Showing papers in "IEEE Robotics & Automation Magazine in 2017"
TL;DR: The approach used to enable long-term autonomous operation in everyday environments is described and how the robots are able to use their long run times to improve their own performance is described.
Abstract: Thanks to the efforts of the robotics and autonomous systems community, the myriad applications and capacities of robots are ever increasing. There is increasing demand from end users for autonomous service robots that can operate in real environments for extended periods. In the Spatiotemporal Representations and Activities for Cognitive Control in Long-Term Scenarios (STRANDS) project (http://strandsproject.eu), we are tackling this demand head-on by integrating state-of-the-art artificial intelligence and robotics research into mobile service robots and deploying these systems for long-term installations in security and care environments. Our robots have been operational for a combined duration of 104 days over four deployments, autonomously performing end-user-defined tasks and traversing 116 km in the process. In this article, we describe the approach we used to enable long-term autonomous operation in everyday environments and how our robots are able to use their long run times to improve their own performance.
174 citations
TL;DR: The Yale OpenHand Project is described, a library of lowcost, 3-D-printed, underactuated hand designs for researchers to freely implement and modify for their own use cases and it is hoped that providing an accessible and extensible set of open-source hand designs will improve the iterative design process and produce many more options forResearchers to utilize.
Abstract: Although grasping and manipulation are key aspects of a robotic system's functionality, researchers often only have a limited selection of end effectors compatible with their manipulator base. This may either restrict the robotic system's full range of capabilities or force researchers to compensate for the end effector's intrinsic mechanical disadvantages through compensatory, nonoptimal control strategies. Advances in three-dimensional (3-D) printing have enabled researchers to quickly customize mechanisms for specific tasks, but the end product is usually not intended for extended use. It would be beneficial to identify strategies to augment the capabilities of additive manufacturing techniques to allow the easy and inexpensive construction of durable and functional hardware. To that end, this article details work on the Yale OpenHand Project, a library of lowcost, 3-D-printed, underactuated hand designs for researchers to freely implement and modify for their own use cases. The designs use cast flexural joints made via the hybrid deposition manufacturing (HDM) process to produce robust, impact-resistant subcomponents and help account for the structural shortcomings of fused deposition manufacturing (FDM). Several of these design examples are presented, evaluated, and compared with commercial alternatives. We hope that providing an accessible and extensible set of open-source hand designs will improve the iterative design process and produce many more options for researchers to utilize.
109 citations
TL;DR: This article discusses the problem of controlling SRs, observing that most of the standard methods of robotic control-e.g., high-gain robust control, feedback linearization, backstepping, and active impedance control-effectively fight against or even completely cancel the physical dynamics of the system, replacing them with a desired model.
Abstract: Soft robots (SRs) represent one of the most significant recent evolutions in robotics Designed to embody safe and natural behaviors, they rely on compliant physical structures purposefully designed to embody desirable and sometimes variable impedance characteristics This article discusses the problem of controlling SRs We start by observing that most of the standard methods of robotic control-eg, high-gain robust control, feedback linearization, backstepping, and active impedance control-effectively fight against or even completely cancel the physical dynamics of the system, replacing them with a desired model This defeats the purpose of introducing physical compliance After all, what is the point of building soft actuators if we then make them stiff by control?
103 citations
TL;DR: The Thymio project proposes a mature mass-produced open-hardware robot, at a low price, with a multiage and gender-neutral feature set, and with a design promoting creativity, facilitating learning, and providing a wide range of interaction possibilities from built-in behaviors to text programming.
Abstract: Mobile robots are valuable tools for education because of both the enthusiasm they raise and the multidisciplinary nature of robotics technology. Mobile robots give access to a wide range of fields, such as complex mechanics, sensors, wireless transmission, mathematics, and computer science. However, despite their potential as educational tools, robots are still not as widespread in schools as they could be. In this article, we identify five key reasons: lack of diversity, high cost, noninclusive design, lack of educational material, and lack of stability over time. Then, we describe our answers to these problems, as we implemented them in the Thymio project: a mature mass-produced open-hardware robot, at a low price, with a multiage and gender-neutral feature set, and with a design promoting creativity, facilitating learning, and providing a wide range of interaction possibilities from built-in behaviors to text programming, passing through different visual programming environments. We highlight some neglected key issues that differentiate open-source hardware from open-source software, for instance the legal uncertainty of designing open hardware using professional computer-aided design (CAD) tools and the difficulty to distribute the development. Our solution to these being to increase the awareness of CAD editors to open-source hardware and to provide a two-layer development model for hardware.
