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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Kevin Braathen de Carvalho Iure Rosa L. de Oliveira Alexandre S. Brandão Department of Electrical Engineering Graduate Program in Computer Science Nucleus of Specialization in Robotics Universidade Federal de Viçosa Viçosa MG Brazil Department of Electrical Engineering Federal University of Viçosa Viçosa MG Brazil

Unmanned Aerial Vehicles (UAVs) are widely used in various applications, from inspection and surveillance to transportation and delivery. Navigating UAVs in complex 3D environments is a challenging task that requires robust and efficient decision-making algorithms. This paper presents a novel approach to UAV navigation in 3D environments using a Curriculum-based Deep Reinforcement Learning (DRL) approach. The proposed method utilizes a deep neural network to model the UAV’s decision-making process and to learn a mapping from the state space to the action space. The learning process is guided by a reinforcement signal that reflects the performance of the UAV in terms of reaching its target while avoiding obstacles and with energy efficiency. Simulation results show that the proposed method has a positive trade off when compared to the baseline algorithm. The proposed method was able to perform well in environments with a state space size of 22 millions, allowing the usage in big environments or in maps with high resolution. The results demonstrate the potential of DRL for enabling UAVs to operate effectively in complex environments.

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DeepCat: A Deep Learning Approach to Understand Your Cat's Body Language

DeepCat: A Deep Learning Approach to Understand Your Cat's B...

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Electronics, Communications, and Computations (JAC-ECC), International Japan-Africa Conference on

作者： Arwa Fawzy Ahmed Hassan Ahmed Gad Ahmed B. Zaky Haitham El-Hussieny Computer Science and Information Technology (CSIT) program Egypt-Japan University of Science and Technology Alexandria Egypt Department of Computer Science Engineering (CSE) Egypt-Japan University of Science and Technology Alexandria Egypt Electrical Engineering Department Faculty of Engineering at Shoubra Benha University Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt

Pet owners experience difficulty in understanding their pets' body language and its implications for animal welfare, given that animals cannot utilize human speech to communicate their emotions and health conditions. However, previous experiments for analyzing cat behavior have demonstrated that cats are precisely expressive. DeepCat, a deep-learning approach developed in this study, translates cats' body language signals, enabling owners to discern their feline companions' intended messages and emotional states. Our DeepCat model was trained on a dataset comprising 10,000 cat images, implementing automatic labeling to track key features, including the tail, eyes, and mouth. Presented as a Flutter application, DeepCat can function everywhere, allowing owners to easily monitor their cats and make informed decisions in situations that require caution. This paper discusses the potential benefits and limitations of DeepCat and provides suggestions for future research in this domain.

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Development of Mobile Robot Education Kit Prototype for Elementary School Students

Development of Mobile Robot Education Kit Prototype for Elem...

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2021 International Conference on computer System, Information Technology, and Electrical engineering, COSITE 2021

作者： Priandana, Karlisa Margaretha, Friska Sinaga, Doli Aryo Dani Kusumoputro, Benyamin Bogor Agricultural University Computer Science Department Bogor Indonesia Bogor Agricultural University Vocational School of Computer Engineering Program Bogor Indonesia Research Development Interactive Robotics Bogor Indonesia Universitas Indonesia Dept of Electrical Engineering Depok Indonesia

ISBN: (纸本)9781665425094

Electronic technologies are growing very rapidly, especially those related to automation and robotics. robotics technology is currently being developed and implemented in various fields including military, search and rescue, education, transportation, sports, and many other fields. Various researches on robotics technology continue to be carried out by various universities in the world including in Indonesia. To increase the interest of the young generation in the field of robotics, an attractive educational kit especially for elementary school level is necessary. This work aims to develop a robotics education kit in the form of a unique and interesting mobile robot as a learning media for elementary school students. The robot was developed using an Arduino microcontroller and can be operated by elementary school students using an easy and user-friendly blocks programming. The testing shows that the developed robotics education kit has been able to function properly, in accordance with the design and the specified requirements. © 2021 IEEE.

