Kim Mathiassen

• Larsen, Martin Vonheim; Rolfsjord, Sigmund Johannes Ljosvoll; Gusland, Daniel; Ahlberg, Jörgen & Mathiassen, Kim (2024). BASE: Probably a Better Approach to Visual Multi-Object Tracking. VISIGRAPP. ISSN 2184-5921. 4, p. 110–121. doi: 10.5220/0012386600003660. Full text in Research Archive
• Tariverdi, Abbas; Côté-Allard, Ulysse Teller Masao; Mathiassen, Kim; Elle, Ole Jakob; Kalvøy, Håvard & Martinsen, Ørjan Grøttem (2023). Reinforcement Learning-Based Switching Controller for a Milliscale Robot in a Constrained Environment. IEEE Transactions on Automation Science and Engineering. ISSN 1545-5955. 21(2), p. 2000–2016. doi: 10.1109/TASE.2023.3259905.
• Tariverdi, Abbas; Mathiassen, Kim; Søyseth, Vegard; Kalvøy, Håvard; Elle, Ole Jakob & Tørresen, Jim [Show all 7 contributors for this article] (2022). Physics-Based Simulation and Control Framework for Steering a Magnetically-Actuated Guidewire. In Dilger, Lale Canan (Eds.), 2022 8th International Conference on Control, Decision and Information Technologies (CoDIT). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-6654-9607-0. doi: 10.1109/CoDIT55151.2022.9803963.
• Sajadi, Seyed Mohammad Reza; Mathiassen, Kim; Brun, Henrik & Elle, Ole Jakob (2022). Design, Kinematic Modeling, and Validation of a Robotic-Assisted Transesophageal Echocardiography System, 2022 IEEE/SICE International Symposium on System Integration (SII 2022) : January 9-12, 2022 (Virtual Conference) Narvik, Norway. IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-6654-4540-5. doi: 10.1109/SII52469.2022.9708810.
• Tisland, Andreas; Baksaas, Magnus & Mathiassen, Kim (2022). How extending the kinematic model affects path following in off-road terrain for differential drive UGVs. Proceedings of SPIE, the International Society for Optical Engineering. ISSN 0277-786X. doi: 10.1117/12.2618731. Full text in Research Archive Show summary

  Traversal in off-road conditions for Unmanned Ground Vehicles is highly relevant for defence applications, with an increasing amount of research being put into the field. A central part of the autonomous traversal is path following, where there currently exist many stable controllers. However, conventional path following controllers often relies on ideal vehicle models that make assumptions about the terrain that are no longer valid in off-road conditions. Therefore, research is needed into how conventional controllers are affected by off-road terrain and if extending the vehicle model with relevant parameters can improve the performance. In this paper, a controller based on Active Disturbance Rejection Control and a controller based on Instantaneous Centre of Rotation are tested against a conventional controller in off-road conditions. Results from simulations illustrate how the conventional controller is affected by variations in the vehicle’s rotation centre while the proposed controllers have improved performance when simulating rough terrain conditions. Real world experiments were conducted in uneven sandy terrain, where all of the controllers showed decent performance, but the proposed controllers had the lowest cross-track error. Future Unmanned Ground Vehicle operations can improve performance by using the proposed controllers when the vehicle is experiencing rough terrain where the Instantaneous Centre of Rotation is considerably shifted from its ideal location. On the other hand, the conventional controller should produce decent performance in moderate conditions. Further research is needed to understand what types of real world conditions make the performance of the conventional controller significantly decrease, thus justifying the use of one of the proposed controllers.

• Sajadi, Seyed Mohammad Reza; Karbasi, Seyed Mojtaba; Brun, Henrik; Tørresen, Jim; Elle, Ole Jakob & Mathiassen, Kim (2022). Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument. Frontiers in Robotics and AI. ISSN 2296-9144. 9. doi: 10.3389/frobt.2022.896267. Full text in Research Archive
• Orhaugen, Ole Petter; Thoresen, Marius & Mathiassen, Kim (2022). The Rapidly Exploring Random Tree Funnel Algorithm. In IEEE, . (Eds.), The 8th International Conference on Mechatronics and Robotics Engineering (ICMRE). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-6654-8377-3. doi: 10.1109/ICMRE54455.2022.9734089. Full text in Research Archive Show summary

