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Analog Magnetic Sensor-Robotic System for Steel Structure Inspection

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Analog Magnetic Sensor-Robotic System for Steel Structure In...

IEEE/SICE International Symposium on System Integration

作者： Anh Quyen Pham Duc La Hung Manh La AIR-VIET Corporation in Vietnam Kahlert School of Computing University of Utah Salt Lake City UT USA Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA

More and more steel bridge collapse accidents occur worldwide due to broken steel structures, causing significant l oss o f l ife a nd p roperty t o m ankind. T his has spurred much research into robots that can climb steel surfaces and carry smart sensors with the desire to assist inspectors in inspecting steel defects. However, current non-destructive evaluation (NDE) sensors such as eddy-current and giant magnetoresistance (GMR) are not able to be integrated with the robotic platforms due to their large size, mass, and limited ability to interface. More importantly, these NDE sensors may fail to detect hidden and underlying cracks. Therefore, in this paper, we present a novel and compact analog magnetic sensor system to detect different types of cracks in steel. Validations are carried out on a steel test plate 600mm long, 140mm wide, and 6mm thick, and precision machined by CNCs to produce various man-made cracks including penetrating cracks, surface cracks, internal/hidden cracks, and underlying cracks. These cracks have a width varying from 0.6mm to 1.2mm with different depth levels. Combined with applying the Kalman filter t o t he n oise r eduction s ystem, t he r esults o btained are accurate, and the response speed is fast. The sensor is small enough and has firmware/software with an interface to make it possible to be integrated with a small drone or a climbing robot to perform an in-depth inspection of the steel bridge. A demonstration of the system can be seen in this video: https://***/OrdpLdnFlYk

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Optimizing Transistor Selection Using AH-TOR for Low Noise Amplifier Design in Sensing Applications

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Optimizing Transistor Selection Using AH-TOR for Low Noise A...

International Conference on Sensing Technology, ICST

作者： Dayarnab Baidya Karthick Thiyagarajan Mitradip Bhattacharjee Yang An Department of Electrical Engineering and Computer Science i-Lab Indian Institute of Science Education and Research Bhopal Bhopal Madhya Pradesh India Smart Sensing and Robotics Laboratory (SensR Lab) Centre for Advanced Manufacturing Technology School of Engineering Design and Built Environment Western Sydney University Penrith Australia

ISBN: (数字)9798350374827

ISBN: (纸本)9798350374834

The design of a wireless sensor network receiver requires an efficient Low Noise Amplifier (LNA), with the transistor being a critical component that influences its performance. Selecting an optimal transistor for LNA design is a complex and time-consuming process due to the conflicting criteria involved. This study utilizes the Analytic Hierarchy Trade-off Ranking Method (AH-TOR), an integrated Multi-Criteria Decision-Making (MCDM) approach, to facilitate the selection of a suitable transistor for LNA design. Four types of transistors were evaluated as alternatives based on four criteria, with the Pseudomorphic High Electron Mobility Transistor (PHEMT) emerging as the optimal choice. The weight of PHEMT was calculated to be 1.0787, and its performance was benchmarked against other existing methods. Further analysis demonstrated the robustness of the AH-TOR method across various scenarios, consistently identifying PHEMT as the most suitable option. These findings highlight the reliability of the AH-TOR method for transistor selection in diverse applications.

关键词： Low-noise amplifiers Wireless sensor networks PHEMTs Decision making Receivers Electron mobility Robustness Sensors Transistors Integrated circuit reliability

A Multi-modal Hybrid Robot with Enhanced Traversal Performance*

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A Multi-modal Hybrid Robot with Enhanced Traversal Performan...

