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IEEE Annual Computing and Communication Workshop and Conference (CCWC)

作者： Alex Fraley Ethan Nowery McCarthy Devine Adam Jacoff Paul Y. Oh Robotics Research Engineer for the Emergency Response Robots (Ground Aerial Aquatic) Project in the Intelligent Systems Division of the Engineering Laboratory National Institute of Standards and Technology (NIST) Gaithersburg MD USA Department of Mechanical Engineering University of Nevada Las Vegas (UNLV) Las Vegas NV USA Department of Aerospace Engineering University of Colorado Boulder (CU Boulder) Boulder CO USA Project Leader for Emergency Response Robots (Ground Aerial Aquatic) in the Intelligent Systems Division of the Engineering Laboratory National Institute of Standards and Technology (NIST) Gaithersburg MD USA Faculty of Mechanical Engineering University of Nevada Las Vegas

ISBN: (数字)9798331507695

ISBN: (纸本)9798331507701

The National Institute of Standards and Technology (NIST) has developed standard test methods to evaluate the capabilities of aerial drones, ground robots, and aquatic vehicles, as well as the proficiency of their operators. The aerial drone tests measure key capabilities such as maneuverability, visual acuity, and thermal acuity. With a rising demand for aerial drones among first responders, these tests are essential for assessing system performance, mitigating risk, and improving operational effectiveness to ensure the safety of responders and the public. Given the increasing prominence of wildfire threats and the widespread destruction they cause, aerial drones are being adapted to help detect, inspect, and contain them. This paper outlines how NIST-developed aerial drone tests can be adapted to simulate wildfire threats and provide a framework of reproducible tests that measure the system capabilities of aerial drones and the proficiency of operators in mitigating these threats.

关键词： Heating systems Visualization Wildfires System performance NIST Inspection Writing Object recognition Underwater vehicles Drones

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Training Seated Postural Coordination in a Virtual Reality Reaching Game by Active Pelvic Guidance from a Robotic Exoskeleton

Training Seated Postural Coordination in a Virtual Reality R...

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IEEE/RAS-EMBS International Conference on biomedical robotics and biomechatronics (bioRob)

作者： Chawin Ophaswongse Patrick M. Puma Ian Daley Victor Santamaria Sunil K. Agrawal Department of Mechanical Engineering Robotics And Rehabilitation Laboratory (ROAR Lab) Columbia University New York NY USA Department of Rehabilitation Sciences Division of Physical Therapy School of Health Sciences & Practice New York Medical College Valhalla NY USA Department of Rehabilitation and Regenerative Medicine Columbia University Medical Center New York NY USA

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Individuals with neurological impairments and deficits in trunk control have difficulty maintaining and controlling upright postures during static or dynamic sitting. Passive devices may support the trunk in a wheelchair at the expense of the user's mobility, but opportunities for postural rehabilitation training may be compromised as a result. This paper presents novel seated postural training using a pelvic Wheelchair Robot for Active Postural Supports (pWRAPS) to improve upper body coordination. These tasks are performed within the pelvic range of motion (ROM) in a Virtual Reality (VR) environment. We investigated the effects of active pelvic guidance on upper body coordination during reaching tasks in different directions. Sixteen able-bodied young adult volunteers were assigned to two groups (eight per group). The first group completed the VR task in transparent mode, i.e., without pWRAPS actively guiding the pelvis. The second group completed the same task while their pelvis was actively guided by pWRAPS. The results support our hypothesis that the group with active pelvic guidance is able to adjust their pelvic trajectory closer to the assigned target than the control group without active pWRAPS. Moreover, after training, the group with active pelvic guidance exhibits better hand-tracking and pelvic accuracy than the control group. This indicates that the actively guided subjects simultaneously adjust their upper body and pelvis movements towards their targeted trajectories. This new training approach can potentially be adapted to postural rehabilitation for wheelchair users with limited trunk control.

关键词： Training Robot kinematics Wheelchairs Exoskeletons Virtual reality Trajectory Pelvis Mobile robots Motion control Read only memory

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Multidirectional 3D printed functionally graded modular joint actuated by TCPFL muscles for soft robots

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bio-Design and Manufacturing 2019年第4期2卷 256-268页

作者： Armita Hamidi Yara Almubarak Yonas Tadesse Humanoid Bio-robotics and Smart Systems(HBS)LaboratoryMechanical Engineering DepartmentThe University of Texas at DallasRichardsonTX 75080USA

