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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

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arXiv 2024年

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G.W.K.N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Ángel Trujillo Heredia, Guillermo CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

关键词： Unmanned aerial vehicles (UAV)

Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

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arXiv 2024年

作者： Mellet, Julien Berra, Andrea Seisa, Achilleas Santi Sankaranarayanan, Viswa Gamage, Udayanga G.W.K.N. Soto, Miguel Ángel Trujillo Heredia, Guillermo Nikolakopoulos, George Lippiello, Vincenzo Ruggiero, Fabio PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors’ integrity. Notably, the arm’s damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction. © 2024, CC BY.

关键词： End effectors

3DEG: Data-Driven Descriptor Extraction for Global re-localization in subterranean environments

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arXiv 2022年

作者： Stathoulopoulos, Nikolaos Koval, Anton Nikolakopoulos, George The Robotics and AI Group Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå971 87 Sweden

Localization algorithms that rely on 3D LiDAR scanners often encounter temporary failures due to various factors, such as sensor faults, dust particles, or drifting. These failures can result in a misalignment between the robot’s estimated pose and its actual position in the global map. To address this issue, the process of global re-localization becomes essential, as it involves accurately estimating the robot’s current pose within the given map. In this article, we propose a novel global re-localization framework that addresses the limitations of current algorithms heavily reliant on scan matching and direct point cloud feature extraction. Unlike most methods, our framework eliminates the need for an initial guess and provides multiple top-k candidates for selection, enhancing robustness and flexibility. Furthermore, we introduce an event-based re-localization trigger module, enabling autonomous robotic missions. Focusing on subterranean environments with low features, we leverage range image descriptors derived from 3D LiDAR scans to preserve depth information. Our approach enhances a state-of-the-art data-driven descriptor extraction framework for place recognition and orientation regression by incorporating a junction detection module that utilizes the descriptors for classification purposes. The effectiveness of the proposed approach was evaluated across three distinct real-life subterranean environments. Copyright © 2022, The Authors. All rights reserved.

关键词： Extraction

The Future of Multimedia: Micro Facial Recognition in Advanced Systems 9

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The Future of Multimedia: Micro Facial Recognition in Advanc...

9th IEEE International Conference for Convergence in Technology, I2CT 2024

作者： Preethi, Thakkalapally Choudalla, Saila Ram Govathoti, Sudeepthi Rajasri, K. Mohsen, Karrar Shareef Prakash, Dudi Bhanu Sai Kumar, K. And Ai&ds India Andhra Pradesh Surampalem India Gitam Deemed-to-be-University Dept of Cse Gitam School of Technology Telangana Hyderabad India Mlr Institute of Technology Department of Electrical And Electronics Engineering Telangana Hyderabad India Al-Ayen University Information And Communication Technology Research Group Scientific Research Center Thi-Qar Iraq Cvr College of Engineering Department of Ece Hyderabad India Koneru Lakshmaiah Education Foundation Computer Science Green Fields Andhra Pradesh Vaddeswaram522302 India

ISBN: (纸本)9798350394474

Paper attendance systems are still widely used at many universities, consuming significant amounts of valuable classroom time. Furthermore, the system is likely to fail due to the possibility of human mistake and the rising chance of records being misplaced or lost altogether. The authors overcame this issue by automatically posting attendance information using a facial recognition software. This strategy also helps the school take a look at the student's financial situation. Attendance records and a list of slackers might be generated by the system. They can notify students and guardians via email of attendance and financial obligations. Using KNN deep learning methodology, photos taken by a CC camera or cell phone mounted at the door are used to identify students as they enter the classroom. This study incorporates ResNet and KNN-based Deep-learning technologies to extract useful information from low-quality photos. They might also use a video taken using a cell phone to keep track of attendance. The suggested method improves upon the state-of-the-art to the extent that it achieves an accuracy of 97.34 percent, sensitivity of 98.34 percent, recall of 97.23 percent, and an F1 score of 98.23 percent. © 2024 IEEE.