94 citations
TL;DR: This work believes that research on novel soft robot applications is still slowed by the difficulty in obtaining or developing a working soft robot structure to explore novel applications.
Abstract: Soft robots are one of the most significant recent evolutions in robotics. They rely on compliant physical structures purposefully designed to embody desired characteristics. Since their introduction, they have shown remarkable applicability in overcoming their rigid counterparts in such areas as interaction with humans, adaptability, energy efficiency, and maximization of peak performance. Nonetheless, we believe that research on novel soft robot applications is still slowed by the difficulty in obtaining or developing a working soft robot structure to explore novel applications.
81 citations
TL;DR: Reports on the scope, goals, and initiatives of the IEEE Global Initiative for Ethical Considerations in Artificial Intelligence and Autonomous Systems are published.
Abstract: Reports on the scope, goals, and initiatives of the IEEE Global Initiative for Ethical Considerations in Artificial Intelligence and Autonomous Systems.
61 citations
TL;DR: The approach that works consistently is the use of predator birds to scare off the prey birds and permanently relocate them away from runways, but the predators themselves cannot be precisely controlled and, in turn, also pose a threat to airplanes.
Abstract: Ever since the start of aviation, birds and airplanes have posed a mutual risk: Birds are killed when struck by aircraft, but, in return, bird strikes cause billions in damage to the aviation industry. Airports employ bird-control methods such as audiovisual deterrents (like scarecrows, lasers, and noise), weapons, and chemicals to relocate, suffocate, or otherwise terminate the birds [2]. While the latter methods work, they are ethically questionable. The problem of audiovisual deterrents is that they quickly lose effectiveness due to habituation. The approach that works consistently is the use of predator birds to scare off the prey birds and permanently relocate them away from runways. However, the predators themselves cannot be precisely controlled and, in turn, also pose a threat to airplanes.
56 citations
TL;DR: This article presents a vision system for assistive robots that is able to detect and recognize objects from a visual input in ordinary environments in real time, taking some inspiration from vision science.
Abstract: Technological advances are being made to assist humans in performing ordinary tasks in everyday settings. A key issue is the interaction with objects of varying size, shape, and degree of mobility. Autonomous assistive robots must be provided with the ability to process visual data in real time so that they can react adequately for quickly adapting to changes in the environment. Reliable object detection and recognition is usually a necessary early step to achieve this goal. In spite of significant research achievements, this issue still remains a challenge when real-life scenarios are considered. In this article, we present a vision system for assistive robots that is able to detect and recognize objects from a visual input in ordinary environments in real time. The system computes color, motion, and shape cues, combining them in a probabilistic manner to accurately achieve object detection and recognition, taking some inspiration from vision science. In addition, with the purpose of processing the input visual data in real time, a graphical processing unit (GPU) has been employed. The presented approach has been implemented and evaluated on a humanoid robot torso located at realistic scenarios. For further experimental validation, a public image repository for object recognition has been used, allowing a quantitative comparison with respect to other state-of-the-art techniques when realworld scenes are considered. Finally, a temporal analysis of the performance is provided with respect to image resolution and the number of target objects in the scene.
44 citations
TL;DR: The development of the SRT is described and some challenges in developing widely disseminated robotic-hardware resources are described, focusing on strategies that have been used to engage participants ranging from K-12 grade students to robotics research groups.
Abstract: The Soft Robotics Toolkit (SRT) is an open-access website containing detailed information about the design, fabrication, and characterization of soft-robotic components and systems (Figure 1). Soft robotics is a growing field of research concerned with the development of electromechanical technology composed of compliant materials or structures. The SRT website hosts design files, multimedia fabrication instructions, and software tutorials submitted by an international community of soft-robotics researchers and designers. In this article, we describe the development of the SRT and some challenges in developing widely disseminated robotic-hardware resources. Our attempts to overcome these challenges in the development of the toolkit are discussed by focusing on strategies that have been used to engage participants ranging from K-12 grade students to robotics research groups. A series of design competitions encouraged people to use and contribute to the toolkit. New fabrication methods requiring only low-cost and accessible materials were developed to lower the entry barriers to soft robotics and instructional materials and outreach activities were used to engage new audiences. We hope that our experiences in developing and scaling the toolkit may serve as guidance for other open robotic-hardware projects.
