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Active Contact Engagement for Aerial Navigation in Unknown Environments With Glass

IEEE robotics and Automation Letters 2025年第6期10卷 6464-6471页

作者： Chen, Xinyi Zhang, Yichen Zou, Hetai Wang, Junzhe Shen, Shaojie Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and passive contact-resilient aerial vehicle designs to detect glass surfaces, which are often limited in terms of robustness and efficiency. In this work, we propose a novel approach for robust autonomous aerial navigation in unknown environments with transparent glass obstacles, combining the strengths of both sensor-based and contact-based glass detection. The proposed system begins with the incremental detection and information maintenance about potential glass surfaces using visual sensor measurements. The vehicle then actively engages in touch actions with the visually detected potential glass surfaces using a pair of lightweight contact-sensing modules to confirm or invalidate their presence. Following this, the volumetric map is efficiently updated with the glass surface information and safe trajectories are replanned on the fly to circumvent the glass obstacles. We validate the proposed system through real-world experiments in various scenarios, demonstrating its effectiveness in enabling efficient and robust autonomous aerial navigation in complex real-world environments with glass obstacles. © 2016 IEEE.

关键词： Aerial systems: Perception and Autonomy software-hardware integration for robot systems Vision-Based Navigation

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Real-Time Intraoperative Surgical Guidance System in the da Vinci Surgical robot Based on Transrectal Ultrasound/Photoacoustic Imaging With Photoacoustic Markers: An Ex Vivo Demonstration

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IEEE robotICS AND AUTOMATION LETTERS 2023年第3期8卷 1287-1294页

作者： Song, Hyunwoo Moradi, Hamid Jiang, Baichuan Xu, Keshuai Wu, Yixuan Taylor, Russell H. H. Deguet, Anton Kang, Jin U. U. Salcudean, Septimiu E. E. Boctor, Emad M. M. Johns Hopkins Univ Whiting Sch Engn Dept Comp Sci Baltimore MD 21218 USA Univ British Columbia Dept Elect & Comp Engn Vancouver BC V6T 1Z4 Canada Johns Hopkins Univ Whiting Sch Engn Dept Elect & Comp Engn Baltimore MD 21211 USA

This letter introduces the first integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic markers that are detected in both fluorescence (FL) and photoacoustic (PA) imaging. The co-registered system enables the TRUS transducer to track the laser spot illuminated by a pulsed-laser-diode attached to the surgical instrument, providing both FL and PA images of the surgical region-of-interest (ROI). As a result, the generated photoacoustic marker is visualized and localized in the da Vinci endoscopic FL images, and the corresponding tracking can be conducted by rotating the TRUS transducer to display the PA image of the marker. A quantitative evaluation revealed that the average registration and tracking errors were 0.84 mm and 1.16 & DEG;, respectively. This study shows that the co-registered photoacoustic marker tracking can be effectively deployed intraoperatively using TRUS+PA imaging providing functional guidance of the surgical ROI.

关键词： Laser excitation Lasers Imaging Transducers Cameras Real-time systems Laser applications Medical robots and systems software-hardware integration for robot systems surgical guidance system transrectal ultrasound imaging photoacoustic imaging

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VDMNav: software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

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IEEE robotICS AND AUTOMATION LETTERS 2024年第3期9卷 2869-2876页

作者： Laupre, Gabriel Francois Sharma, Aman Skaloud, Jan Ecole Polytech Fed Lausanne EPFL Environm Sensing Observ CH-1015 Lausanne Switzerland

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global Navigation Satellite System (GNSS), and other sensors, in a kinematic framework to yield a navigation solution (position, velocity, attitude, and time). However, the long-term accuracy of this solution is exacerbated during the absence of satellite positioning, especially for small drones with low-cost MEMS inertial sensors. On the other hand, a recently proposed vehicle dynamic model (VDM)-based navigation system has shown significant improvement in positioning accuracy during the absence of a satellite positioning solution, although in a mostly offline setting. In this article, we present the software architecture of its real-time implementation using robot Operating System (ROS) that separates and interfaces its core from a particular hardware. The presented implementation asynchronously handles different sensor data in a modular fashion and allows i) adapting the underlying aerodynamic model, ii) including complementary sensors, and iii) reducing the dimensionality of the EKF state space at run-time without compromising the navigation performance. The real-time performance of the proposed software architecture is evaluated during long GNSS absences of up to eight minutes and compared to that of inertial coasting.

