Kim Mathiassen

• Orhagen, 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. ISSN 978-1-6654-8377-3. doi: 10.1109/ICMRE54455.2022.9734089. Full text in Research Archive
• 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. ISSN 978-0-7381-3205-1. p. 121–130. doi: 10.1109/ICMRE51691.2021.9384830.
• 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.
• 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
• (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
• (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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• 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.

• (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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