关键词： Mobile robots

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A Portable Multiscopic Camera for Novel View and Time Synthesis in Dynamic Scenes

arXiv

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arXiv 2022年

作者： Zhang, Tianjia Lau, Yuen-Fui Chen, Qifeng The Hong Kong University of Science and Technology Hong Kong The Individualized Interdisciplinary Program The Robotics Institute Hong Kong The Department of Mathematics Hong Kong The Department of Computer Science and Engineering The Department of Electronic and Computer Engineering Hong Kong

We present a portable multiscopic camera system with a dedicated model for novel view and time synthesis in dynamic scenes. Our goal is to render high-quality images for a dynamic scene from any viewpoint at any time using our portable multiscopic camera. To achieve such novel view and time synthesis, we develop a physical multiscopic camera equipped with five cameras to train a neural radiance field (NeRF) in both time and spatial domains for dynamic scenes. Our model maps a 6D coordinate (3D spatial position, 1D temporal coordinate, and 2D viewing direction) to view-dependent and time-varying emitted radiance and volume density. Volume rendering is applied to render a photo-realistic image at a specified camera pose and time. To improve the robustness of our physical camera, we propose a camera parameter optimization module and a temporal frame interpolation module to promote information propagation across time. We conduct experiments on both real-world and synthetic datasets to evaluate our system, and the results show that our approach outperforms alternative solutions qualitatively and quantitatively. Our code and dataset are available at https://***/. Copyright © 2022, The Authors. All rights reserved.

关键词： Cameras

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MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking

arXiv

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arXiv 2024年

作者： Zhang, Yuelin Ding, Qingpeng Lei, Long Shan, Jiwei Xie, Wenxuan Zhang, Tianyi Yan, Wanquan Tang, Raymond Shing-Yan Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Medical Physics Graduate Program Duke Kunshan University Jiangsu Kunshan China Department of Medicine and Therapeutics Institute of Digestive Disease The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center Institute of Medical Intelligence and XR The Chinese University of Hong Kong Hong Kong

Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US image presents challenges due to noise, artifacts, and the thin imaging plane of US, which degrades needle features and leads to intermittent tip visibility. In this paper, a Mamba-based US needle tracker MambaXCTrack utilizing structured state space models crosscorrelation (SSMX-Corr) and implicit motion prompt is proposed, which is the first application of Mamba in US needle tracking. The SSMX-Corr enhances cross-correlation by longrange modeling and global searching of distant semantic features between template and search maps, benefiting the tracking under noise and artifacts by implicitly learning potential distant semantic cues. By combining with cross-map interleaved scan (CIS), local pixel-wise interaction with positional inductive bias can also be introduced to SSMX-Corr. The implicit lowlevel motion descriptor is proposed as a non-visual prompt to enhance tracking robustness, addressing the intermittent tip visibility problem. Extensive experiments on a dataset with motorized needle insertion in both phantom and tissue samples demonstrate that the proposed tracker outperforms other stateof- the-art trackers while ablation studies further highlight the effectiveness of each proposed tracking module. © 2024, CC BY.

关键词： Needles

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Decentralized Leader-Follower Visual Cooperative Package Transportation using Unmanned Aerial Manipulators

Decentralized Leader-Follower Visual Cooperative Package Tra...

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European Control Conference (ECC)

作者： Dimitris Chaikalis Nikolaos Evangeliou Anthony Tzes Farshad Khorrami Electrical & Computer Engineering Department New York University Brooklyn USA Electrical Engineering Program New York University Abu Dhabi United Arab Emirates Center for Artificial Intelligence and Robotics New York University Abu Dhabi United Arab Emirates

This paper is concerned with the problem of cooperative transportation of payloads by teams of unmanned aerial multirotor vehicles equipped with dexterous robotic arms. In order to increase the autonomy of such systems, a leader-follower setting is implemented. The leader UAV dictates the motion and all other follower UAVs attempt to maintain their desired relative pose with respect to the leader. A fiducial marker structure is attached to the leader, which allows all followers to continuously visually track the leader. Each robotic arm is equipped with force-torque sensors at its end-effector for improving the UAVs’ flight stability. Specialized controllers are designed for the aerial manipulator systems, in order to ensure a compliant behavior against forces transmitted through the payload. Simulations are provided using the Gazebo environment in order to validate the proposed control methods.

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Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features

Distributed 3D-Map Matching and Merging on Resource-Limited ...

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European Conference on Mobile Robots (ECMR)

作者： Halil Utku Unlu Anthony Tzes Prashanth Krishnamurthy Farshad Khorrami Electrical & Computer Engineering Department New York University Brooklyn NY USA Electrical Engineering Program New York University Abu Dhabi Abu Dhabi UAE Center for Artificial Intelligence and Robotics New York University Abu Dhabi Abu Dhabi UAE

A fast, robust, resource-efficient, and distributed 3D map matching and merging algorithm utilizing extracted tomographic features is studied. Instead of depending on 3D features and descriptors, 2D features are extracted from 2D projections of horizontal sections of gravity-aligned local maps and matched with slices from the other map at different height differences, enabling the estimation of four degrees of freedom. The proposed algorithm is observed to provide order-of-magnitude improvements in memory and time efficiency over state-of-the-art feature extraction and registration pipelines, rendering it useful for near real-time map merging tasks in resource-limited platforms (e.g. UAVs).