关键词： Field robots software architecture for robotic and automation software-hardware integration for robot systems

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Planar Magnetic Actuation for Soft and Rigid robots Using a Scalable Electromagnet Array

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IEEE robotICS AND AUTOMATION LETTERS 2022年第4期7卷 9264-9270页

作者： Li, Xiaosa Lu, Chengyue Song, Ziwu Ding, Wenbo Zhang, Xiao-Ping Tsinghua Univ Tsinghua Shenzhen Int Grad Sch Tsinghua Berkeley Shenzhen Inst Shenzhen 518055 Peoples R China RISC Int Open Source Lab Shenzhen 518055 Peoples R China Ryerson Univ Dept Elect Comp & Biomed Engn Toronto ON M5B 2K3 Canada

Magnetic actuation system manipulates micro soft or rigid robots by a controllable magnetic field to move them freely in the narrow or enclosed space, which has demonstrated its huge potential in medical interventional surgery and drug delivery. However, the limited working space of paired or area-centered electromagnets restricts its practical applications. In this paper, we propose a convenient coils drive scheme for the scalable electromagnet array, and present an efficient planar magnetic actuation system with a spacious workspace. During the actuation process, our system activates selectively the effective electromagnets neighboring to the magnetic robot by coil selectors, and generates an alternating magnetic field with sufficient gradients to guide the robot's orientation and position. For the soft magnetic pipe, our system can push it to perform the continuous deflections around the stand columns on the plane. For the rigid magnetic cube, the designed magnetic-quadrupole structure allows it to receive various forces from different directions, and achieve a stable displacement in the heterogeneous magnetic field.

关键词： Motion and path planning software-hardware integration for robot systems telerobotics and teleoperation

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Smart Beamforming in Verbal Human-Machine Interaction for Humanoid robots

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IEEE robotICS AND AUTOMATION LETTERS 2023年第8期8卷 4689-4696页

作者： Klin, Bartlomiej Podpora, Michal Beniak, Ryszard Gardecki, Arkadiusz Rut, Joanna Opole Univ Technol Fac Elect Engn Automat Control & Informat PL-45758 Opole Poland Weegree Sp Zoo SK PL-45018 Opole Poland Opole Univ Technol Fac Prod Engn & Logist PL-45272 Opole Poland

The ongoing industrial revolution involves an increasing need for human-machine communication in all areas of everyday life. Efficient and flawless human-machine communication becomes a large challenge in crowded *** communication scheme used in present robotic and humanoid systems usually does not assume simultaneous interaction with multiple interlocutors (e.g. robot and two talking persons) as well as the associated mechanisms for distinguishing between speakers, which is being simplified to non-overlapping, sequential exchange of questions and answers between two interlocutors. This article presents a novel framework outlines to improve human-machine communication in the humanoid robot area. Concepts of acoustic-visual beamforming are already known, the implementation of which is an acoustic camera. However, according to the authors, combining acoustic and visual perception requires significant changes in the approach to the design of robotic systems in order to be able to take full advantage of the multi-talker capability. The perception of an interlocutor is more natural when a human is able to perceive multi-channel information. This provides the acoustic-visual sensors to be able to support beamforming of audio signal and assign these signals to every interlocutor in the engagement zone of a humanoid robot. This can be useful in a time regime adequate for a conversation.