44 citations
TL;DR: Problem in different research areas related to mobile manipulation from the cognitive perspective are outlined, recently published works and the state-of-the-art approaches to address these problems are reviewed, and open problems to be solved are discussed.
Abstract: Service robots are expected to play an important role in our daily lives as our companions in home and work environments in the near future. An important requirement for fulfilling this expectation is to equip robots with skills to perform everyday manipulation tasks, the success of which is crucial for most home chores, such as cooking, cleaning, and shopping. Robots have been used successfully for manipulation tasks in wellstructured and controlled factory environments for decades. Designing skills for robots working in uncontrolled human environments raises many potential challenges in various subdisciplines, such as computer vision, automated planning, and human-robot interaction. In spite of the recent progress in these fields, there are still challenges to tackle. This article outlines problems in different research areas related to mobile manipulation from the cognitive perspective, reviews recently published works and the state-of-the-art approaches to address these problems, and discusses open problems to be solved to realize robot assistants that can be used in manipulation tasks in unstructured human environments.
43 citations
TL;DR: It is demonstrated that FMG has the potential to be an HMI for control of upper-limb-powered prostheses and illustrates the potential for intuitive control through the use of pattern recognition.
Abstract: Despite the appearance of advanced multi-degrees of freedom (DoF) robotic hands during the past decade, prosthetic control lacks a powerful interface to facilitate all its functionalities in a manner that is acceptable for a majority of users [1]. In this article, we explore the feasibility of using a sensing technique called force myography (FMG) as an alternative or synergist to the traditional surface electromyography (sEMG) technique as a human-machine interface (HMI) for the control of a multi-DoF prosthetic hand, bebionic 3 by Ottobock, Austin, Texas. In this article, we present a prosthetic prototype developed for the Cybathlon 2016, a championship for racing pilots with disabilities using assistive robotic devices. The design of the prototype is discussed and the effect of two factors on its control is analyzed. These factors are 1) the impact of a multisensory approach and 2) the placement of FMG sensor strips within the prosthetic inner socket. Analysis is performed by comparing resulting pattern recognition accuracies. Results show that the use of both sensing modalities (FMG and EMG) together produced the highest pattern recognition accuracy (81.1%) for ten classes of motion (four wrist movements and six grip patterns). We demonstrated that FMG has the potential to be an HMI for control of upper-limb-powered prostheses. FMG also illustrates the potential for intuitive control through the use of pattern recognition. A multisensory approach could assist in increasing robustness of the HMI for prosthetic control.
TL;DR: Today, autonomous underwater vehicles (AUVs) are mostly used for survey missions, but many existing applications require manipulation capabilities, such as the maintenance of permanent observatories, submerged oil wells, cabled sensor networks, and pipes; the deployment and recovery of benthic stations; or the search and Recovery of black boxes.
Abstract: Today, autonomous underwater vehicles (AUVs) are mostly used for survey missions, but many existing applications require manipulation capabilities, such as the maintenance of permanent observatories, submerged oil wells, cabled sensor networks, and pipes; the deployment and recovery of benthic stations; or the search and recovery of black boxes. Currently, these tasks require the use of work-class remotely operated vehicles (ROVs) deployed from vessels equipped with dynamic positioning, leaving such solutions expensive to adopt. To face these challenges during the last 25 years, scientists have researched the idea of increasing the autonomy of underwater intervention systems.
TL;DR: The powered exoskeleton race in Cybathlon 2016 consisted of six challenging tasks that required a pilot with complete paraplegia to walk on a level floor, uphill, downhill, and on stairs; stand up and sit down; step on stones; and even pass through a tilted path.
Abstract: The powered exoskeleton race in Cybathlon 2016 consisted of six challenging tasks that required a pilot with complete paraplegia to walk on a level floor, uphill, downhill, and on stairs; stand up and sit down; step on stones; and even pass through a tilted path. All of these tasks addressed exactly the requirements for a powered exoskeleton designed to assist with activities of daily living (ADL) for paraplegics. Every team brought unique technologies to achieve this goal.