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UAV- Navigation Using Map Slicing and Safe Path Computation

UAV- Navigation Using Map Slicing and Safe Path Computation

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International Conference on Autonomous Robots and Agents, ICARA

作者： Halil Utku Unlu Dimitris Chaikalis Athanasios Tsoukalas Anthony Tzes Electrical & Computer Engineering Department New York University Brooklyn NY USA Electrical Engineering Program New York University Abu Dhabi Abu Dhabi UAE Center for Artificial Intelligence and Robotics New York University Abu Dhabi Abu Dhabi UAE

This paper is concerned with the safe path planning of a drone while exploring an unknown space. The drone is localized by fusing measurements from sensors including an IMU, RGB-D sensor, and an optical flow system, while executing an RTAB-Map SLAM algorithm. The 3D-occupancy Octomap is generated online and a slicing algorithm is employed to compute 2D-maps. The maps' traversible coordinates are identified and used as potential points for the drone intermediate navigation to the destination. The final segment corresponds to a shortest Chebyshev-length path between all frontier pixels and the endpoint over the unexplored map region. The drone's path is computed using a skeletal path between the identified map boundaries so that the drone moves from its current location through the free map coordinates to the destination point. Simulation studies using within the interior of an apartment indicate the efficiency and effectiveness of the proposed method.

关键词： Simultaneous localization and mapping Target tracking Navigation Robot kinematics Chebyshev approximation Sensor systems Space exploration

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Multi-Exposure Image Fusion Using Edge-Aware Network

Multi-Exposure Image Fusion Using Edge-Aware Network

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International Conference on Emerging Technologies, ICET

作者： Ghazala Aslam Muhammad Imran Bushra Haq Anayat Ullah Ersin Elbasi Department of Computer Science BUITEMS Quetta Pakistan Department of Electrical Engineering FICT BUITEMS Quetta Pakistan Control Automotive and Robotics Lab NCRA Rawalpindi Pakistan Department of Computer Science FICT BUITEMS Quetta Pakistan Department of Electronic Engineering FICT BUITEMS Quetta Pakistan College of Engineering & Technology American University of Middle East Egaila Kuwait

ISBN: (纸本)9781665459938

The natural dynamic range is much broader than the dynamic range a digital camera can capture. As a result, the images captured by ordinary cameras suffer from visibility issues; some images look overly bright, while others look overly dark. Therefore, in the research article, we propose a solution for image fusion, where multiple images can be combined to produce a single comprehensive image with better perceptibly. To achieve that, we designed a feature extraction block, which can extract features of an image at different levels and combines them to get more refined and detailed feature maps. In addition to that, we also designed a custom layer to extract edges, and those edges later are combined with the feature maps to give a fused image. We evaluated and compared our proposed architecture with some of the latest architecture, designed for the same reason, in terms of Image Structure Similarity and Human Perception-Based metrics. Experimental results corroborate that the proposed scheme outperforms the contemporary techniques for image fusion.

关键词： Image edge detection Lighting Deep architecture Dynamic range Feature extraction Digital cameras Image fusion

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Pothole detection system design with proximity sensor to provide motorcycle with warning system and increase road safety driving 3

Pothole detection system design with proximity sensor to pro...

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3rd International Conference on Eco engineering Development, ICEED 2019

作者： Muhammad Hanif, Hadistian Lie, Zener Sukra Astuti, Winda Tan, Sofyan Automotive and Robotic Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia

Technology in transportation becomes important nowadays and must be developed overtime. In the era of development, there are so many roads extensions to balance the significant additions of motorized vehicles. The increasing number of vehicles caused problems such as damaged roads and lack of maintenance to the road itself. Lack of awareness to repair the damaged roads, especially potholes, make it more dangerous for riders to drive safely. This issues are more concerning right now because the increasing number of accident and mortality. To prevent accident to happen, the pothole detection sensor can be used to on car system. The development of pothole detection sensor in this research is adopted from the proximity sensor system where in that system they use camera and digital imaging process. The advantages from our system that we research and develop are more user friendly from the feasibility and the financial aspect. Low cost sensor with the same quality of the existing system is devlop in this work. Despite the use of low cost sensor, the maintenance also on the lower cost and easier to do. As the result of this research and study, an error was obtained between the distance that detected the pothole should be in less than 4% distance range from the sensor. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Accidents

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