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arXiv 2024年

作者： Tang, Chao Huang, Dehao Dong, Wenlong Xu, Ruinian Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta United States

Task-oriented grasping (TOG), which refers to synthesizing grasps on an object that are configurationally compatible with the downstream manipulation task, is the first milestone towards tool manipulation. Analogous to the activation of two brain regions responsible for semantic and geometric reasoning during cognitive processes, modeling the intricate relationship between objects, tasks, and grasps necessitates rich semantic and geometric prior knowledge about these elements. Existing methods typically restrict the prior knowledge to a closed-set scope, limiting their generalization to novel objects and tasks out of the training set. To address such a limitation, we propose FoundationGrasp, a foundation model-based TOG framework that leverages the open-ended knowledge from foundation models to learn generalizable TOG skills. Extensive experiments are conducted on the contributed Language and Vision Augmented TaskGrasp (LaViA-TaskGrasp) dataset, demonstrating the superiority of FoundationGrasp over existing methods when generalizing to novel object instances, object classes, and tasks out of the training set. Furthermore, the effectiveness of FoundationGrasp is validated in real-robot grasping and manipulation experiments on a 7-DoF robotic arm. Our code, data, appendix, and video are publicly available at https://***/view/foundationgrasp. Copyright © 2024, The Authors. All rights reserved.

关键词： Robotic arms

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Steel Defect Detection in Bridges Using Deep Encoder-Decoder Networks 13

Steel Defect Detection in Bridges Using Deep Encoder-Decoder...

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13th International Workshop on Structural Health Monitoring: Enabling Next-Generation SHM for Cyber-Physical Systems, IWSHM 2021

作者： Ahmed, Habib La, Hung Manh Advanced Robotics and Automation Laboratory Dept. of Computer Science and Engineering University of Nevada Reno RenoNV89527 United States

ISBN: (纸本)9781605956879

Recent major accidents related to bridges have emphasized the need for developing effective technological solutions for defect detection, which can minimize the possibility of bridge-related accidents in the future. In this respect, this research will focus towards development of automated system for the detection of defective regions within different steel parts of bridges. At present, there is no open-source image dataset, which can be used for this purpose. Consequently, the training dataset has been developed by using images acquired from bridges in Vietnam and validation was performed using images acquired from Lovelock bridge situated at Highway-80, Lovelock, NV, USA. A total of 5,500 (4,000 images for training and 1,500 for validation) images of different dimensions have been used the original dimensions of the steel bridge images have been modified 572 × 572 pixels, which have been used for the training and evaluation of the dataset on different Deep Encoder-Decoder networks. The use of diverse data from different bridges will allow the development of a robust Deep Encoder-Decoder network with considerable implications for practical systems in the future. This study will employ state-of-the-art Deep Encoder-Decoder network, which have been recently developed for other applications. However, no such study has been developed for defect detection in steel bridges. A comparative evaluation of different Deep Encoder-Decoder networks will be examined. At the same time, the performance of the system will be compared with recent advanced approaches. The results reveal the considerable potential of Deep Encoder-Decoder towards defect detection of steel bridges, which will be further exploited in the future studies. © 2021 Structural Health Monitoring 2021: Enabling Next-Generation SHM for Cyber-Physical Systems - Proceedings of the 13th International Workshop on Structural Health Monitoring, IWSHM 2021. All rights reserved.

关键词： Embedded systems

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Embodied-AI Wheelchair Framework with Hands-free Interface and Manipulation

Embodied-AI Wheelchair Framework with Hands-free Interface a...

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2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022

作者： Leaman, Jesse F. Yang, Zongming Elglaly, Yasmine N. La, Hung Li, Bing Automotive Engineering Department GreenvilleSC United States Gryphon Foundation for People with Disadvantages Western Washington University Computer Science Department United States University of Nevada Advanced Robotics and Automation Laboratory Reno United States

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Assistive robots can be found in hospitals and rehabilitation clinics, where they help patients maintain a positive disposition. Our proposed robotic mobility solution combines state of the art hardware and software to provide a safer, more independent, and more productive lifestyle for people with some of the most severe disabilities. New hardware includes, a retractable roof, manipulator arm, a hard backpack, a number of sensors that collect environmental data and processors that generate 3D maps for a hands-free human-machine *** proposed new system receives input from the user via head tracking or voice command, and displays information through augmented reality into the user's field of view. The software algorithm will use a novel cycle of self-learning artificial intelligence that achieves autonomous navigation while avoiding collisions with stationary and dynamic objects. The prototype will be assembled and tested over the next three years and a publicly available version could be ready two years thereafter. © 2022 IEEE.