关键词： software-hardware integration for robot systems long term interaction multi-modal perception for HRI natural dialog for HRI design and human factors

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A High-Fidelity Simulation Platform for Industrial Manufacturing by Incorporating robotic Dynamics Into an Industrial Simulation Tool

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IEEE robotICS AND AUTOMATION LETTERS 2022年第4期7卷 9123-9128页

作者： Zhang, Zengjie Dershan, Ram Enayati, Amir M. Soufi Yaghoubi, Marjan Richert, Dean Najjaran, Homayoun Univ British Columbia Sch Engn Kelowna BC V1V 1V7 Canada Univ Victoria Fac Engn & Comp Sci Victoria BC V8P 5C2 Canada

Simulation provides an efficient and safe evaluation solution for industrial automation to pretest software before deploying it in real systems. However, only high-fidelity simulation environments that precisely reconstruct the behavioral patterns of real systems can guarantee a successful transfer from simulation to reality (sim-to-real). Many existing industrial simulation tools provide libraries for various industrial devices, which simplify the development efforts significantly, but they generally lack the ability to model the system dynamics and often fail to generate a realistic representation when the system performance is sensitive to the modeling deviation. For example, robots equipped with intelligent algorithms potentially lead to task failure if the software is sensitive to the variation of the system dynamics. In this paper, we design a novel simulation platform for industrial manufacturing use cases consisting of a cooperative robot and a modular manufacturing device. With the dynamic model of the robot integrated into a manufacturing digital-twining software, the platform achieves high simulation fidelity by incorporating the effect of the robot dynamics to the control logic of the industrial tasks. Also, the simulation can exchange data with the real robot via an open protocol, which enables the simultaneous test of the real and simulated systems. Two experiments are conducted on the simulation platform to validate its fidelity in terms of the consistent control logic with the real system. Also, a workpiece distribution use case is studied to show how the simulation platform is used to develop a task-planning algorithm for a manufacturing application.

关键词： Simulation and animation software tools for robot programming software-hardware integration for robot systems robot simulation industrial software

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Towards Standardized Acquisition With a Dual-Probe Ultrasound robot for Fetal Imaging

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IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 1059-1065页

作者： Housden, James Wang, Shuangyi Bao, Xianqiang Zheng, Jia Skelton, Emily Matthew, Jacqueline Noh, Yohan Eltiraifi, Olla Singh, Anisha Singh, Davinder Rhode, Kawal Kings Coll London Sch Biomed Engn & Imaging Sci London SE1 7EH England Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Beihang Univ Sch Gen Engn Beijing 100191 Peoples R China Brunel Univ Dept Mech & Aerosp Engn London UB8 3PH England Xtronics Ltd Gravesend DA12 2AD England

Standardized acquisitions and diagnoses using robots and AI would potentially increase the general usability and reliability of medical ultrasound. Working towards this prospect, this letter presents the recent developments of a standardized acquisition workflow using a novel dual-probe ultrasound robot, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). The workflow includes an abdominal surface mapping step to obtain a non-parametric spline surface, a rule-based end-point calculation method to position each individual joint, and a motor synchronization method to achieve a smooth motion towards a target point. The design and implementation of the robot are first presented in this letter and the proposed workflow is then explained in detail with simulation and volunteer experiments performed and analyzed. The closed-form analytical solution to the specific motion planning problem has demonstrated a reliable performance controlling the robot to move towards the expected scanning areas and the calculated proximity of the robot to the surface shows that the robot maintains a safe distance while moving around the abdomen. The volunteer study has successfully demonstrated the reliable working and controllability of the robot in terms of acquiring desired ultrasound views. Our future work will focus on improving the motion planning, and on integrating the proposed standardized acquisition workflow with newly-developed ultrasound image processing methods to obtain diagnostic results in an accurate and consistent way.