关键词： Face recognition

Lightweight Authenticated Task Offloading in 6G-Cloud Vehicular Twin Networks

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arXiv 2025年

作者： Al-Shareeda, Sarah Ozguner, Fusun Redmill, Keith Duong, Trung Q. Canberk, Berk Electrical and Computer Engineering Department The Ohio State University United States BTS Group Turkey Department of AI and Data Engineering Istanbul Technical University Turkey School of Electronics Electrical Engineering and Computer Science Queen’s University Belfast United Kingdom Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John’sNL Canada School of Computing Engineering and The Built Environment Edinburgh Napier University United Kingdom

Task offloading management in 6G vehicular networks is crucial for maintaining network efficiency, particularly as vehicles generate substantial data. Integrating secure communication through authentication introduces additional computational and communication overhead, significantly impacting offloading efficiency and latency. This paper presents a unified framework incorporating lightweight Identity-Based Cryptographic (IBC) authentication into task offloading within cloud-based 6G Vehicular Twin Networks (VTNs). Utilizing Proximal Policy Optimization (PPO) in Deep Reinforcement Learning (DRL), our approach optimizes authenticated offloading decisions to minimize latency and enhance resource allocation. Performance evaluation under varying network sizes, task sizes, and data rates reveals that IBC authentication can reduce offloading efficiency by up to 50% due to the added overhead. Besides, increasing network size and task size can further reduce offloading efficiency by up to 91.7%. As a countermeasure, increasing the transmission data rate can improve the offloading performance by as much as 63%, even in the presence of authentication overhead. The code for the simulations and experiments detailed in this paper is available on GitHub for further reference and reproducibility [1]. © 2025, CC BY.

关键词： Deep reinforcement learning

Lightweight Authenticated Task Offloading in 6G-Cloud Vehicular Twin Networks

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Lightweight Authenticated Task Offloading in 6G-Cloud Vehicu...

2025 IEEE Wireless Communications and Networking Conference, WCNC 2025

作者： Al-Shareeda, Sarah Ozguner, Fusun Redmill, Keith Duong, Trung Q. Canberk, Berk The Ohio State University Electrical and Computer Engineering Department United States Bts Group Turkey Istanbul Technical University Department of Ai and Data Engineering Turkey School of Electronics Electrical Engineering and Computer Science Queen's University Belfast United Kingdom Memorial University of Newfoundland Faculty of Engineering and Applied Science St. John'sNL Canada School of Computing Engineering and The Built Environment Edinburgh Napier University United Kingdom

ISBN: (纸本)9798350368369

Task offloading management in 6G vehicular net-works is crucial for maintaining network efficiency, particularly as vehicles generate substantial data. Integrating secure communication through authentication introduces additional computational and communication overhead, significantly impacting offloading efficiency and latency. This paper presents a unified framework incorporating lightweight Identity-Based Cryptographic (IBC) authentication into task offloading within cloud-based 6G Vehicular Twin Networks (VTNs). Utilizing Proximal Policy Optimization (PPO) in Deep Reinforcement Learning (DRL), our approach optimizes authenticated offloading decisions to minimize latency and enhance resource allocation. Performance evaluation under varying network sizes, task sizes, and data rates reveals that IBC authentication can reduce offloading efficiency by up to 50% due to the added overhead. Besides, increasing network size and task size can further reduce offloading efficiency by up to 91.7%. As a countermeasure, increasing the transmission data rate can improve the offloading performance by as much as 63%, even in the presence of authentication overhead. The code for the simulations and experiments detailed in this paper is available on GitHub for further reference and reproducibility [1]. © 2025 IEEE.

关键词： Authentication Deep Reinforcement Learning Identity-Based Cryptography Proximal Policy Optimization Task Offloading Vehicular Twin Networks

Enhanced Detection of Demagnetization in Direct-Drive Wind Turbine Generators Using eMIST and Machine Learning

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Enhanced Detection of Demagnetization in Direct-Drive Wind T...