关键词： Wheelchairs

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Adaptive Stiffness Control of Series Elastic Actuator Manipulators Based on Dynamic System

Adaptive Stiffness Control of Series Elastic Actuator Manipu...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic Systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators computer aided software engineering Automation Adaptive systems Control systems End effectors Hardware Dynamical systems Manipulator dynamics

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An Intelligent Deterministic Scheduling Method for Ultralow Latency Communication in Edge Enabled Industrial Internet of Things

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IEEE Transactions on Industrial Informatics 2023年第2期19卷 1756-1767页

作者： Lu, Yinzhi Yang, Liu Yang, Simon X. Hua, Qiaozhi Sangaiah, Arun Kumar Guo, Tan Yu, Keping School of Communication and Information Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada Computer School Hubei University of Arts and Science Xiangyang441000 China Future Technology Research Center National Yunlin University of Science and Technology Douliu City64002 Taiwan Graduate School of Science and Engineering Hosei University Tokyo184-8584 Japan Riken Center for Advanced Intelligence Project Riken Tokyo103-0027 Japan

Edge enabled Industrial Internet of Things (IIoT) platform is of great significance to accelerate the development of smart industry. However, with the dramatic increase in real-time IIoT applications, it is a great challenge to support fast response time, low latency, and efficient bandwidth utilization. To address this issue, time sensitive network (TSN) is recently researched to realize low latency communication via deterministic scheduling. To the best of our knowledge, the combinability of multiple flows, which can significantly affect the scheduling performance, has never been systematically analyzed before. In this article, we first analyze the combinability problem. Then, a noncollision theory based deterministic scheduling (NDS) method is proposed to achieve ultralow latency communication for the time-sensitive flows. Moreover, to improve bandwidth utilization, a dynamic queue scheduling (DQS) method is presented for the best-effort flows. Experiment results demonstrate that NDS/DQS can well support deterministic ultralow latency services and guarantee efficient bandwidth utilization. © 2005-2012 IEEE.

关键词： Bandwidth

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Online Learning in Blockchain-based Energy Trading Systems 24

Online Learning in Blockchain-based Energy Trading Systems

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2024 International Symposium on Theory, Algorithmic Foundations, and Protocol Design for Mobile Networks and Mobile Computing, MobiHoc 2024

作者： Liu, Yunshu Cheung, Man Hon Huang, Jianwei Pillar of Engineering Systems and Design Singapore University of Technology and Design Singapore Singapore Department of Computer Science City University of Hong Kong Hong Kong School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Key Laboratory of Crowd Intelligence Empowered Low-Carbon Energy Network CSIJRI Joint Research Centre on Smart Energy Storage The Chinese University of HongKong Guangdong Shenzhen518172 China

ISBN: (纸本)9798400705212

In this paper, we consider a blockchain-based energy trading (BBET) system with the proof-of-stake (PoS) protocol. The system designer aims to minimize system cost by considering the prosumers’ strategic token allocation between blockchain staking and energy purchase for their applications. This is challenging as the system designer does not know prosumers’ private information of impatience levels towards different applications. To this end, we propose an online learning mechanism (OLM), which includes incentive mechanisms to guide both prosumers’ private information reporting and staking decisions in two phases. In the exploration phase, we design a randomized staking reward to encourage prosumers’ truthful reporting of their private information for the learning of impatience level distributions. Based on the threshold structure of the prosumers’ equilibrium staking strategies, in the exploitation phase, we propose a learning-error-based reward to minimize the system cost considering the finite-sample bias. By characterizing the optimal exploration duration, we prove that OLM achieves an asymptotic zero-regret against the complete information benchmark, with the regret bounded by O(3√lnT/T) when operating for T time slots. We implement the corresponding smart contract in Ethereum to demonstrate the feasibility of our approach. Experiment results show that our mechanism reduces regret by an average of 74% compared to the state-of-art mechanism. © 2024 Copyright held by the owner/author(s).

关键词： Blockchain

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Neural P3M: A Long-Range Interaction Modeling Enhancer for Geometric GNNs 38

Neural P3M: A Long-Range Interaction Modeling Enhancer for G...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Wang, Yusong Cheng, Chaoran Li, Shaoning Ren, Yuxuan Shao, Bin Liu, Ge Heng, Pheng-Ann Zheng, Nanning National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China University of Illinois Urbana-Champaign United States Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong University of Science and Technology of China China Microsoft Research AI4Science United States

Geometric graph neural networks (GNNs) have emerged as powerful tools for modeling molecular geometry. However, they encounter limitations in effectively capturing long-range interactions in large molecular systems due to the localization assumption of GNN. To address this challenge, we introduce Neural P3M, a versatile enhancer of geometric GNNs to expand the scope of their capabilities by incorporating mesh points alongside atoms and reimaging traditional mathematical operations in a trainable manner. Neural P3M exhibits flexibility across a wide range of molecular systems and demonstrates remarkable accuracy in predicting energies and forces, outperforming on benchmarks such as the MD22 dataset. It also achieves an average improvement of 22% on the OE62 dataset while integrating with various architectures. Codes are available at https://***/OnlyLoveKFC/Neural_P3M. © 2024 Neural information processing systems foundation. All rights reserved.

