Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navig...
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ISBN:
(纸本)9781665491907
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to identify the target for navigation. Reduced visibility under extreme weather conditions in marine environments makes it difficult for vision-based approaches to work properly. To overcome these issues, this paper presents an autonomous vision-based navigation framework for tracking target objects in extreme marine conditions. The proposed framework consists of an integrated perception pipeline that uses a generative adversarial network (GAN) to remove noise and highlight the object features before passing them to the object detector (i.e., YOLOv5). The detected visual features are then used by the USV to track the target. The proposed framework has been thoroughly tested in simulation under extremely reduced visibility due to sandstorms and fog. The results are compared with state-of-the-art de-hazing methods across the benchmarked MBZIRC simulation dataset, on which the proposed scheme has outperformed the existing methods across various metrics.
This paper explores the evolution from traditional to modern methodologies for the development of intelligent products. The traditional linear and sequential approach, often characterized by limited toolsets and hardw...
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With Collective Perception, stations exchange information from their local perception with each other via broadcast communication. The information about perceived objects can enhance their awareness, allowing percepti...
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It is well known that energy has become one of the essential factors for the development of human civilization. As a new type of energy source, fusion energy is considered to be the most promising and effective way to...
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The Cloud-Edge-IoT (CEI) continuum refers to integrating several IoT devices with edge servers and the cloud, creating a computing continuum where the IoT, edge, and cloud intersect. Due to its robust and potent prope...
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The Cloud-Edge-IoT (CEI) continuum refers to integrating several IoT devices with edge servers and the cloud, creating a computing continuum where the IoT, edge, and cloud intersect. Due to its robust and potent properties, the Edge-cloud continuum has been the subject of extensive investigation in numerous domains, including smart agriculture, energy management, smart health, smart manufacturing, smart cities, and maritime applications. Implementing CEI systems in broadband wireless networks will present numerous technical challenges. It is crucial to address continuum difficulties to optimize these systems. Comprehensive simulators are necessary for researchers to accurately model, test, and evaluate various approaches and technologies in the edge cloud continuum. EdgeCloudSim is capable of simulating scenarios involving both cloud and edge computing. intelligent transport systems are among the application cases of Industry 4.0 and CEI continuum. In-depth performance assessments and tests can be carried out on various edge computing scenarios with the help of EdgeCloudSim. This enables in-depth assessments of offloading mechanisms, resource allocation, and the repercussions of latency to be carried out effectively. The processing of massive amounts of data from the Internet of Things devices in real-time is a requirement for Industry 4.0, which is why this is of the utmost importance. Applications like predictive maintenance, automated quality control, smart transportation, and smart manufacturing, respectively, require this to function properly. Additionally, the capability of EdgeCloudSim to simulate various network topologies and edge configurations offers significant information that can be utilized for optimizing the deployment of infrastructure and enhancing the overall efficiency of the system. The adaptability and extensibility of the framework make it a perfect instrument for academics and practitioners who are looking to build and enhance novel solutions
Cable driven redundant manipulator (CDRM) can provide complex movements with high dexterity and singularity reduction. However, traditional CDRMs with universal joints have the disadvantages of requiring a high number...
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ISBN:
(纸本)9781665491907
Cable driven redundant manipulator (CDRM) can provide complex movements with high dexterity and singularity reduction. However, traditional CDRMs with universal joints have the disadvantages of requiring a high number of motors and having a narrow joint workspace. Furthermore, there is a limitation in terms of stiffness and payload. Recently, CDRMs composed of Quaternion joints have been developed to address these disadvantages. They require fewer motors and have larger joint workspace due to the Quaternion joints. Yet, their cable routing method is the same as the traditional CDRMs. In this paper, we propose a novel nematode-inspired cable routing method to achieve complex movements and stiffness increase. To achieve the stiffness increase of CDRM, the proposed cable routing method was inspired by the alternately arranged muscle structure of nematodes. Moreover, moving pulley structure was selected to amplify the stiffness and force of CDRM. An 8-DOF CDRM prototype composed of four Quaternion joints was developed to show the effectiveness of the cable routing method. Kinematics simulation was conducted and then, verified by trajectory through experiments. Finally, a joint stiffness simulation was conducted and verified with the developed prototype by stiffness experiments.
This paper investigates the joint problem of user association and power allocation for the downlink of non-orthogonal multiple access (NOMA)-visible light communication (VLC) systems. We propose a novel user associati...
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In the era of digitalization, authentication is a vital part of modern society's security. Multi-factor authentication (MFA) is a vital solution that offers fast, simple, and trustworthy authentication in a range ...
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The variable speed limit (VSL) control is responsible for real-Time adjustment of speed limits based on traffic conditions in sensor-based environments. Integration of this traffic management strategy with intelligent...
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This article introduces a novel suture managing device (SMD) and new suture management controller to enable single-arm suture management during autonomous suturing with the Smart Tissue Autonomous Robot (STAR). The pr...
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ISBN:
(纸本)9781665491907
This article introduces a novel suture managing device (SMD) and new suture management controller to enable single-arm suture management during autonomous suturing with the Smart Tissue Autonomous Robot (STAR). The primary function of the SMD is to tension and manage the suture thread, a task that was previously carried out by a second manipulator or a human assistant. The SMD and its controller are integrated into STAR's autonomous suturing workflow. Experiments were conducted to quantify the tensioning force of SMD and to evaluate the suture quality of the new single-arm system. The prototype of SMD achieves 1.67N tensioning force with suturing time of 29.1 +/- 0.42 seconds per stitch. Our study results demonstrate that the single-arm STAR system with SMD achieves equivalent performance to our previous works in suturing efficiency where suture management was performed with either a dual-armed robotic system or by a human surgical assistant. The study's findings contribute to the field of medical robotics and to our knowledge represent the first known instance of single-arm suturing with suture management during autonomous anastomosis.
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