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Metamaterial-Reinforced Origami Soft Actuators: Reconfigurable Stiffness and Deformation

Metamaterial-Reinforced Origami Soft Actuators: Reconfigurab...

引用

IEEE International Conference on Soft Robotics (RoboSoft)

作者： Oscar Ochoa Enrique Cuan-Urquizo Rogelio Perez-Santiago Alejandro González Ditzia Susana García Morales Annika Raatz X. Yamile Sandoval-Castro Tecnologico de Monterrey School of Engineering and Sciences Monterrey Mexico Tecnologico de Monterrey Institute of Advanced Materials for Sustainable Manufacturing Monterrey Mexico Tecnologico de Monterrey School of Engineering and Sciences Querétaro Mexico Leibniz University Hannover Institute of Assembly Technology and Robotics Garbsen Germany

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Soft origami-inspired pneumatic actuators have emerged as promising systems in soft robotics due to their high contraction and force-to-pressure ratios. Despite various strategies proposed for programming stiffness of origami structures, challenges remain in managing control complexity while maintaining high deformation ranges. Metamaterials are at the forefront of mechanical engineering, offering unique and programmable mechanical properties of the designed structures. In this work, we propose monolithic origami-inspired actuators reinforced with cellular metamaterials. These structures were evaluated as independent origami structures to characterize their stiffness through finite element models and experimental tests, demonstrating agreement between the methods. Multilevel origami towers were designed with various combinations of metamaterial reinforcements, and their deformation performance was assessed. Finally, a parallel platform and a robotic arm were constructed as case studies to showcase the application of these actuators. This study highlights the potential of leveraging metamaterial reinforcements to develop programmable soft actuators for robotic applications.

关键词： Actuators Temperature distribution Deformation Poles and towers Soft robotics programming Pneumatic systems Manipulators Metamaterials Topology

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Maritime Mission Planning for Unmanned Surface Vessel using Large Language Model

Maritime Mission Planning for Unmanned Surface Vessel using ...

引用

IEEE International Conference on Simulation, Modeling, and programming for Autonomous Robots (SIMPAR)

作者： Muhayy Ud Din Waseem Akram Ahsan B Bakht Yihao Dong Irfan Hussain Khalifa University Center for Advanced Robotic Systems (KUCARS) United Arab Emirates

ISBN: (数字)9798331516857

ISBN: (纸本)9798331516864

Unmanned Surface Vessels (USVs) are essential for various maritime operations. USV mission planning approach offers autonomous solutions for monitoring, surveillance, and logistics. Existing approaches, which are based on static methods, struggle to adapt to dynamic environments, leading to suboptimal performance, higher costs, and increased risk of failure. This paper introduces a novel mission planning framework that uses Large Language Models (LLMs), such as GPT-4, to address these challenges. LLMs are proficient at understanding natural language commands, executing symbolic reasoning, and flexibly adjusting to changing situations. Our approach integrates LLMs into maritime mission planning to bridge the gap between high-level human instructions and executable plans, allowing real-time adaptation to environmental changes and unforeseen obstacles. In addition, feedback from low-level controllers is utilized to refine symbolic mission plans, ensuring robustness and adaptability. This framework improves the robustness and effectiveness of USV operations by integrating the power of symbolic planning with the reasoning abilities of LLMs. In addition, it simplifies the mission specification, allowing operators to focus on high-level objectives without requiring complex programming. The simulation results validate the proposed approach, demonstrating its ability to optimize mission execution while seamlessly adapting to dynamic maritime conditions.

关键词： Adaptation models Navigation Large language models Simulation programming Robustness Cognition Real-time systems Planning Underactuated surface vessels

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Leveraging Generative AI for Platform Hardware Design Automation - Learnings and Recommendations

Leveraging Generative AI for Platform Hardware Design Automa...

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IEEE International Symposium on Quality Electronic Design

作者： Srinivasaraghavan Krishnamoorthy Client Computing Group Intel Corporation Bangalore India

ISBN: (数字)9798331509422

ISBN: (纸本)9798331509439

Generative AI models have demonstrated their ability to generate programming code and other structured text. The use of these models in generating hardware design is a topic of current research. The approaches range from interactive hardware design assistants to fully autonomous agents capable of reasoning and designing. Consistency of such generated designs is being studied for structured text generation. In this paper, we'll discuss some of the existing approaches, and our approach to platform hardware design and the learnings and recommendations that came out of this effort.

关键词： Design automation Codes Generative AI programming Hardware Cognition Autonomous agents

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It Works (only) on My Machine: A Study on Reproducibility Smells in Ansible Scripts

It Works (only) on My Machine: A Study on Reproducibility Sm...