TL;DR: The robot surveillance decision problem is described and how the integration of components in the system supports fully automated decision making is explained, which demonstrates how planning enables robots to effectively balance surveillance objectives, autonomously performing the job of human patrols and responders.
Abstract: This article proposes an architecture for an intelligent surveillance system, where the aim is to mitigate the burden on humans in conventional surveillance systems by incorporating intelligent interfaces, computer vision, and autonomous mobile robots. Central to the intelligent surveillance system is the application of research into planning and decision making in this novel context. In this article, we describe the robot surveillance decision problem and explain how the integration of components in our system supports fully automated decision making. Several concrete scenarios deployed in real surveillance environments exemplify both the flexibility of our system to experiment with different representations and algorithms and the portability of our system into a variety of problem contexts. Moreover, these scenarios demonstrate how planning enables robots to effectively balance surveillance objectives, autonomously performing the job of human patrols and responders.
TL;DR: Robotic wheelchairs allow those with motor disabilities practical and efficient electric mobility and enhance the well-being of individuals with motor impairments.
Abstract: State-of-the-art technologies empower people with motor disabilities to carry out activities of daily living, thus enabling a better quality of life. Personal mobility is crucial for the well-being of individuals with motor impairments. In fact, studies have shown that, among people with motor disabilities, those having better mobility report greater satisfaction with their quality of life than those having lower mobility [1]-[3]. Motor functions can be improved, recovered, or partially substituted with various robot-based technologies, such as robotic prostheses, exoskeletons, and electric wheelchairs. Robotic wheelchairs allow those with motor disabilities practical and efficient electric mobility.
TL;DR: Mina v2's performance allowed the IHMC team to explore the effectiveness of its powered ankle compared to other powered exoskeletons for pilots with paraplegia, and designed its gaits to incorporate powered ankle plantar flexion to help improve mobility.
Abstract: Exoskeletons are a promising technology that enables individuals with mobility limitations to walk again. As the 2016 Cybathlon illustrated, however, the community has a considerable way to go before exoskeletons have the necessary capabilities to be incorporated into daily life. While most exoskeletons power only hip and knee flexion, Team Institute for Human and Machine Cognition (IHMC) presents a new exoskeleton, Mina v2, which includes a powered ankle dorsi/plantar flexion (Figure 1). As our entry to the 2016 Cybathlon Powered Exoskeleton Competition, Mina v2's performance allowed us to explore the effectiveness of its powered ankle compared to other powered exoskeletons for pilots with paraplegia. We designed our gaits to incorporate powered ankle plantar flexion to help improve mobility, which allowed our pilot to navigate the given Cybathlon tasks quickly, including those that required ascending movements, and reliably achieve average, conservative walking speeds of 1.04 km/h (0.29 m/s). This enabled our team to place second overall in the Powered Exoskeleton Competition in the 2016 Cybathlon.
TL;DR: The experience in developing a system, the Empowering Mobility and Autonomy (EMA) tricycle, to enable persons with paraplegia to perform FES-assisted cycling is shared.
Abstract: Physical exercise may produce significant systemic benefits including reducing the risk of cardiovascular diseases. For individuals with spinal cord injury (SCI), muscles that are not volitionally contracted can be activated using functional electrical stimulation (FES), a technology where lowenergy electric impulses are applied to restore motor function. In this article, we share our experience in developing a system, the Empowering Mobility and Autonomy (EMA) tricycle, to enable persons with paraplegia to perform FES-assisted cycling. Both technological development and preparation protocols are presented, along with information regarding our team's participation at Cybathlon 2016.
TL;DR: A vision-based obstacle detection system that continually adapts to environmental and illumination variations and a visionassisted localization system that can guide a robot along crop rows with a complex appearance are described.
Abstract: Farmers are under growing pressure to intensify production to feed a growing population while managing environmental impact. Robotics has the potential to address these challenges by replacing large complex farm machinery with fleets of small autonomous robots. This article presents our research toward the goal of developing teams of autonomous robots that perform typical farm coverage operations. Making a large fleet of autonomous robots economical requires the use of inexpensive sensors, such as cameras for localization and obstacle avoidance. To this end, we describe a vision-based obstacle detection system that continually adapts to environmental and illumination variations and a visionassisted localization system that can guide a robot along crop rows with a complex appearance. Large fleets of robots will become time-consuming to monitor, control, and resupply. To reduce this burden, we describe a vision-based docking system for autonomously refilling liquid supplies and an interface for controlling multiple robots.
