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5th International Conference on Recent Trends in Machine Learning, IoT, Smart Cities, and Applications, ICMISC 2024

作者： Suryawanshi, Shubhangi Chavan, Amol Bhosale, Digvijay G. Mahakal, Shivam Jakate, Govind Kanojiya, Abhay Department of Artificial Intelligence and Data Science Dr. D. Y. Patil Institute of Technology Maharashtra Pune411 018 India Department of Mechatronics Engineering Rajarambapu Institute of Technology Shivaji University RajaramnagarKolhapur Maharashtra 415 414 India Department of Mechanical Engineering Dr. D. Y. Patil Institute of Technology Maharashtra Pune411 018 India Department of Automation and Robotics Dr. D. Y Patil Institute of Technology Maharashtra Pune411 018 India

ISBN: (纸本)9789819788644

Pipelines are vital infrastructure for the transportation of water, sewage, oil, and gas because they offer a better safety option and fit into the minimum environmental hazardous than other modes. But pipelines are aging and getting damaged all the time, which can lead to significant loss of resources and contamination of the environment. Regular maintenance and inspections are necessary for pipelines to operate efficiently and prevent overspending. This paper reviews the core techniques used in each of the four missions—localization, mapping, navigation, and inspection—that these robots have completed. Additionally, because image processing has become a widely used and crucial strategy for completing all of the aforementioned missions, we made the decision to review the thorough classification of techniques for image processing in a separate section. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Navigation

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An Integrated Real-time UAV Trajectory Optimization with Potential Field Approach for Dynamic Collision Avoidance

arXiv

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arXiv 2023年

作者： Rao, D.M.K.K. Venkateswara Habibi, Hamed Sanchez-Lopez, Jose Luis Voos, Holger Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust University of Luxembourg Luxembourg Luxembourg Department of Engineering University of Luxembourg Luxembourg

This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A minimum-time trajectory optimization problem is formulated with initial and final positions as boundary conditions and collision avoidance as constraints. It is transcribed into a nonlinear programming problem using Chebyshev pseudospectral method. The state and control histories are approximated by using Lagrange polynomials and the collocation points are used to satisfy constraints. A novel sigmoid-type collision avoidance constraint is proposed to overcome the drawbacks of Lagrange polynomial approximation in pseudospectral methods that only guarantees inequality constraint satisfaction only at nodal points. Automatic differentiation of cost function and constraints is used to quickly determine their gradient and Jacobian, respectively. An APF method is used to update the optimal control inputs for guaranteeing collision avoidance. The trajectory optimization and APF method are implemented in a closed-loop fashion continuously, but in parallel at moderate and high frequencies, respectively. The initial guess for the optimization is provided based on the previous solution. The proposed approach is tested and validated through indoor experiments. © 2023, CC BY.

关键词： Cost functions

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Autonomous Power Supply Development for Hydrometeorological Monitoring Station 7

Autonomous Power Supply Development for Hydrometeorological ...

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7th IEEE International Energy Conference, ENERGYCON 2022

作者： Prystupa, Anatoliy Kazymyr, Volodymyr Zabasta, Anatolijs Revko, Anatoliy Stepenko, Serhii Novyk, Kateryna Chernihiv Polytechnic National University Electrical Engineering Information and Measurement Technologies Department Chernihiv Ukraine Chernihiv Polytechnic National University Information and Computer System Department Chernihiv Ukraine Institute of Industrial Electronics and Electrical Engineering Riga Technical University Riga Latvia Chernihiv Polytechnic National University Electronics Automation Robotics and Mechatronics Department Chernihiv Ukraine

ISBN: (纸本)9781665479820

This paper presents the results of the investigation of the power supply system of the autonomous monitoring system. In particular, calculations of the system's daily balance of energy consumption were performed. Also, the question of the influence of the angle of inclination of solar converters on energy generation is considered and the necessity of collecting solar radiation during the whole daylight, not focusing on the maximum amount of energy, is substantiated. This research aimed to develop an algorithm for calculating the power supply system for autonomous monitoring systems. The proposed algorithm takes into account the coordination of diagrams of generation and consumption of energy within the autonomous monitoring station and statistical analysis of information from the NASA website. Experiments have shown the effectiveness of this method. It can be used in future design of power supply systems for autonomous monitoring stations. © 2022 IEEE.