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Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing

Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tact...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wen Fan Max Yang Yifan Xing Nathan F. Lepora Dandan Zhang Department of Engineering Mathematics and Bristol Robotics Laboratory University of Bristol U.K. Department of Computer Science University of Bristol U.K.

Tactile pose estimation and tactile servoing are fundamental capabilities of robot touch. Reliable and precise pose estimation can be provided by applying deep learning models to high-resolution optical tactile sensors. Given the recent successes of Graph Neural Network (GNN) and the effectiveness of Voronoi features, we developed a Tactile Voronoi Graph Neural Network (Tac-VGNN) to achieve reliable pose-based tactile servoing relying on a biomimetic optical tactile sensor (TacTip). The GNN is well suited to modeling the distribution relationship between shear motions of the tactile markers, while the Voronoi diagram supplements this with area-based tactile features related to contact depth. The experiment results showed that the Tac-VGNN model can help enhance data interpretability during graph generation and model training efficiency significantly than CNN-based methods. It also improved pose estimation accuracy along vertical depth by 28.57% over vanilla GNN without Voronoi features and achieved better performance on the real surface following tasks with smoother robot control trajectories. For more project details, please view our website: https://***/view/tac-vgnn/home

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Fuzzy Object Ambiguity Determination and Human Attention Assessment for Domestic Service Robots

Fuzzy Object Ambiguity Determination and Human Attention Ass...

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International Conference on Soft Computing and Machine Intelligence (ISCMI)

作者： Kevin Fan Melanie Jouaiti Kerstin Dautenhahn Chrystopher L. Nehaniv Department of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada Departments of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada

Domestic service robots have the promising potential of bringing significant services to the general population, and more importantly, successful applications of universal domestic service robots can potentially help mitigate critical societal issues such as senior care. In order to do so, domestic service robots need to integrate seamlessly into home environments. However, home environments are dynamic, complex and filled with personal items. Therefore, ambiguity can quickly arise for robots operating in such rich environments. In this paper, we propose an object ambiguity determination system that can determine the level of ambiguity in robot object selection tasks with fuzzy logic data integration. Additionally, we propose a functional human attention assessment system with fuzzy logic that enables the robot to determine user attention before committing to general disambiguation processes. Our preliminary results show that the proposed fuzzy logic inference systems can reliably estimate the robot object selection task ambiguity from object confidence level and the number of potential target objects that satisfy the user's command. Furthermore, fuzzy inference is applied to decide human eye gaze direction robustly. These subsystems can be utilized in the context of human-robot interaction to guide the robot when to seek feedback from a human partner in order to disambiguate reference in domestic service tasks. The source code of all proposed systems is available publicly on GitHub. 1

关键词： Fuzzy logic Service robots Source coding Sociology Human-robot interaction Data integration Reliability

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A Study of Fitness Gains in Evolving Finite State Machines

arXiv

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arXiv 2023年

作者： Zoltai, Gábor Xie, Yue Neumann, Frank Optimisation and Logistics School of Computer and Mathematical Sciences University of Adelaide Australia Bio-Inspired Robotics Laboratory Department of Engineering University of Cambridge United Kingdom

Among the wide variety of evolutionary computing models, Finite State Machines (FSMs) have several attractions for fundamental research. They are easy to understand in concept and can be visualised clearly in simple cases. They have a ready fitness criterion through their relationship with Regular Languages. They have also been shown to be tractably evolvable, even up to exhibiting evidence of open-ended evolution in specific scenarios. In addition to theoretical attraction, they also have industrial applications, as a paradigm of both automated and user-initiated control. Improving the understanding of the factors affecting FSM evolution has relevance to both computer science and practical optimisation of control. We investigate an evolutionary scenario of FSMs adapting to recognise one of a family of Regular Languages by categorising positive and negative samples, while also being under a counteracting selection pressure that favours fewer states. The results appear to indicate that longer strings provided as samples reduce the speed of fitness gain, when fitness is measured against a fixed number of sample strings. We draw the inference that additional information from longer strings is not sufficient to compensate for sparser coverage of the combinatorial space of positive and negative sample strings. © 2023, CC BY-NC-ND.

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