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arXiv 2025年

作者： Zhou, Haoying Yang, Hao Deguet, Anton Fichera, Loris Wu, Jie Ying Kazanzides, Peter Department of Robotics Engineering Worcester Polytechnic Institute MA United States Laboratory for Computational Sensing and Robotics JHU MD United States Department of Computer Science Vanderbilt University TN United States Department of Computer Science Johns Hopkins University MD United States

The da Vinci Research Kit (dVRK, also known as dVRK Classic) is anopen-source teleoperated surgical robotic system whose hardware is obtainedfrom the first generation da Vinci Surgical System (Intuitive, Sunnyvale, CA,USA). The dVRK has greatly facilitated research in robot-assisted surgery overthe past decade and helped researchers address multiple major challenges inthis domain. Recently, the dVRK-Si system, a new version of the dVRK which usesmechanical components from the da Vinci Si Surgical System, became available tothe community. The major difference between the first generation da Vinci andthe da Vinci Si is in the structural upgrade of the Patient Side Manipulator(PSM). Because of this upgrade, the gravity of the dVRK-Si PSM can no longer beignored as in the dVRK Classic. The high gravity offset may lead to relativelylow control accuracy and longer response time. In addition, althoughsubstantial progress has been made in addressing the dynamic modelidentification problem for the dVRK Classic, further research is required onmodel-based control for the dVRK-Si, due to differences in mechanicalcomponents and the demand for enhanced control performance. To address theseproblems, in this work, we present (1) a novel full kinematic model of thedVRK-Si PSM, and (2) a gravity compensation approach based on the dynamic modelidentification. © 2025, CC BY.

关键词： Surgical equipment

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Robotic Anchoring System with Two Locomotion Modes for Preoperative Localization of Colorectal Cancer

Robotic Anchoring System with Two Locomotion Modes for Preop...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Jiale Ren, Hao Yang, Liu Zhao, Haoxiang Zhang, Ruijia Shen, Yajing Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Kowloon Hong Kong City University of Hong Kong Department of Biomedical Engineering Kowloon Hong Kong Institute of Robotics and Automatic Information System Nankai University China

ISBN: (纸本)9781665481090

At present, colorectal cancer is one of the most prevalent cancers in the world. Colectomy serves as an effective treatment option for this disease. Preoperative localization plays a vital role in the colectomy procedure. However, traditional preoperative localization techniques have a greater risk of infection and lower accuracy. Moreover, it is difficult for the previous anchoring robots to adapt to the unstructured environment of the GI tract because of their limited movement abilities. To address these challenges, this work develops a robotic anchoring system with two locomotion modes which can anchor in the designated position. Driven by the external magnetic field, the robot can achieve slipping and flipping in the stomach. When the gradients of the field increase, the robot is triggered to deploy the anchoring mechanism in the intestine. Two in vitro experiments are conducted in the stomach and intestine phantoms. The first experiment demonstrates that the robot system can achieve both slipping and flipping in the stomach and its average position error is 2.96mm. The second experiment shows that the robot system can anchor in the designated position near the tumor and can resist a peristalsis force of 0.82N from the intestine wall. © 2024 IEEE.

关键词： Diseases

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AI-Powered Drone to Address Smart City Security Issues 37th

AI-Powered Drone to Address Smart City Security Issues

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37th International Conference on Advanced Information Networking and Applications, AINA 2023

作者： Salama, Ramiz Al-Turjman, Fadi Culmone, Rosario Department of Computer Engineering Research Center for AI and IoT AI and Robotics Institute Near East University Nicosia Mersin 10 Nicosia Turkey Artificial Intelligence Engineering Department AI and Robotics Institute Near East University Mersin 10 Nicosia Turkey Research Center for AI and IoT Faculty of Engineering University of Kyrenia Mersin 10 Kyrenia Turkey Computer Science Division School of Science and Technology University of Camerino Camerino62032 Italy