  Since the beginning of the pandemic, the transmission modes of SARS-CoV-2— particularly the role of aerosol transmission—have been much debated. Accumulating evidence suggests that SARS-CoV-2 can be transmitted by aerosols, and not only via larger respiratory droplets. In this study, we quantified SARS-CoV-2 in air surround-ing 14 test subjects in a controlled setting. All subjects had SARS-CoV-2 infection confirmed by a recent positive PCR test and had mild symptoms when included in the study. RT-PCR and cell culture analyses were performed on air samples collected at distances of one, two, and four meters from test subjects. Oronasopharyngeal sam-ples were taken from consenting test subjects and analyzed by RT- PCR. Additionally, total aerosol particles were quantified during air sampling trials. Air viral concentra-tions at one- meter distance were significantly correlated with both viral loads in the upper airways, mild coughing, and fever. One sample collected at four- meter distance was RT-PCR positive. No samples were successfully cultured. The results reported here have potential application for SARS-CoV-2 detection and monitoring schemes,and for increasing our understanding of SARS-CoV-2 transmission dynamics.Practical implications.In this study, quantification of SARS-CoV-2 in air was performed around infected persons with mild symptoms. Such persons may go longer before they are diagnosed and may thus be a disproportionately important epidemiological group. By correlating viral concentrations in air with behavior and symptoms, we identify potential risk fac-tors for viral dissemination in indoor environments. We also show that quantification of total aerosol particles is not a useful strategy for monitoring SARS-CoV-2 in indoor environments.

• Tariverdi, Abbas; Venkiteswaran, Venkatasubramanian Kalpathy; Richter, Michiel; Elle, Ole Jakob; Tørresen, Jim & Mathiassen, Kim [Show all 7 contributors for this article] (2021). A Recurrent Neural-Network-Based Real-Time Dynamic Model for Soft Continuum Manipulators. Frontiers in Robotics and AI. ISSN 2296-9144. doi: 10.3389/frobt.2021.631303. Full text in Research Archive
• Mathiassen, Kim; Schneider, Frank; Bounker, Paul; Tiderko, Alexander; De Cubber, Geert & Baksaas, Magnus [Show all 10 contributors for this article] (2021). Demonstrating Interoperability Between Unmanned Ground Systems and Command and Control Systems. International Journal of Intelligent Defence Support Systems. ISSN 1755-1587. doi: 10.1504/ijidss.2021.115236.
• (2021). Evaluation of Two Path Following Controllers for an Ackermann Off-road Vehicle in Winter and Summer Conditions. In Zhang, Dan (Eds.), 2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-0-7381-3205-1. p. 121–130. doi: 10.1109/ICMRE51691.2021.9384830. 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), p. 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.

• (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, p. 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.

• (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, p. 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, STO-MP-IST-127: Intelligence and Autonomy In Robotics. NATO Science and Technology Organization. ISSN 978-92-837-2068-3.
• (2016). Decision Autonomy for Unmanned Vehicles, STO-MP-IST-127: Intelligence and Autonomy In Robotics. NATO Science and Technology Organization. ISSN 978-92-837-2068-3.
• 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), p. 1–13. doi: 10.1109/TCST.2016.2587733.
• 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, p. 3426–3433. doi: 10.1109/ICRA.2016.7487520.
• 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.

• Muradore, Riccardo; Fiorini, Paolo; Akgun, Gokhan; Barkana, Duygun Erol; Bonfe, Marcello & Boriero, Fabrizio [Show all 27 contributors for this article] (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, Robotics and Automation (ICRA), 2013 IEEE International Conference on. IEEE Press. ISSN 9781467356404. p. 4363– 4369. doi: 10.1109/ICRA.2013.6631195.
• (2010). A low cost navigation unit for positioning of personnel after loss of GPS position. In Mautz, Rainer; Kunz, Melanie & Ingensand, Hilmar (Ed.), Proceedings of the 2010 International Conference on Indoor Positioning and Indoor Navigation. IEEE conference proceedings. ISSN 978-1-4244-5864-6.

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• (2023). Land Autonomy Research for the Norwegian Defence.
• (2023). Land Autonomy Research for the Norwegian Defence.
• Sajadi, Seyed Mohammad Reza; Mathiassen, Kim; Brun, Henrik & Elle, Ole Jakob (2022). Design, Kinematic Modeling, and Validation of a Robotic-Assisted Transesophageal Echocardiography System. Show summary

  Transesophageal Echocardiography is a safe and minimally invasive tool to provide high-quality anatomic and hemodynamic information of the heart and its structures. However, the risk of exposure to a significant level of radiation during combined fluoroscopy and TEE-guided examinations and musculoskeletal disorders due to holding the probe for prolonged periods of time are two main shortcomings of using TEE manually. This paper presents the design, kinematic modeling, and validation of a novel 6 DOF robotic-assisted transesophageal echocardiography system to overcome the above mentioned shortcomings. The robotic system has been designed based on a commercially available TEE probe with 5 actuated Degrees of freedom on the TEE handle and an extra DOF to control the imaging plane. The constant curvature model is employed for the forward and inverse kinematic modeling of the robotic system. The kinematic model and the performance of the robotic system are validated with an experimental setup using a 6DOF OptiTrack real-time tracking system.