TL;DR: This article summarizes the recommendations concerning robotics as issued by the Commission for the Ethics of Research in Information Sciences and Technologies (CERNA), the French advisory commission for the ethics of information and communication technology research.
Abstract: This article summarizes the recommendations concerning robotics as issued by the Commission for the Ethics of Research in Information Sciences and Technologies (CERNA), the French advisory commission for the ethics of information and communication technology (ICT) research. Robotics has numerous applications in which its role can be overwhelming and may lead to unexpected consequences. In this rapidly evolving technological environment, CERNA does not set novel ethical standards but seeks to make ethical deliberation inseparable from scientific activity. Additionally, it provides tools and guidance for researchers and research institutions.
TL;DR: This article presents the results of an online survey of faculty opinions on the state of robotics education with a focus on three topics: degree programs, introductory robotics courses, and educational resources.
Abstract: This article presents the results of an online survey of faculty opinions on the state of robotics education with a focus on three topics: degree programs, introductory robotics courses, and educational resources. There were 67 institutions represented, the majority of which are doctoral granting universities located in the United States. I confirmed the existence of seven bachelor programs awarding approximately 140 degrees annually in addition to 26 graduate programs conferring 268 master's and 83 doctoral degrees annually.
TL;DR: It is shown that an inertial-sensor-based joint-angle estimation can be used for smooth and effective FES cycling.
Abstract: Our Team Hasomed joined the functional electrical stimulation (FES) bike race at the very first Cybathlon, which was organized by the Swiss Federal Institute of Technology in Z?rich (ETH Z?rich). This article describes our technical approach regarding the tricycle, the stimulator, and the inertial-sensor-based control strategy used for training and during the race. Due to the cycling device's independence, the same setting and stimulation pattern can be used for either regular or ergometer-based cycling. Regarding the bike architecture, the focus was on using standard components as much as possible and enabling an easy and autonomous transfer between the wheelchair and the tricycle. Together with our paraplegic pilot [spinal cord injury (SCI) lesion level T5/6, American Spinal Injury Association (ASIA) Impairment Scale Grade A], we developed a training plan and an electrode setting that was continuously improved upon over the course of 18 months. Right before the Cybathlon, our pilot was able to cycle the full race distance of 750 m five times with 5-min rests in between in a gymnasium. At the Cybathlon, our athlete completed the 750-m race, taking fourth place with a new personal record of 6 min and 44 s. With our work, we showed that an inertial-sensor-based joint-angle estimation can be used for smooth and effective FES cycling.
TL;DR: Stormram 3 is a magnetic resonance imaging (MRI)-compatible robotic system that can perform MR-guided breast biopsies of suspicious lesions, and based on the choice of materials, the robot (with the exception of the needle) is inherently MR safe.
Abstract: Stormram 3 is a magnetic resonance imaging (MRI)-compatible robotic system that can perform MR-guided breast biopsies of suspicious lesions. The base of the robot measures 160 # 180 # 90 mm, and it is actuated by five custom pneumatic linear stepper motors, driven by a valve manifold outside the Faraday cage of the MRI scanner. All parts can be rapidly prototyped with three-dimensional (3-D) printing or laser cutting, making the design suitable for other applications, such as actuation in hazardous environments. Based on the choice of materials, the robot (with the exception of the needle) is inherently MR safe. Measurements show that the maximum force of the T-49 actuator is 70 N, at a pressure of 0.3 MPa. The Stormram 3 has an optimized repeatability that is lower than 0.5 mm, and it can achieve a positional accuracy on the order of 2 mm.
TL;DR: The size of existing instruments has prevented the adoption of the da Vinci system in areas such as neurosurgery, head and neck surgery, and pediatrics, and, therefore, new miniaturized tools are needed.
Abstract: The da Vinci Surgical System is a commercially available surgical robotics platform used to perform more than 450,000 surgeries annually, primarily for gynecological and urological procedures [1]. This technology enhances the surgeon's dexterity through the use of a multiarm robot with wristed instruments that enter a patient's body through small incisions. However, the size of existing instruments (5-8 mm in shaft diameter) has prevented the adoption of the da Vinci system in areas such as neurosurgery, head and neck surgery, and pediatrics [2], [3]. These applications require high dexterity in small, confined workspaces, and, therefore, new miniaturized tools are needed [4].