ISBN: (纸本)9783031286933

The idea of a dazzling metropolis has drawn interest from all across the world. New innovations like blockchain, IoT, artificial intelligence, robots, and many other things were added to it. Security is one of the top issues for people living in big cities, and everyone wants to feel completely secure when traveling around every single day. In this research, we will look into how CEOs in affluent cities use and value robots, especially in terms of security. To understand the robot security the board stream, some approaches and intricacies are used. Following that is a discussion of issues with urban security and the application of artificial intelligence to drones as a management tool. The use of cutting-edge technology, such as blockchain, to support smart urban community management is covered in the last part. The smart city idea and all of its benefits for local inspection are supported by robotic use. The idea of thriving urban areas is spreading around the world and is crucial in the context of developing economies. We examined how to leverage cutting-edge technologies in this project to make it feasible. Artificial intelligence, robotics breakthroughs, and blockchain technologies all have significant effects. This research highlights their significance to analysts and how they consider them when assessing prospects. This project will be very beneficial for analysts and experts in a relevant subject. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Drones

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Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator

arXiv

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arXiv 2024年

作者： Natarajan, Ramkumar Yang, Hanlan Xie, Qintong Oza, Yash Das, Manash Pratim Islam, Fahad Saleem, Muhammad Suhail Choset, Howie Likhachev, Maxim The Robotics Institute School of Computer Science Carnegie Mellon University United States Department of Engineering Science University of Oxford United Kingdom

We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the incoming projectile, (ii) predict the projectile’s future motion, (iii) plan a minimum-time rapid trajectory that can evade obstacles and intercept the projectile, and (iv) execute the planned trajectory. These four steps must be performed under the manipulator’s dynamic limits and extreme time constraints (≤ 350ms in our setting) to successfully intercept the projectile. In addition, we want these trajectories to be smooth to reduce the robot’s joint torques and the impulse on the platform on which it is mounted. To this end, we propose a kinodynamic motion planning framework that preprocesses smooth trajectories offline to allow real-time collision-free executions online. We present an end-to-end pipeline along with our planning framework, including perception, prediction, and execution modules. We evaluate our framework experimentally in simulation and show that it has a higher blocking success rate than the baselines. Further, we deploy our pipeline on a robotic system comprising an industrial arm (ABB IRB-1600) and an onboard stereo camera (ZED 2i), which achieves a 78% success rate in projectile interceptions. © 2024, CC BY.

关键词： Industrial robots

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Machine Learning In Sustainable Development-An Overview 1

Machine Learning In Sustainable Development-An Overview

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1st International Conference on Computational Intelligence, Communication Technology and Networking, CICTN 2023

作者： Salama, Ramiz Al-Turjman, Fadi Altrjman, Chadi Gupta, Richa Near East University Ai and Robotics Institute Research Center for Ai and IoT Department of Computer Engineering Nicosia Turkey Near East University Ai and Robotics Institute Artificial Intelligence Engineering Dept. Turkey University of Kyrenia Faculty of Engineering Kyrenia Turkey Waterloo University Canada Graphic Era Hill University Department of Computer Science and Engineering Dehradun India

ISBN: (纸本)9798350338027

I have studied how artificial intelligence (AI) or machine learning (ML) is applied in a sustainable system called "Eugenie"for my work, project, and thesis. In this project, I get to discuss Eugenie's role in ensuring the sustainability of large environmental business organizations. I also get to discuss how it aids operation managers in making predictions about when their machines will break down days, weeks, and months in advance, allowing them to schedule maintenance cycles more effectively. In other words, Eugenie provides plant operators with data so they can prioritize repairs. Eugenie executes this process by utilizing real-time data from numerous sensors attached to large machinery and equipment in the process industry, metals and mining, oil and gas, and smart cities industries. Two products make up this program;the first is named RAY-FINN and the second is called PAPILLON. Eugenie assists businesses in a variety of ways, including:•Aids in the attainment of operational excellence by process organizations•Always raise overall profitability.•Contributes to a greener and safer future. © 2023 IEEE.