IEEE International Conference on robotics and Automation (ICRA)

作者： Zhipeng He Na Zhao Yudong Luo Sian Long Xi Luo Hongbin Deng School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Computer Science and Technology Morphing Robotics Lab Dalian Maritime University Dalian China Yichang Testing Tech. Research Institution Yichang China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Current multi-modal hybrid robots with flight and wheeled modes have fallen into the dilemma that they can only avoid obstacles by re-taking off when encountering obstacles due to the poor performance of wheeled obstacle-crossing. To tackle this problem, this paper presents a novel multi-modal hybrid robot with the ability to actively adjust the wheel’s size, which is inspired by the behavior of the turtle’s legs when it encounters obstacles, to enhance the traversal performance. In detail, we describe the hardware design that allows the robot to achieve a modal switch between flight and wheeled modes through foldable structures and variable wheel diameters; then, we present the architecture to control these two morphing mechanisms. After that, we establish the theoretical kinematic models for both the foldable arm and variable wheel and carry out extensive experiments to test the performance of the foldable arm, the variable-diameter wheel, as well as the traversal performance of the robot. Experimental results show that the proposed multimodal robot can realize the function of a quadrotor, respond quickly with full-scale folding within 0.9 s, climb a maximum slope of 36°, and traverse narrow passageways, which exhibit superior mobility and environmental adaptability.

关键词： Legged locomotion Wheels Prototypes Manipulators Sensors Mobile robots Collision avoidance

CIMS: Correction-Interpolation Method for Smoke Simulation

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arXiv 2022年

作者： Lee, Yunjee Lee, Dohae Oh, Young Jin Lee, In-Kwon Department of Computer Science Yonsei University Seoul Korea Republic of ICT Advanced Robotics Lab LG Electronics Korea Republic of

In this paper, we propose CIMS: a novel correction-interpolation method for smoke simulation. The basis of our method is to first generate a low frame rate smoke simulation, then increase the frame rate using temporal interpolation. However, low frame rate smoke simulations are inaccurate as they require increasing the time-step. A simulation with a larger time-step produces results different from that of the original simulation with a small time-step. Therefore, the proposed method corrects the large time-step simulation results closer to the corresponding small time-step simulation results using a U-Net-based DNN model. To obtain more precise results, we applied modeling concepts used in the image domain, such as optical flow and perceptual loss. By correcting the large time-step simulation results and interpolating between them, the proposed method can efficiently and accurately generate high frame rate smoke simulations. We conduct qualitative and quantitative analyses to confirm the effectiveness of the proposed model. Our analyses show that our method reduces the mean squared error of large time-step simulation results by more than 80% on average. Our method also produces results closer to the ground truth than the previous DNN-based methods;it is on average 2.04 times more accurate than previous works. In addition, the computation time of the proposed correction method barely affects the overall computation time. © 2022, CC BY.

关键词： Neural networks

A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments

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arXiv 2022年

作者： Zhang, Zeqing Zhang, Yinqiang Han, Ruihua Zhang, Liangjun Pan, Jia Department of Computer Science The University of Hong Kong Hong Kong Robotics and Autonomous Driving Lab of Baidu Research Beijing China

In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the collision conditions between robots and obstacles could be transformed into a set of polynomial inequalities, whose roots can be efficiently solved by the proposed solver. In addition, we test different types of mobile robots with various kinematic and dynamic constraints in our generalized CCD framework and validate that it allows the provable collision checking and can compute the exact time of impact. Furthermore, we combine our architecture with the path planner in the navigation system. Benefiting from our CCD method, the mobile robot is able to work safely in some challenging scenarios. © 2022, CC BY-NC-ND.

关键词： Mobile robots

Direct Shooting Method for Numerical Optimal Control: A Modified Transcription Approach

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arXiv 2024年

作者： Tang, Jiawei Zhong, Yuxing Wang, Pengyu Chen, Xingzhou Wu, Shuang Shi, Ling The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Hong Kong Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Noah’s Ark Lab Huawei Canada

Direct shooting is an efficient method to solve numerical optimal control. It utilizes the Runge-Kutta scheme to discretize a continuous-time optimal control problem making the problem solvable by nonlinear programming solvers. However, conventional direct shooting raises a contradictory dynamics issue when using an augmented state to handle high-order systems. This paper fills the research gap by considering the direct shooting method for high-order systems. We derive the modified Euler and Runge-Kutta-4 methods to transcribe the system dynamics constraint directly. Additionally, we provide the global error upper bounds of our proposed methods. A set of benchmark optimal control problems shows that our methods provide more accurate solutions than existing approaches. © 2024, CC BY.