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International Mining Software Repositories, MSR

作者： Ghazal Sobhani Israat Haque Tushar Sharma Faculty of Computer Science Dalhousie University Halifax Canada

ISBN: (数字)9798331501839

ISBN: (纸本)9798331501846

Infrastructure as Code (IaC) automates the creation, configuration, management, and monitoring of computing infrastructure through code. One of the key principles that IaC promises is repeatability and reproducibility. However, certain programming practices in IaC platforms, especially those that allow imperative configuration, such as Ansible, hinder reproducibility in IaC scripts. This study, first, identifies such programming practices that we refer to as reproducibility smells by conducting a comprehensive multi-vocal literature review and propose a first-ever validated catalog of reproducibility smells for IaC scripts. We implement a tool viz. Reduse to identify reproducibility smells in Ansible scripts. Furthermore, we conduct an empirical study to reveal the proliferation of reproducibility smells in open-source projects and explore correlation and fine-grained co-occurrence relationships among them. We observe that broken dependency chain smell occurs the most in approximately $71 \%$ tasks that we analyzed. Our analysis uncovers significant positive correlations between specific reproducibility smells, implying that repositories with one such smell tend to exhibit others. Moreover, the co-occurrence analysis reveals smell pairs that show a high tendency of co-occurrence at the task granularity. With the developed tool Reduse, DevOps engineers can identify and rectify reproducibility issues before becoming part of the production system. Software engineering researchers can use the smells catalog proposed first in this study and can utilize Reduse in empirical studies exploring various facets of reproducibility.

关键词： Production systems Correlation DevOps programming Reproducibility of results Software Data mining Monitoring Systematic literature review Software engineering

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Max-Min Fairness for IRS-Assisted Secure Two-Way Communications

Max-Min Fairness for IRS-Assisted Secure Two-Way Communicati...

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IEEE Conference on Wireless Communications and Networking

作者： Harindu Jayarathne Tharindu Wickremasinghe Kasun T. Hemachandra Tharaka Samarasinghe Saman Atapattu University of Moratuwa Sri Lanka RMIT University Australia

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

This paper investigates an intelligent reflective surface (IRS) assisted secure multi-user two-way communication system. The aim of this paper is to enhance the physical layer security by optimizing the minimum secrecy-rate among all user-pairs in the presence of a malicious user. The optimization problem is converted into an alternating optimization problem consisting of two sub-problems. Transmit power optimization is handled using a fractional programming method, whereas IRS phase shift optimization is handled with semi-definite programming. The convergence of the proposed algorithm is investigated numerically. The performance gain in minimum secrecy-rate is quantified for four different user configurations in comparison to the baseline scheme. Results indicate a 3.6-fold gain in minimum secrecy rate over the baseline scheme when the IRS is positioned near a legitimate user, even when the malicious user is located close to the same legitimate user.

关键词： Communication systems programming Performance gain Minimax techniques Physical layer security Security Optimization Convergence

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Implementing a Method for Privilege Escalation Attacks in Windows Systems

Implementing a Method for Privilege Escalation Attacks in Wi...

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Human-Computer Interaction, Optimization and Robotic Applications (HORA), International Congress on

作者： Esra Calik Bayazit Merve Arac Computer Engineering Department Fatih Sultan Mehmet Vakif University Istanbul Turkey Information Security Technology Fatih Sultan Mehmet Vakif University Istanbul Turkey

ISBN: (数字)9798331510886

ISBN: (纸本)9798331510893

Nowadays, the security of digital data is one of the most important assets of the information age and is more important than ever. Many operating system services require special privileges to conduct their tasks. A configuration or programming error made in a privileged service in the operating system or software causes unauthorized access to privileges. Especially in widely used operating systems such as Windows, privilege escalation attacks are one of the main threats to system security. In a worst-case scenario, these attacks open the door for a remote attacker to take action that requires high-level privilege, allowing them to switch from limited user rights to administrator rights that provide full control over the system by exploiting vulnerabilities or programming errors in the system. This study provides a perspective on how privilege escalation attacks occur in Windows operating systems, how privilege escalation attacks occur by cracking user password hashes in the Security Account Manager (SAM) file, and how privilege separation can be an effective defense method against such attacks.

关键词： Limiting Operating systems Intrusion detection Passwords Switches programming Real-time systems Malware Robots Optimization

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Prototype-Development for Combined Indoor Navigation, Communication, and Mapping for First Responder Applications

Prototype-Development for Combined Indoor Navigation, Commun...