IEEE Workshop on electrical Machines Design, Control and Diagnosis (WEMDCD)

作者： Qiuyi Chen Panagiotis Tsilifis Jaime Renedo Anglada Department of Mechanical Engineering University of Maryland College Park MD USA Robotics AI & Computer Vision Group GE Vernova Advanced Research Niskayuna NY USA Electrical Systems GE Vernova Advanced Research Niskayuna NY USA

ISBN: (数字)9798331520748

ISBN: (纸本)9798331520755

The rapid growth of offshore wind energy needs robust condition monitoring to ensure the reliability and efficiency of direct-drive permanent magnet synchronous generators (PMSGs). Demagnetization, a critical fault in these generators, can severely impact performance and increase operational costs, especially in harsh marine environments. Traditional diagnostic techniques often struggle to detect subtle magnetic property changes under varying load conditions. This paper presents an innovative framework for demagnetization detection in PMSGs, leveraging the electrical Multi-phase Imbalance Separation Technique (eMIST) combined with machine learning models. Using a dataset from offshore wind turbines, including simulated faulty conditions, the proposed methodology enhances anomaly detection by isolating imbalance signatures and correlating them with key operational parameters. Gaussian Process Regression (GPR) is employed to predict anomalies, offering high accuracy and confidence in fault classification. Results demonstrate the approach's ability to identify early-stage demagnetization, enabling predictive maintenance, reducing downtime, and improving the economic viability of offshore wind farms.

关键词： Costs Accuracy Wind energy Machine learning Gaussian processes Wind farms Generators Wind turbines Demagnetization Anomaly detection

Lightweight Authenticated Task Offloading in 6G-Cloud Vehicular Twin Networks

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Lightweight Authenticated Task Offloading in 6G-Cloud Vehicu...

IEEE Conference on Wireless Communications and Networking

作者： Sarah Al–Shareeda Fusun Ozguner Keith Redmill Trung Q. Duong Berk Canberk Electrical and Computer Engineering Department Center for Automotive Research (CAR) The Ohio State University USA BTS Group Turkey Department of AI and Data Engineering Istanbul Technical University Turkey School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John's NL Canada School of Computing Engineering and The Built Environment Edinburgh Napier University UK

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

Task offloading management in 6G vehicular net-works is crucial for maintaining network efficiency, particularly as vehicles generate substantial data. Integrating secure communication through authentication introduces additional computational and communication overhead, significantly impacting offloading efficiency and latency. This paper presents a unified framework incorporating lightweight Identity-Based Cryptographic (IBC) authentication into task offloading within cloud-based 6G Vehicular Twin Networks (VTNs). Utilizing Proximal Policy Optimization (PPO) in Deep Reinforcement Learning (DRL), our approach optimizes authenticated offloading decisions to minimize latency and enhance resource allocation. Performance evaluation under varying network sizes, task sizes, and data rates reveals that IBC authentication can reduce offloading efficiency by up to 50 % due to the added overhead. Besides, increasing network size and task size can further reduce offloading efficiency by up to 91.7%. As a countermeasure, increasing the transmission data rate can improve the offloading performance by as much as 63%, even in the presence of authentication overhead. The code for the simulations and experiments detailed in this paper is available on GitHub for further reference and reproducibility [1].

关键词： 6G mobile communication Performance evaluation Identity-based encryption Authentication Deep reinforcement learning Reproducibility of results Resource management Cryptography Optimization Software development management

End-to-end imaging system optimization for computer vision in driving automation

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End-to-end imaging system optimization for computer vision i...

2021 3D Imaging and Applications, 3DIA 2021

作者： Weikl, Korbinian Schroeder, Damien Blau, Daniel Liu, Zhenyi Stechele, Walter Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Automated Driving BMW Group Munich Germany State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China

Full driving automation imposes to date unmet performance requirements on camera and computer vision systems, in order to replace the visual system of a human driver in any conditions. So far, the individual components of an automotive camera have mostly been optimized independently, or without taking into account the effect on the computer vision applications. We propose an end-to-end optimization of the imaging system in software, from generation of radiometric input data over physically based camera component models to the output of a computer vision system. Specifically, we present an optimization framework which extends the ISETCam and ISET3d toolboxes to create synthetic spectral data of high dynamic range, and which models a state-of-the-art automotive camera in more detail. It includes a state-of-the-art object detection system as benchmark application. We highlight in which way the framework approximates the physical image formation process. As a result, we provide guidelines for optimization experiments involving modification of the model parameters, and show how these apply to a first experiment on high dynamic range imaging. © This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this license, visit http://***/licenses/by/4.0/.

关键词： Cameras