• Mathiassen, Kim; Baksaas, Magnus; Aas Græe, Sindre; Mentzoni, Eilert André & Nielsen, Niels Hygum (2021). Making the Milrem Themis UGV ready for autonomous operations.
• (2021). Unmanned Ground Vehicles Research for Norwegian Defence.
• (2018). Norwegian research on autonomous off-road vehicles and robotic systems.
• (2017). A semi-autonomous robotic system for needle tracking and visual servoing using 2D medical ultrasound.
• (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). Robotlegene kommer! [Internet]. NRK.
• Novikova, Ksenia; Mathiassen, Kim & Elle, Ole Jakob (2014). Dagsrevyen 21 15.12.2014 - Utvikler kirurgirobot på UiO. [TV]. NRK.
• Novikova, Ksenia; Mathiassen, Kim & Elle, Ole Jakob (2014). Distriktsnyheter Østlandssendingen 15.12.2014 - Utvikler kirurgirobot på UiO. [TV]. 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.
• Nguyen, Ho Quoc Phuong; Mathiassen, Kim & Elle, Ole Jakob (2013). 3d vision based detection of skin penetration for surgical robotics.
• 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.
• (2013). Fra Fjernstyrte Ultralydundersøkelser til delvis automatisert biopsi.
• 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; Glette, Kyrre Harald; Høvin, Mats Erling; Hol, Per Kristian & Elle, Ole Jakob (2012). Semi-autonomous robotic systems for use in medical diagnostics and treatment.
• Mathiassen, Kim; Dall'Alba, Diego; Muradore, Riccardo; Fiorini, Paolo & Elle, Ole Jakob (2012). Estimation of biopsy needle tip in 2D US images.
• Klem, Agnes; Hoff, Jon Roar; Tørresen, Jim; Hafting, Yngve; Elle, Ole Jakob & Mathiassen, Kim [Show all 8 contributors for this article] (2012). Robotikk og moral. [Internet]. 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 & Elle, Ole Jakob (2011). Autonomous Robotic Ultrasound System.
• (2010). A Low Cost Navigation Unit for Positioning of Personnel After Loss of GPS Position.
• Schneider, Frank; Mathiassen, Kim; Bounker, Paul; Glowka, Jakub; Tiderko, Alexander & Baksaas, Magnus [Show all 7 contributors for this article] (2021). Capability Concept Demonstrator for Interoperability within Unmanned Ground Systems and C2. NATO Science and Technology Organization. ISSN 978-92-837-2278-2. Show summary

  This report describes the research and experiment efforts of the NATO STO group IST-149-RTG Capability Concept Demonstrator for Interoperability within Unmanned Ground Systems and C2. Unmanned Ground Vehicles (UGVs) are becoming increasingly relevant in the modern battle-space. The main purpose of the group was to investigate possible standards for controlling UGVs from Operator Control Units (OCUs) and receiving data back, and tests them in a real world scenario. The efforts in the project have been two folded. The Belgium contribution is work done in the EU project ICARUS. The second effort was a combined effort in the group to have an experiment demonstrating interoperability between the UGVs and OCUs available within the group. Both efforts used the Joint Architecture for Unmanned Systems (JAUS) with the Interoperability Profile (IOP) to successfully enable interoperability between the systems. The trials showed that it is possible to extend the systems quite easily and achieve compliance with parts of the standard in a relatively short time. Both Fraunhofer FKIE and TARDEC had developed software to pass information from the IOP domain to the Robotic Operating System (ROS). As this was a successful trial, the next step would be to test interoperability using higher level functions.

• Danielsen, Tone & Mathiassen, Kim (2019). Base defence demonstration at Trident Juncture 2018 – TACT Unmanned Systems for Base and Force Protection (FFI-rapport 19/00807). Forsvarets forskningsinstitutt. ISSN 978-82-464-3175-8.
• 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. Universitetet i Oslo. ISSN 1501-7710.

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