Highly deformable bodies are essential for numerous types of applications in all sorts of environments. Joint-like structures comprising a ball and socket joint have many degrees of freedom that allow mobility of many biomimetic structures. Recently, soft robots are favored over rigid structures for their highly compliant material, high-deformation properties at low forces, and ability to operate in di fficult environments. However, it is still challenging to fabricate complex designs that satisfy application constraints due to the combined e ffects of material properties, actuation method, and structural geometry on the performance of the soft robot. Therefore, a combination of a rigid joint and a soft body can help achieve modular robots with fully functional body morphology. Yet, the fabrication of soft parts requires extensive molding for complex shapes, which comprises several processes and can be time-consuming. In addition, molded connections between extremely soft materials and hard materials can be critical failing points. In this paper, we present a functionally graded 3D-printed joint-like structure actuated by novel contractile actuators. Functionally graded materials (FGMs) via 3D printing allow for extensive material property enhancement and control which warrant tunable functionalities of the system. The 3D-printed structure is made of 3 rigid ball and socket joints connected in series and actuated by integrating twisted and coiled polymer fishing line ( TCPFL) actuators, which are con fined in the FGM accordion-shaped channels. The implementation of the untethered T CPFL actuation system can be highly bene ficial for deployment in environments that require low vibrations and silent actuation. The fishing line TCP actuators produce an actuation strain up to 40% and bend the joint up to 40° in any direction. The T CPFL can be actuated individually or as a group to control the bending trajectory of the modular joint, which is bene ficial when deployed i

关键词： Functionally graded 3D-printed Joint Multidirectional Fishing line TCP

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Bots of a Feather: Exploring User Perceptions of Group Cohesiveness for Application in Robotic Swarms

Bots of a Feather: Exploring User Perceptions of Group Cohes...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Rebecca Stower Elisabetta Zibetti David St-Onge Division of Robotics Perception and Learning KTH Stockholm Sweden Department of Psychology CHArt-LUTIN Laboratory Paris 8 University Paris France Department of Mechanical Engineering Ecole de Technologie Supérieure Montreal Canada

ISBN: (数字)9781728188591

ISBN: (纸本)9781665406802

Behaviours of robot swarms often take inspiration from biological models, such as ant colonies and bee hives. Yet, understanding how these behaviours are actually perceived by human users has so far received limited attention. In this paper, we use animations to represent different kinds of possible swarm motions intended to communicate specific messages to a human. We explore how these animations relate to the perceived group cohesiveness of the swarm, comprised of five different parameters: synchronising, grouping, following, reacting, and shape forming. We conducted an online user study where 98 participants viewed nine animations of a swarm displaying different behaviours and rated them for perceived group cohesiveness. We found that the parameters of group cohesiveness correlated with the messages the swarm was perceived as communicating. In particular, the message of initiating communication was highly positively correlated with all group parameters, whereas broken communication was negatively correlated. In addition, the importance of specific group parameters differed within each animation. For example, the parameter of grouping was most associated with animations signalling an intervention is needed. These findings are discussed within the context of designing intuitive behaviour for robot swarms.

关键词： Feathers Correlation Shape biological system modeling Animation Chatbots Robots

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Sporify: An Automated Tool to Quantify Spores in Z-Stacked 3D Samples 12th

Sporify: An Automated Tool to Quantify Spores in Z-Stacked 3...

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Proceedings of the 12th International Conference on biomimetic and biohybrid Systems, Living Machines 2023

作者： Sten, Oscar Del Dottore, Emanuela Raffaele, Giulia Ronzan, Marilena Pugno, Nicola M. Mazzolai, Barbara Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Laboratory for Bioinspired Bionic Nano Meta Materials and Mechanics Department of Civil Environmental and Mechanical Engineering University of Trento Via Mesiano 77 Trento38122 Italy Department of Science and Technology for Human and Environment Università Campus Bio-Medico di Roma Via Álvaro del Portillo 21 Roma00128 Italy Department of Biology Università degli Studi di Napoli Federico II Via Vicinale Cupa Cintia 21 Napoli80126 Italy School of Engineering and Materials Science Queen Mary University of London Mile End Road LondonE1 4NS United Kingdom

ISBN: (纸本)9783031395031

In recent years, fungi have attracted avid interest from the research community. This interest stems from several motives, including their network creation capabilities and fundamental role in the ecosystem. Controlled laboratory experiments of fungal behaviors are crucial to further understanding their role and functionalities. In this paper, we propose a method for automating the quantification and observation of fungal spores. Our approach consists of four steps: 1) a Z-stack image acquisition of the sample is performed, 2) a detection algorithm is applied to all Z-planes, 3) clustering of spores detected in different Z-planes, 4) determination of the optimal Z-plane for each cluster through an ad-hoc focus measure. We compared the spore count obtained through the automated tool to a manual count and the count obtained by applying the detection algorithm to a single plane. The result is a highly automated, non-invasive tool to determine spore count, estimate each spore depth, and retrieve an all-in-focus image to analyze further. © 2023, The Author(s).