TL;DR: While human guidance is essential for MIS, recent studies have suggested that automation of some surgical subtasks, particularly those that are tedious and repetitive or require high precision, can be beneficial in improving accuracy and reducing the cognitive load of the surgeon.
Abstract: Minimally invasive surgery (MIS), performed through a small number of keyhole incisions, has become the standard of care for many general surgical procedures, reducing trauma, blood loss, and other complications and offering patients the prospect of a faster recovery with less postoperative pain. These improvements for the patient, however, require higher dexterity and complex instrument control by the surgeons. Keyhole incisions constrain the motion of surgical instruments, while the loss of stereovision when using a laparoscope or endoscope means that depth perception is much poorer than in traditional open surgery. The desire to tackle these issues has been the main driver behind the development of robotic MIS systems with stereovision. In particular, the da Vinci robot (Intuitive Surgical, Inc., Sunnyvale, California) is a successful surgical platform, used widely in the treatment of gynecological and urological cancers. While human guidance is essential for MIS, recent studies [1] have suggested that automation of some surgical subtasks, particularly those that are tedious and repetitive or require high precision, can be beneficial in improving accuracy and reducing the cognitive load of the surgeon. For example, several studies have investigated automation of surgical suturing subtasks, including using a suturing tool under fluorescence guidance [2], and other studies have explored areas such as autonomous tissue dissection [3].
TL;DR: This article studies the feasibility of applying the SoftHand technology to a prosthetic device that is suitable for activities of daily living (ADL) and, in particular, some important objectives such as doing work, performing home chores, and participating in hobbies.
Abstract: In this article, we study the feasibility of applying the SoftHand technology to a prosthetic device that is suitable for activities of daily living (ADL) and, in particular, some important objectives such as doing work, performing home chores, and participating in hobbies. These applications have specific requirements, such as high grip power; grasp versatility; ruggedness; resilience; resistance to water, dust, and temperature; durability; power autonomy; and low cost. Alternatively, factors like the multiplicity of gestures or aesthetics are less dominant. The intuitiveness of control by the user is a particularly relevant and specific objective of our work. While multiactivation-modalities prostheses use sophisticated myoelectric control to afford versatility and dexterity, most state-of-the-art work-oriented prostheses are body powered (BP). BP prostheses (BPPs) are intuitive to use, have low cost, do not require batteries or motors, and provide useful built-in, sensorless feedback to the user.
TL;DR: A new vehicle that is the latest version of the rough terrain (RT)-Mover series to participate in the 2016 Cybathlon and won fourth place in the powered wheelchair category.
Abstract: We introduced a new vehicle that is the latest version of the rough terrain (RT)-Mover series to participate in the 2016 Cybathlon. The vehicle completed all required tasks at the competition and won fourth place in the powered wheelchair category.
TL;DR: Robotics-assisted minimally invasive surgery (RAMIS) helps surgeons to avoid manually palpating organs to locate subsurface tumors, but there are no existing RAMIS instruments that employ both modalities.
Abstract: Robotics-assisted minimally invasive surgery (RAMIS) helps surgeons to avoid manually palpating organs to locate subsurface tumors. One solution has been to use ultrasound, but it is not always reliable. Tactile sensing, however, has the potential to augment ultrasound to improve tumor localization, but there are no existing RAMIS instruments that employ both modalities.
TL;DR: Gastric adenocarcinoma is the fourth leading cause of cancer death in both women and men and is projected to rise from 14th to eighth in all-cause mortality in the near term, primarily due to the growing and aging populations in high-incidence areas, such as Latin America and eastern Asia.
Abstract: Gastric adenocarcinoma is the fifth most common malignancy in the world and the third leading cause of cancer death in both women and men. In 2012, its estimated global incidence was 952,000 new cases with an estimated 723,000 deaths worldwide [1]-[3]. It is projected to rise from 14th to eighth in all-cause mortality in the near term, primarily due to the growing and aging populations in high-incidence areas, such as Latin America and eastern Asia [4], [5]. Unlike any other major cancer, gastric cancer demonstrates marked geographic variability in regions and within countries, with more than 70% of incident cases concentrated in lowand middle-income countries (LMICs) [1], [2].