关键词： Electric power systems

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

arXiv

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arXiv 2023年

作者： Balatti, Pietro Ozdamar, Idil Sirintuna, Doganay Fortini, Luca Leonori, Mattia Gandarias, Juan M. Ajoudani, Arash HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Robotics and Mechatronics lab Systems Engineering and Automation Department University of Malaga Malaga Spain

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario. Copyright © 2023, The Authors. All rights reserved.

关键词： Robotic arms

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On SORA for High-Risk UAV Operations under New EU Regulations: Perspectives for Automated Approach

arXiv

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arXiv 2023年

作者： Habibi, Hamed Rao, D.M.K.K. Venkateswara Sanchez-Lopez, Jose Luis Voos, Holger Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust University of Luxembourg Luxembourg Luxembourg Department of Engineering University of Luxembourg Luxembourg

In this paper, we investigate requirements to prepare an application for Specific Operations Risk Assessment (SORA), regulated by European Union Aviation Safety Agency (EASA) to obtain flight authorization for Unmanned Aerial Vehicles (UAVs) operations and propose some perspectives to automate the approach based on our successful application. Preparation of SORA requires expert knowledge as it contains technicalities. Also, the whole process is an iterative and time-consuming one. It is even more challenging for higher-risk operations, such as those in urban environments, near airports, and multi- and customized models for research activities. SORA process limits the potential socio-economic impacts of innovative UAV capabilities. Therefore, in this paper, we present a SORA example, review the steps and highlight challenges. Accordingly, we propose an alternative workflow, considering the same steps, while addressing the challenges and pitfalls, to shorten the whole process. Furthermore, we present a comprehensive list of preliminary technical procedures, including the pre/during/postflight checklists, design and installation appraisal, flight logbook, operational manual, training manual, and General Data Protection Regulation (GDPR), which are not explicitly instructed in SORA manual. Moreover, we propose the initial idea to create an automated SORA workflow to facilitate obtaining authorization, which is significantly helpful for operators, especially the scientific community, to conduct experimental operations. © 2023, CC BY.

关键词： Risk assessment

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Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models

Interactive Navigation in Environments with Traversable Obst...

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IEEE International Conference on robotics and automation (ICRA)

作者： Zhen Zhang Anran Lin Chun Wai Wong Xiangyu Chu Qi Dou K. W. Samuel Au Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Multiscale Medical Robotics Centre Department of Computer Science and Engineering The Chinese University of Hong Kong Computer Aided Medical Procedures Technical University of Munich Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles. We utilize the large language model (GPT-3.5) and the open-set Vision-language Model (Grounding DINO) to create an action-aware costmap to perform effective path planning without fine-tuning. With the large models, we can achieve an end-to-end system from textual instructions like "Can you pass through the curtains to deliver medicines to me?", to bounding boxes (e.g., curtains) with action-aware attributes. They can be used to segment LiDAR point clouds into two parts: traversable and untraversable parts, and then an action-aware costmap is constructed for generating a feasible path. The pre-trained large models have great generalization ability and do not require additional annotated data for training, allowing fast deployment in the interactive navigation tasks. We choose to use multiple traversable objects such as curtains and grasses for verification by instructing the robot to traverse them. Besides, traversing curtains in a medical scenario was tested. All experimental results demonstrated the proposed framework’s effectiveness and adaptability to diverse environments.

关键词： Training Point cloud compression Laser radar Navigation Grounding Large language models Path planning

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Adaptive Path Planning for Reaching an Uncertain Set of Targets in a Fruit Tree

Adaptive Path Planning for Reaching an Uncertain Set of Targ...

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International Workshop on Robot Motion and Control (RoMoCo)

作者： Werner Kroneman João Valente A. Frank Van Der Stappen Department of Engineering University College Roosevelt Middelburg The Netherlands Centre for Automation and Robotics (CAR) Spanish National Research Council (CSIC) Madrid Spain Department of Information and Computing Sciences Utrecht University The Netherlands

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

When inspecting a set of target points (such as fruit) in a fruit tree, it is not realistic to assume that a perfectly-accurate set of such targets is available beforehand: compared to earlier inspections, new fruit may have appeared, and some fruit may be missing. In previous work, we introduced a shell-based method for rapid global path planning to position the end of a robotic arm close to numerous target points in an environment for inspection. In this work, we extend our method to handle partial knowledge of the set of targets, enabling the robot to adapt its planned path to newly-discovered or missing fruit on-the-fty. In the most extreme case, the robot starts with no knowledge of the workspace at all, except for what is immediately visible on startup. We show that, when not all targets are given beforehand, there is only a negligible increase in the length of the path traversed by the robot, the robot still effectively discovers a-priori unknown targets, at an overall about 35% increase in the CPU running time of the algorithm compared to the full-knowledge scenario.

