Rainer Boss

This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod simulators. This approach allows to reduce the actuated mass, scale up the workspace significantly, and provides great flexibility to switch between system configurations in which the robot can be operated. The simulator will be used for studies in the field of human perception research and virtual reality applications. The paper discusses some of the issues arising from the usage of cables and provides a system overview regarding kinematics and system dynamics as well as giving a brief introduction into possible application use cases.

Currently Mammography is a most effective imaging modality used by radiologists for the screening of breast cancer. Finding an accurate, robust and efficient breast region segmentation technique still remains a challenging problem in digital mammography. Extraction of the breast profile region and the removal of pectoral muscle are essential pre-processing steps in Computer Aided Diagnosis (CAD) system for the diagnosis of breast cancer. Primarily it allows the search for abnormalities to be limited to the region of the breast tissue without undue influence from the background of the mammogram. The presence of pectoral muscle in mammograms biases detection procedures, which recommends removing the pectoral muscle during mammogram image pre-processing. The presence of pectoral muscle in mammograms may disturb or influence the detection of breast cancer as the pectoral muscle and mammographic parenchymas appear similar. The goal of breast region extraction is reducing the image size without losing anatomic information, it improve the accuracy of the overall CAD system. The main objective of this study is to propose an automated method to identify the pectoral muscle in Medio-Lateral Oblique (MLO) view mammograms. In this paper, we proposed histogram based 8-neighborhood connected component labelling method for breast region extraction and removal of pectoral muscle. The proposed method is evaluated by using the mean values of accuracy and error. The comparative analysis shows that the proposed method identifies the breast region more accurately.

This paper proposes mammogram image segmentation using Fuzzy C-Means (FCM) clustering algorithm. The median filter is used for pre-processing of image. It is normally used to reduce noise in an image. The 14 Haralick features are extracted from mammogram image using Gray Level Co-occurrence Matrix (GLCM) for different angles. The features are clustered by K-Means and FCM algorithms inorder to segment the region of interests for further classification. The performance of segmentation result of the proposed algorithm is measured according to the error values such as Mean Square Error (MSE) and Root Means Square Error (RMSE). The Mammogram images used in our experiment are obtained from MIAS database.

The mammography is the most effective procedure to diagnosis the breast cancer at an early stage.This paper proposes mammogram image segmentation using Rough K-Means (RKM) clustering algorithm.The median filter is used for pre-processing of image and it is normally used to reduce noise in an image.The 14 Haralick features are extracted from mammogram image using Gray Level Cooccurrence Matrix (GLCM) for different angles.The features are clustered by K-Means, Fuzzy C-Means (FCM) and Rough K-Means algorithms to segment the region of interests for classification.The result of the segmentation algorithms compared and analyzed using Mean Square Error (MSE) and Root Means Square Error (RMSE).It is observed that the proposed method produces better results that the existing methods.