关键词： Fungi

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Explainable boiling acoustics analysis using Grad-CAM and YAMNet for robust pool boiling regime classification

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Applied Thermal engineering 2025年

作者： B. Suriyaprasaad Avinash Upadhyay Atul Thakur Rishi Raj Thermal and Fluid Transport Laboratory Department of Mechanical Engineering Indian Institute of Technology Patna Bihar 801103 India Bio-Robotics and Artificial Intelligence Laboratory Department of Mechanical Engineering Indian Institute of Technology Patna Bihar 801103 India

Sound-based analyses have been extensively utilized across various scientific disciplines, offering valuable insights into dynamic and complex processes. In the context of boiling heat transfer, acoustic emissions (AEs) have emerged as a promising method to explore bubble dynamics and predict different boiling regimes, such as nucleate boiling (NB), critical heat flux (CHF), and transition boiling (TB). Recent studies have demonstrated the effectiveness of AEs for real-time diagnostics, highlighting unique frequency signatures associated with each boiling regime. Building on this, machine learning techniques have been employed to classify boiling regimes based on the acoustic signals. To enhance model reliability and robustness, we investigated the decision-making process of these models via Grad-CAM (Gradient-weighted Class Activation Mapping). This analysis revealed issues with the previously developed model, specifically its reliance on superficial features. To address this, we leveraged YAMNet, a pre-trained deep neural network for audio event classification, using transfer learning to adapt to the limited boiling data. The resulting model achieved 99.90 % accuracy and demonstrated high robustness to noise and experimental variability. Grad-CAM analysis confirmed that YAMNet focuses on more physically relevant frequency ranges characteristic of each boiling regime, ensuring consistent performance across various noise levels, even when white noise is superimposed onto the boiling data—a task where the earlier model failed. This work effectively integrates explainable AI with transfer learning for robust boiling diagnostics, demonstrating the potential of pre-trained audio models in safety–critical applications. Future research will explore real-time implementation and adaptation to diverse industrial noise environments.

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Heuristic Online Path Planning for Mobile Air Purification and Disinfection Robot In Regulating Indoor Air Quality

Heuristic Online Path Planning for Mobile Air Purification a...

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IEEE International Conference on robotics and biomimetics

作者： Qingnan Zhong Kai Chen Jianghua Duan Jun Ma Robotics and Human Machine Interface Laboratory HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute Futian China Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology China HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute Futian China Division of Emerging Interdisciplinary Areas The Hong Kong University of Science and Technology China

In light of past epidemics, people have become more aware of the possibility of viruses on object surfaces and in the air. As a result, there is an increasing demand for robots capable of autonomously disinfecting surfaces and purifying the air. This paper focuses on a mobile robot equipped with air purification and UV-C LED disinfection to combat airborne pathogens and environmental pollution. Through the onboard sensors, the proposed algorithm uses gaussian process model to predict the high potential air pollution area in real-time without the requirement of a distributed array of sensors, and it avoids environmental modifications. Then we propose the hybrid artificial potential field (HAPF) by integrating the predicted result with the artificial potential field method, to generate a heuristic path that can navigate the robot to the affected areas with obstacle avoidance. Experimental testing in simulated and real-world environments demonstrates the effectiveness of the proposed approach in rapidly planning purification paths, marking significant progress in automated air purification, and disinfection technology.

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Propagating beams carrying orbital angular momentum through simulated optical turbulence generated by Rayleigh–Bénard natural convection

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Waves in Random and Complex Media 2023年

作者： Avramov-Zamurovic, S. Judd, K.P. Matt, S. Handler, R.A. Watnik, A.T. Lindle, J.R. Esposito, J.M. Jarrett, W.A. Weapons Robotics and Control Engineering Department United States Naval Academy AnnapolisMD United States United States Naval Research Laboratory WashingtonDC United States Ocean Sciences Division US Naval Research Laboratory John C. Stennis Space Center MS United States Department of Mechanical Engineering George Mason University FairfaxVA United States DCS Corp AlexandriaVA United States

Numerical simulations of Rayleigh–Bénard (RB) convective flow are performed to determine the optical and mechanical turbulence properties and resulting index of refraction field in order to study the propagation characteristics of a laser beam carrying orbital angular momentum. The simulations are carried out in air using a computational fluid dynamics package which solves the Navier-Stokes equations. The computational domain is 0.1 m × 0.5 m × 0.5 m with a temperature difference of 1°K maintained between the top and bottom plate. The simulated temperature field is then converted into refractive index values. To study light propagation through the turbulent volume the split-step screen method is employed with screens at 0.025 m distance from each other along the propagation path which ranges from 0.5 m to 2.5 m. The structure of the phase screens, their spatio-temporal correlation with respect to up/down drafts, and phase changes across regions of interest are discussed. It was observed as the propagation distance increased, the orbital angular momentum carrying Laguerre–Gaussian beams wandered and the beam phase singularity distorted thus impacting the light intensity distribution. In addition, it was found that higher topological charge and order of Laguerre polynomial result in increased distortion of the beam vortex. © 2023 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Laser beams