关键词： Sustainable development

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Cost-Effective Federated Learning-Based Approach for SINR Prediction in Cellular-Connected UAVs

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Journal of Communications and Information Networks 2024年第4期9卷 374-389页

作者： Ibrahem Mouhamad Dushantha Nalin K.Jayakody Dejan Vukobratovic School of Computer Science and Robotics National Research Tomsk Polytechnic UniversityTomsk 634050Russia COPELABS Lus´ofona UniversityLisbon 1749-024Portugal Faculty of Technical Sciences University of Novi SadNovi Sad 21000Serbia

This study introduces a novel approach to empower cellular-connected unmanned aerial vehicles(UAVs)in predicting signal *** proposed prediction model leverages data collected by the UAVs,addressing privacy concerns and ensuring effectiveness,while taking into account the constraints of UAVs.A unique three-step approach is proposed,which integrates a detailed physical ray-tracing(RT)method,deep learning,and federated learning(FL)for continuous learning and field adaptation.A dual input feature fusion convolutional neural network(DIFF-CNN)model is proposed,which is pretrained on RT data and fine-tuned using data collected by the UAVs via *** proposed model demonstrates superior performance and robustness to data sparsity compared to traditional machine learning ***,the model achieves a root mean squared error of 0.837 dB and an R-squared of 97.7% for signal-to-interference-plus-noise ratio(SINR)prediction after the fine-tuning step in the fixed-altitude scenario,but performance drops with uniform altitude distribution,highlighting the impact of flying height on *** research indicates that the proposed approach can enhance performance while reducing training rounds by 35% to 90%,thus mitigating FL *** research could explore efficiency gains by using different pretrained models tailored to specific flying heights.

关键词： federated learning unmanned aerial vehicle convolutional neural network ray-tracing signal-tointerference-plus-noise ratio

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Communication-Efficient Multi-Modal Federated Learning via Dynamic Client-Modality Matching

Communication-Efficient Multi-Modal Federated Learning via D...

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IEEE International Conference on Big Data

作者： Tan Li Yanming Gong Hai Liu Zhen Chen Linqi Song Department of Computer Science The Hang Seng University of Hong Kong Centre for Artificial Intelligence and Robotics (CAIR) HKISI CAS Department of Computer Science City University of Hong Kong

ISBN: (数字)9798350362480

ISBN: (纸本)9798350362497

Multi-modal federated learning (MFL) offers the advantage of aggregating models from diverse data modalities to obtain a more powerful fused model while preserving data privacy. However, MFL faces three key challenges: 1) Communication overhead - only a limited number of clients can participate in training due to communication budget constraints; 2) Modality heterogeneity - different modalities contribute unequally to the fused model; 3) Client heterogeneity - clients exhibit variations in data quantity and quality across modalities. To address these challenges, we formulate a joint client-modality selection problem under communication budget constraints. The goal is to determine the participating clients and their uploaded modalities in each communication round, maximizing the performance of the fused model given a limited communication budget. We propose a dynamic many-to-many matching algorithm with two quota budgeting strategies: 1) Round-aware Modality Budgeting (RMB) determines the total number of uploaded modality models per round based on the current training process (i.e., how close the model is to convergence). 2) Modality-aware Client Allocation (MCB) adaptively allocates client quota for each modality by balancing the modality’s contribution to the fusion model against its model size. After quota budgeting, we construct preference lists for clients and modalities to find a stable many-to-many matching of (client, modality) pairs. Experiments demonstrate that our algorithm achieves better model performance than baselines under the same communication budget, validating the benefits of dynamic budget allocation and client scheduling.

关键词： Training Adaptation models Federated learning Heuristic algorithms Dynamic scheduling Linear programming Data models Resource management Faces Convergence

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Deep Generative Models for Constructing Synthetic Populations in Public Health Applications

Deep Generative Models for Constructing Synthetic Population...