关键词： Nonlinear programming

An Ethical Black Box for Social Robots: a draft Open Standard

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arXiv 2022年

作者： Winfield, Alan F.T. Van Maris, Anouk Salvini, Pericle Jirotka, Marina Bristol Robotics Lab University of the West of England Bristol United Kingdom Department of Computer Science University of Oxford United Kingdom

This paper introduces a draft open standard for the robot equivalent of an aircraft flight data recorder, which we call an ethical black box. This is a device, or software module, capable of securely recording operational data (sensor, actuator and control decisions) for a social robot, in order to support the investigation of accidents or nearmiss incidents. The open standard, presented as an annex to this paper, is offered as a first draft for discussion within the robot ethics community. Our intention is to publish further drafts following feedback, in the hope that the standard will become a useful reference for social robot designers, operators and robot accident/incident investigators. © 2022, CC BY-SA.

关键词： Philosophical aspects

Volctrans Parallel Corpus Filtering System for WMT 2020 5

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Volctrans Parallel Corpus Filtering System for WMT 2020

5th Conference on Machine Translation, WMT 2020

作者： Xu, Runxin Zhi, Zhuo Cao, Jun Wang, Mingxuan Li, Lei Institute of Computational Linguistic Peking University China Department of Computer Science and Engineering University of California San Diego United States ByteDance AI Lab Shanghai China

ISBN: (纸本)9781948087810

In this paper, we describe our submissions to the WMT20 shared task on parallel corpus filtering and alignment for low-resource conditions. The task requires the participants to align potential parallel sentence pairs out of the given document pairs, and score them so that low-quality pairs can be filtered. Our system, Volctrans, is made of two modules, i.e., a mining module and a scoring module. Based on the word alignment model, the mining module adopts an iterative mining strategy to extract latent parallel sentences. In the scoring module, an XLM-based scorer provides scores, followed by reranking mechanisms and ensemble. Our submissions outperform the baseline by 3.x/2.x and 2.x/2.x for km-en and ps-en on From Scratch/Fine-Tune conditions. © 2020 Association Association for for computational computational Linguistics Linguistics

关键词： computational linguistics

IA-TIGRIS: An Incremental and Adaptive Sampling-Based Planner for Online Informative Path Planning

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arXiv 2025年

作者： Moon, Brady Suvarna, Nayana Jong, Andrew Chatterjee, Satrajit Yuan, Junbin Scherer, Sebastian Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA United States GRASP Lab the University of Pennsylvania PhiladelphiaPA United States Mechanical Engineering Department Carnegie Mellon University PittsburghPA United States

Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be responsive to new observations. In this work, we present IA-TIGRIS, an incremental and adaptive sampling-based informative path planner that can be run efficiently with onboard computation. Our approach leverages past planning efforts through incremental refinement while continuously adapting to updated world beliefs. We additionally present detailed implementation and optimization insights to facilitate real-world deployment, along with an array of reward functions tailored to specific missions and behaviors. Extensive simulation results demonstrate IA-TIGRIS generates higher-quality paths compared to baseline methods. We validate our planner on two distinct hardware platforms: a hexarotor UAV and a fixed-wing UAV, each having unique motion models and configuration spaces. Our results show up to a 41% improvement in information gain compared to baseline methods, suggesting significant potential for deployment in real-world applications. Project website and video at ***. Copyright © 2025, The Authors. All rights reserved.

关键词： Robot programming