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The neuromuscular control for lower limb exoskeleton- a 50-year perspective

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Journal of biomechanics 2023年第1期158卷 111738-111738页

作者： Chen, Yu-Ning Wu, Yi-Ning Yang, Bing-Shiang Department of Mechanical Engineering National Yang Ming Chiao Tung University Taiwan Biomechanics and Medical Application Laboratory National Yang Ming Chiao Tung University Division of Neurosurgery Department of Surgery National Taiwan University Hospital Hsin-Chu Branch Taiwan Department of Physical Therapy and Kinesiology University of Massachusetts Lowell MA United States The New England Robotics Validation and Experimentation Center University of Massachusetts Lowell MA United States Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute Taiwan Taiwanese Society of Biomechanics Taiwan

Historically, impaired lower limb function has resulted in heavy health burden and large economic loss in society. Although experts from various fields have put large amounts of effort into overcoming this challenge, there is still not a single standard treatment that can completely restore the lost limb function. During the past half century, with the advancing understanding of human biomechanics and engineering technologies, exoskeletons have achieved certain degrees of success in assisting and rehabilitating patients with loss of limb function, and therefore has been spotlighted in both the medical and engineering fields. In this article, we review the development milestones of lower limb exoskeletons as well as the neuromuscular interactions between the device and wearer throughout the past 50 years. Fifty years ago, the lower-limb exoskeletons just started to be devised. We review several prototypes and present their designs in terms of structure, sensor and control systems. Subsequently, we introduce the development milestones of modern lower limb exoskeletons and discuss the pros and cons of these differentiated devices. In addition, we summarize current important neuromuscular control systems and sensors;and discuss current evidence demonstrating how the exoskeletons may affect neuromuscular control of wearers. In conclusion, based on our review, we point out the possible future direction of combining multiple current technologies to build lower limb exoskeletons that can serve multiple aims. © 2023 Elsevier Ltd

关键词： Control systems

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Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions

arXiv

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arXiv 2025年

作者： Yao, Tianliang Lu, Bo Kowarschik, Markus Yuan, Yixuan Zhao, Hubin Ourselin, Sebastien Althoefer, Kaspar Ge, Junbo Qi, Peng Department of Control Science and Engineering College of Electronic and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electronic Engineering Faculty of Engineering The Chinese University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electrical Engineering Soochow University Suzhou215131 China Bavaria Forchheim91301 Germany CREATe Division of Surgery & Interventional Science UCL LondonHA7 4LP United Kingdom School of Biomedical Engineering & Imaging Sciences King’s College London LondonSE1 7EH United Kingdom Centre for Advanced Robotics @ Queen Mary School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Cardiology Zhongshan Hospital Fudan University Shanghai Institute of Cardiovascular Diseases Shanghai200032 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Endovascular procedures have revolutionized the treatment of vascular diseases thanks to minimally invasive solutions that significantly reduce patient recovery time and enhance clinical outcomes. However, the precision and dexterity required during these procedures poses considerable challenges for interventionists. Robotic systems have emerged offering transformative solutions, addressing issues such as operator fatigue, radiation exposure, and the inherent limitations of human precision. The integration of Embodied Intelligence (EI) into these systems signifies a paradigm shift, enabling robots to navigate complex vascular networks and adapt to dynamic physiological conditions. Data-driven approaches, advanced computer vision, medical image analysis, and machine learning techniques, are at the forefront of this evolution. These methods augment procedural intelligence by facilitating real-time vessel segmentation, device tracking, and anatomical landmark detection. Reinforcement learning and imitation learning further refine navigation strategies and replicate experts’ techniques. This review systematically examines the integration of EI principles into robotic technologies, in relation to endovascular procedures. We discuss recent advancements in intelligent perception and data-driven control, and their practical applications in robot-assisted endovascular procedures. By critically evaluating current limitations and emerging opportunities, this review establishes a framework for future developments, emphasizing the potential for greater autonomy and improved clinical outcomes. Emerging trends and specific areas of research, such as federated learning for medical data sharing, explainable AI for clinical decision support, and advanced human-robot collaboration paradigms, are also explored, offering insights into the future direction of this rapidly evolving field. © 2025, CC BY.

关键词： Medical robotics

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