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IEEE Symposium on Position Location and Navigation (PLANS)

作者： Susanna Kaiser Stephan Sand Umut Güloglu Oliver Heirich Thomas Wiedemann Institute of Communications and Navigation German Aerospace Center (DLR) Wessling Germany

ISBN: (数字)9798331523176

ISBN: (纸本)9798331523183

First responder localization is important in emergency cases. The knowledge of the positions of the first responders helps to provide a quick aid for comrades in need and to efficiently coordinate their actions. The success of localization does not only depend on the localization system itself but also depends on reliable communication that plays an important role especially if the scenarios are indoors or in tunnels and mines. In this paper, we investigate the combination of localization and communication for first responder applications. First, we describe deeply the prototype development. These prototypes are built to be tested by end-users in quasi-real scenarios. Secondly, a first evaluation of the prototypes is given in this paper. It can be shown that the packet reception rate of the communication system over 34 experiments was 0.94 even under the condition that a building is partly hidden behind another building. In addition, the localization prototype provides a very accurate positioning of about 1m end-error on average for shorter walks (200m on average) and below 2m on average for a 1.3 km walk.

关键词： Location awareness Wireless communication Accuracy Pedestrians Simultaneous localization and mapping Buildings Prototypes Receivers programming Reliability

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A Generic Solution to Handle System in Package Efuse Test in Multiple Flow

A Generic Solution to Handle System in Package Efuse Test in...

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China Semiconductor Technology International Conference (CSTIC)

作者： Hao Chen Advantest (China) Co. Ltd Shanghai China

ISBN: (数字)9798331513351

ISBN: (纸本)9798331513368

Many ATE Test programs still rely on a code based Efuse Test Method, resulting in lengthy development times, extended test durations, and a higher risk of device rework. Furthermore, the presence of one-time-programmable fuses introduces the risk of critical quality issues arising from coding *** paper addresses the challenges of SiP devices’ fuse test procedure, data structure and programming ways on 93K SMT8. This adaptable solution minimizes coding efforts, ensures quality, and provides the best time-to-market (TTM) and test time for various customer scenarios. The effectiveness of this solution will be demonstrated through test cases used in several customers' Common Building Block (CBB), showcasing its ability to significantly reduce offline time and achieve successful online verification.

关键词： Integrated circuits System-in-package Codes Fuses Production programming Data structures Encoding Libraries Testing

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Quantum Pattern Detection: Accurate State- and Circuit-Based Analyses

Quantum Pattern Detection: Accurate State- and Circuit-Based...

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Quantum Software Engineering (Q-SE), International Workshop on

作者： Julian Shen Joshua Ammermann Christoph König Ina Schaefer Institute of Information Security and Dependability Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

ISBN: (数字)9798331526214

ISBN: (纸本)9798331526221

Quantum computers have the potential to solve certain problems faster than classical computers by exploiting quantum mechanical effects such as superposition. However, building high-quality quantum software is challenging due to the fundamental differences between quantum and traditional programming and the lack of abstraction mechanisms. To mitigate this challenge, researchers have introduced quantum patterns to capture common high-level design solutions to recurring problems in quantum software engineering. In order to utilize patterns as an abstraction level for implementation, a mapping between the theoretical patterns and the source code is required, which has only been addressed to a limited extent. To close this gap, we propose a framework for the automatic detection of quantum patterns using state- and circuit-based code analysis. Furthermore, we contribute a dataset for benchmarking quantum pattern detection approaches. In an empirical evaluation, we show that our framework is able to detect quantum patterns very accurately and that it outperforms existing quantum pattern detection approaches in terms of detection accuracy.

关键词： Computers Quantum computing Accuracy Codes Source coding Conferences Quantum mechanics programming Software Software engineering

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Deep Reinforcement Learning of Robotic Manipulation for Whip Targeting

Deep Reinforcement Learning of Robotic Manipulation for Whip...

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IEEE International Conference on Simulation, Modeling, and programming for Autonomous Robots (SIMPAR)

作者： Xiang Bai Junyi Wang Xiaofeng Xiong Evangelos Boukas Applied Mathematics and Computer Science Technical University of Denmark Copenhagen Denmark Automation and Control Group Electrical and Photonics Engineering Technical University of Denmark Copenhagen Denmark SDU Biorobotics Mærsk Mc-Kinney Møller Institute University of Southern Denmark Odense Denmark

ISBN: (数字)9798331516857

ISBN: (纸本)9798331516864

This paper aims at a deep reinforcement learning (DRL) controller for fast (< 1.5s) manipulation of a flexible tool (i.e., whip) to hit a target in 3D space. The controller consists of a DRL algorithm for optimizing joint motions, and a proportional-derivative (PD) mechanism for tracking the optimized motions. Their objective is to minimize the distance between the whip-end-tip and the target. The proposed controller was validated in a 7-DOF robot arm by comparing four DRL algorithms in the physical simulator MuJoCo. It shows that the proximal policy optimization (PPO) outperforms others by obtaining the maximum average reward. Notably, PPO can still effectively interact with the environment under sparse or even unrewarding conditions, making it a robust choice for complex and dynamic tasks. Our work provides preliminary knowledge of DRL applications to fast robotic arm control in flexible object manipulation.

关键词： Three-dimensional displays Target tracking Heuristic algorithms programming Aerospace electronics Deep reinforcement learning Manipulators Optimization Autonomous robots

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