关键词： Medical robots and systems motion and path planning software-hardware integration for robot systems

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The robotarium: A Remotely-Accessible, Multi-robot Testbed for Control Research and Education

IEEE OPEN JOURNAL OF CONTROL SYSTEMS

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IEEE OPEN JOURNAL OF CONTROL systems 2023年 2卷 12-23页

作者： Wilson, Sean Egerstedt, Magnus Georgia Inst Technol Georgia Tech Res Inst Aerosp Transportat & Adv Syst Lab Atlanta GA 30332 USA Univ Calif Irvine Dept Elect Engn & ComputerScience Irvine CA USA

In robotic research and education, the cost in terms of money, expertise, and time required to instantiate and maintain robotic testbeds can prevent researchers and educators from including hardware based experimentation in their laboratories and classrooms. This results in robotic algorithms often being validated by low-fidelity simulation due to the complexity and computational demand required by high-fidelity simulators. Unfortunately, these simulation environments often neglect real world complexities, such as wheel slip, actuator dynamics, computation time, communication delays, and sensor noise. The robotarium provides a solution to these problems by providing a state-of-the-art, multi-robot research facility to everyone around the world free of charge for academic and educational purposes. This paper discusses the remote usage of the testbed since its opening in 2017, details the testbeds design, and provides a brief tutorial on how to use it.

关键词： Agent-based systems engineering for robotic systems methods and tools for robot system design multi-robot systems software-hardware integration for robot systems swarm robotics wheeled robots Agent-based systems engineering for robotic systems methods and tools for robot system design multi-robot systems software-hardware integration for robot systems swarm robotics wheeled robots

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Multi-talker Verbal Interaction for Humanoid robots 28

Multi-talker Verbal Interaction for Humanoid Robots

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28th International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Klin, Bartlomiej Beniak, Ryszard Podpora, Michal Gardecki, Arkadiusz Rut, Joanna Opole Univ Technol Fac Elect Engn Automat Control & Informat Opole Poland Opole Univ Technol Dept Comp Sci Opole Poland Opole Univ Technol Fac Prod Engn & Logist Opole Poland

ISBN: (纸本)9798350362350;9798350362343

Working in multi-talker mode is viable under certain conditions, such as the fusion of audio and video stimuli along with smart adaptive beamforming of received audio signals. In this article, the authors verify part of the researched novel framework, which focuses on adapting to dynamic interlocutor's location changes in the engagement zone of humanoid robots during the multi-talker conversation. After evaluating the framework, the authors confirm the necessity of a complementary and independent method of increasing the interlocutor's signal isolation accuracy. It is necessary when video analysis performance plummets. The authors described the leading cause as insufficient performance during dynamic conversations. The video analysis cannot derive a new configuration when the interlocutor's speech apparatus moves beyond the expected margin and the video frame rate drops.

关键词： Smart beamforming Human-Computer Interaction software-hardware integration for robot systems Long-term Interaction Multi-Modal Perception for HRI Natural Dialog for HRI Design and Human Factors

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Understanding Xacro Misunderstandings 39

Understanding Xacro Misunderstandings

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IEEE International Conference on robotics and Automation (ICRA)

作者： Albergo, Nicholas Rathi, Vivek Ore, John-Paul North Carolina State Univ Dept Comp Sci Raleigh NC 27695 USA North Carolina State Univ Elect & Comp Engn Dept Raleigh NC 27695 USA

ISBN: (纸本)9781728196817

The Xacro XML macro language can be used to augment the Universal robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. However, members of the robotics community, especially newcomers, struggle to troubleshoot and understand the interplay between systems and the Xacro preprocessing pipeline. To better understand how system developers struggle with Xacros, we manually examine 712 Xacro-related questions from the question and answer site *** and find Xacro misunderstandings fit into eight key categories using a systematic, qualitative approach called Open Coding. By examining the 'tags' applied to questions, we further find that Xacro problems manifest in a befuddlingly broad set of contexts. This hinders onboarding and complicates system developers' understanding of representations and tools in the robot Operating System. We aim to provide an empirical grounding that identifies and prioritizes impediments to users of open robotics systems, so that tool designers, teachers, and robotics practitioners can devise ways of improving robot software tooling and education.

关键词： software Tools for robot Programming Methods and Tools for robot System Design software-hardware integration for robot systems

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