decision Autonomy for Unmanned Vehicles, In  STO-MP-IST-127: Intelligence and Autonomy In Robotics.  NATO Science and Technology Organization.  ISBN 978-92-837-2068-3.  Paper 8.
• Muradore, Riccardo; Fiorini, Paolo; Akgun, Gokhan; Barkana, Duygun Erol; Bonfe, Marcello; Boriero, Fabrizio; Caprara, Andrea; De Rossi, Giacomo; Dodi, Riccardo; Elle, Ole Jakob; Ferraguti, Federica; Gasperotti, Lorenza; Gassert, Roger; Mathiassen, Kim; Handini, Dilla; Lambercy, Olivier; Li, Lin; Kruusmaa, Maarja; Manurung, Auralius Oberman; Meruzzi, Giovanni; Nguyen, Ho Quoc Phuong; Preda, Nicola; Riolfo, Gianluca; Ristolainen, Asko; Sanna, Alberto; Secchi, Cristian; Torsello, Marco & Yantac, Asim Evren (2015). Development of a cognitive robotic system for simple surgical tasks. International Journal of Advanced Robotic Systems (IJARS).  ISSN 1729-8806.  12:37 . doi: 10.5772/60137
• Mathiassen, Kim; Dall'Alba, Diego; Muradore, Riccardo; Fiorini, Paolo & Elle, Ole Jakob (2013). Real-time biopsy needle tip estimation in 2D ultrasound images, In  Robotics and Automation (ICRA), 2013 IEEE International Conference on.  IEEE Press.  ISBN 9781467356404.  Artikkel.  s 4363 - 4369
• Mathiassen, Kim; Hanssen, Leif & Hallingstad, Oddvar (2010). A low cost navigation unit for positioning of personnel after loss of GPS position, In Rainer Mautz; Melanie Kunz & Hilmar Ingensand (ed.),  Proceedings of the 2010 International Conference on Indoor Positioning and Indoor Navigation.  IEEE conference proceedings.  ISBN 978-1-4244-5864-6.  Hybrid IMU Pedestrian Navigation 1.

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• Mathiassen, Kim (2021). Unmanned Ground Vehicles Research for Norwegian Defence.
• Mathiassen, Kim; Baksaas, Magnus; Aas Græe, Sindre; Mentzoni, Eilert André & Nielsen, Niels Hygum (2021). Making the Milrem Themis UGV ready for autonomous operations.
• Mathiassen, Kim (2018). Norwegian research on autonomous off-road vehicles and robotic systems.
• Elle, Ole Jakob; Glette, Kyrre; Høvin, Mats Erling; Hol, Per Kristian & Mathiassen, Kim (2017). A semi-autonomous robotic system for needle tracking and visual servoing using 2D medical ultrasound. Series of dissertations submitted to the Faculty of Mathematics and Natural Sciences, University of Oslo.. 1902.
• Mathiassen, Kim (2017). A semi-autonomous robotic system for needle tracking and visual servoing using 2D medical ultrasound.
• Mathiassen, Kim (2017). Kalman filtering - theory and applications in medical imaging.
• Mathiassen, Kim; Glette, Kyrre & Elle, Ole Jakob (2016). Visual servoing of a medical ultrasound probe for needle insertion.
• Kjølleberg, Even; Kårstad, Gry; Reuterdahl, Anne-Cathrine; Elle, Ole Jakob; Tørresen, Jim & Mathiassen, Kim (2015, 07. juli). Robotlegene kommer!. [Internett].  NRK.
• Mathiassen, Kim & Elle, Ole Jakob (2014). Fjernstyrt ultralyd.
• Mathiassen, Kim; Handini, Dilla; Nguyen, Ho Quoc Phuong & Elle, Ole Jakob (2014). Biopsy Needle Tracking using Medical Ultrasound and a Surgical Robotic System.
• Novikova, Ksenia; Mathiassen, Kim & Elle, Ole Jakob (2014, 15. desember). Dagsrevyen 21 15.12.2014 - Utvikler kirurgirobot på UiO. [TV].  NRK.
• Novikova, Ksenia; Mathiassen, Kim & Elle, Ole Jakob (2014, 15. desember). Distriktsnyheter Østlandssendingen 15.12.2014 - Utvikler kirurgirobot på UiO. [TV].  NRK.
• Mathiassen, Kim (2013). Fra Fjernstyrte Ultralydundersøkelser til delvis automatisert biopsi.
• Mathiassen, Kim; Dall'Alba, Diego; Muradore, Riccardo; Fiorini, Paolo & Elle, Ole Jakob (2013). Robust Real-Time Tracking of Biopsy Needle in 2D Ultrasound Images for Automatic Insertion.
• Nguyen, Ho Quoc Phuong; Mathiassen, Kim & Elle, Ole Jakob (2013). 3d vision based detection of skin penetration for surgical robotics.
• Klem, Agnes; Hoff, Jon Roar; Tørresen, Jim; Hafting, Yngve; Elle, Ole Jakob; Mathiassen, Kim; Høvin, Mats Erling; Stavdahl, Øyvind & Hofmann, Bjørn M. (2012, 28. november). Robotikk og moral. [Internett].  Universitas.no. Show summary

  Reportasjen er også trykket i papirutgaven av Universitas 28.11.2012. Elektronisk versjon av papirutaven er tilgjengelig på http://static.universitas.no/docs/pdf/universitas_2012-34.pdf

• Mathiassen, Kim; Dall'Alba, Diego; Muradore, Riccardo; Fiorini, Paolo & Elle, Ole Jakob (2012). Estimation of biopsy needle tip in 2D US images.
• Mathiassen, Kim; Glette, Kyrre Harald; Høvin, Mats Erling; Hol, Per Kristian & Elle, Ole Jakob (2012). Semi-autonomous robotic systems for use in medical diagnostics and treatment.
• Nguyen, Ho Quoc Phuong; Handini, Dilla; Mathiassen, Kim & Elle, Ole Jakob (2012). Intra-operative Reasoning & Situation Awareness Algrorithm for Kidney Tumor Cryoblation by Robot.
• Mathiassen, Kim & Elle, Ole Jakob (2011). Autonomous Robotic Ultrasound System.
• Mathiassen, Kim; Hanssen, Leif & Hallingstad, Oddvar (2010). A Low Cost Navigation Unit for Positioning of Personnel After Loss of GPS Position.

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