关键词： Robot motion Conferences Inspection Manipulators Path planning Agriculture

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Riding the Rollercoaster: Improving UAV Piloting Skills with Augmented Visualization and Collaborative Planning

Riding the Rollercoaster: Improving UAV Piloting Skills with...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Riccardo Franceschini Javier Rodriguez Marquez Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Cerdanyola del Vallès Barcelona Spain Department of Electrical Engineering Automation and Control group Danish Technical University Elektrovej Kgs. Lyngby Denmark

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

Operating unmanned aerial vehicles (UAVs) in complex environments can be challenging, particularly for inexperienced operators. This paper introduces a method aimed at enhancing the piloting experience by incorporating an intermediary processing layer between the remote controller and the drone. The presented approach empowers operators to control both the speed and direction of the UAV along a secure path, which is continuously computed and overlaid onto the operator's camera stream. The UAV autonomously plans and executes this path, adapting to the operator's commands and en-vironmental changes. The primary aim of this proposed solution is to enhance the operator's situational awareness, perception, as well as the safety and efficiency of UAV navigation. The paper outlines the system and methodology employed, showing its ability to operate at a high enough frequency to enable seamless user interactions. Furthermore, to validate the effectiveness of this approach, a real-world test and a user-based experimental study conducted in a simulation environment with an audience comprising varying levels of pilot expertise have been carried out.

关键词： Human-robot interaction Process control Collaboration Autonomous aerial vehicles Safety Planning Haptic interfaces

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Design and simulation of disaster mitigation robot using machine vision 2

Design and simulation of disaster mitigation robot using mac...

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2nd International Conference on robotics, Intelligent automation and Control Technologies, RIACT 2021

作者： Avinaash, M. Andrew, D. Visnu, S. Abrar, M. Seenu, N. Mechatronics Engineering School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai603103 India Centre for Automation and Robotics School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai603103 India

The goal is to provide a robust mobile robot to assist recures in their operation by providing real time surveillance, remote operation as well autonomous operation. The mobile robot is capable of mapping using a LIDAR, this provides a map of the disaster zone which is then used to assess and provide a path planning for the most efficient rescue for the Mobile robot as well as the Rescuers. The built-in gas sensor reads the concentration of gases in the area, providing data on the environment in the disaster zone. The use of high definition cameras combined with Artificial Intelligence based image classification provides an edge in autonomous traversing and search and rescue. Disaster mitigation is an extremely dangerous task for the rescuers, a mobile robot such as LV-01 can be the difference between life and death. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Mobile robots

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An Energy-Efficient Communication Protocol for Power-Constrained IoT Networks: A Deep Reinforcement Learning Approach

An Energy-Efficient Communication Protocol for Power-Constra...

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Wireless and Optical Technologies (GCWOT), 2020 Global Conference on

作者： Syed Asad Ullah Syed Muhammad Khalid Umair Ahmed Korai Anayat Ullah Department of Electronic Engineering Balochistan University of Information Technology Engineering and Management Sciences (BUITEMS) Quetta Pakistan Control Automotive and Robotics Lab National Centre of Robotics and Automation (NCRA) BUITEMS Quetta Pakistan Department of Telecommunication Engineering Mehran University of Engineering and Technology Jamshoro Pakistan

Power-limited devices (or sensors) constrain the deployment of modern IoT networks, such as Next-Generation Industrial IoT (NG-IIoT). These networks are envisioned as the key enablers to facilitate connectivity to billions of devices for applications like smart industries, smart healthcare, etc. This paper presents an optimal up-link communication protocol for a power-limited unlicensed sensor operating among numerous licensed sensors communicating in a time division multiple access (TDMA)-based scheme. The transmission of the power-limited sensor is ensured by employing the non-orthogonal multiple access (NOMA) technique during the time slot of a licensed sensor. To ensure energy-efficient communication, we maximize the throughput of the power-limited sensor using a deep reinforcement learning (DRL) framework recognized as a combined experience replay deep deterministic policy gradient (CER-DDPG) algorithm. Our simulation results demonstrated that the CER-DDPG-based communication protocol outperforms the benchmark schemes, such as DDPG and stochastic algorithms, in terms of throughput.

关键词： Optical losses NOMA Protocols Simulation Reinforcement learning Throughput Energy efficiency

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