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2023 IEEE Applied Imagery Pattern Recognition Workshop, AIPR 2023

作者： Farmer, Nathan Mahyari, Arash Sirinivasan, Ashok University of West Florida Department of Computer Science PensacolaFL United States PensacolaFL United States University of West Florida Department of Intelligent Systems and Robotics PensacolaFL United States

ISBN: (纸本)9798350359527

There is a growing acknowledgment of the significance of social determinants of health in shaping fair public health policies. These determinants, reflected in emerging data streams like mobility and social media data, are increasingly integral to public health models. However, privacy concerns impede broad access to sensitive data, because even non-identifiable data are susceptible to deductive disclosure. To address this, synthetic populations trained on such data emerge as a privacy-conscious solution, offering the added benefit of exploring various "what-if"scenarios. This paper delves into the application of Generative Adversarial Networks (GANs) to craft synthetic populations that tackle privacy issues linked to social determinants of health data. Utilizing the 2019 PUMS dataset for Florida, the study trains the GAN to produce diverse and adaptable synthetic populations. An autoencoder manages the mix of continuous and categorical variables, ensuring the generated data aligns with categorical ranges. The results, assessed by comparing marginal distributions and employing tSNE, underscore the GAN's efficacy in balancing privacy and data utility. The significance of this work lies in identifying the promise of GANs in generating synthetic populations to advance health research. © 2023 IEEE.

关键词： Sensitive data

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Next Level of Human-Robot Collaboration by Utilizing AI Pose Estimation and Model Predictive Motion Planning Technologies

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IFAC-PapersOnLine 2023年第2期56卷 5313-5319页

作者： Esteban Pozo Bishoy Gerges Mohammed Nafea Frank Schrödel Automation Technology & Robotics Schmalkalden University of Applied Sciences Germany Engineering Mathematics and Computer Science University of Twente Netherlands

Over recent years, there has been a significant focus on Human Robot Interaction (HRI). The aim of this interaction is to create a mutually beneficial partnership between humans and robots, with robots contributing precision, speed, and force, while humans provide experience, intuition, and high-level management and control strategy understanding. One of the most crucial factors in achieving a successful HRI is the guidance of these robots. This paper proposes the use of reliable Hand Detection based on Long Short-Term Memory (LSTM) and intelligent robot motion planning based on Model Predictive Control Methods (MPC) to detect hand signals and communicate with the robot. By utilizing vision systems, a micro controller-based Edge AI approach, and a wired connection, the reaction speed of the robot can be optimized to maintain a safe separation distance between the human operator and the robot, thus enabling a collaborative and safe environment. The effectiveness and capabilities of this automation framework are validated through a case study.

关键词： Optimal Control Artificial Intelligenc Modeling Guidance navigation and control Robots manipulators

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Fine-Grained Object Detection with Remote-Sensing Data Using Optimized YOLO-based Models

Fine-Grained Object Detection with Remote-Sensing Data Using...

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IEEE Southeastcon

作者： Henintsoa S. Andrianarivony Moulay A. Akhloufi Dept. of Computer Science Perception Robotics and Intelligent Machines (PRIME) Université de Moncton Moncton NB Canada

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

Remote sensing data is used in various fields, such as environmental monitoring, urban planning, agriculture, and disaster management. Advances in satellite technology permit the creation of high-quality data, including high-resolution remote-sensing images. However, classical techniques struggle to process and extract information from large quantities and high-resolution remote-sensing data. In this context, with the advancement in computing power, deep learning has become a powerful tool for extracting features and processing remote-sensing data. Despite these advancements, remote-sensing object detection faces challenges related to the diversity of object types, variations in scale and resolution, and the presence of occlusion, which can hinder the accuracy and robustness of detection models. This paper explores YOLO-based architectures for horizontal and oriented bounding box detection in fine-grained object detection using the FAIR1M dataset. FAIR1M provides high-resolution satellite images with 5 object categories and 37 object sub-categories. The best model in horizontal object detection is the YOLOv9e, achieving a mAP50 of 44.6 %. The best model in oriented object detection is a pre-trained model using a custom weighted data loader, achieving a mAP50 of 40.5 %. We further analyze the strengths and limitations of these techniques for fine-grained remote-sensing object detection and highlight the contributions to improving the models' performances depending on the application. We then conclude and give directions for future work.

关键词： YOLO Satellites Urban planning Object detection Feature extraction Data models Satellite images Data mining Remote sensing Load modeling

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