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arXiv 2022年

作者： Dai, Bolun Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical & Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding a conservative CBF that only recovers a portion of the true safe set is usually possible. In this work, starting from a "conservative" handcrafted CBF (HCBF), we develop a method to find a CBF that recovers a reasonably larger portion of the safe set. Since the learned CBF controller is not guaranteed to be safe during training iterations, we use a model predictive controller (MPC) to ensure safety during training. Using the collected trajectory data containing safe and unsafe interactions, we train a neural network to estimate the difference between the HCBF and a CBF that recovers a closer solution to the true safe set. With our proposed approach, we can generate safe controllers that are less conservative and computationally more efficient. We validate our approach on two systems: a second-order integrator and a ball-on-beam. © 2022, CC BY.

关键词： Controllers

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Optimal Landing of Tilt-rotor Aircraft after Engine Failure Considering Pilot Inherent Limitations

Optimal Landing of Tilt-rotor Aircraft after Engine Failure ...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Xufei Chen, Renliang Zhu, Shiqiang Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China College of Aeronautics Nanjing University of Aeronautics and Astronautics National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics Jiangsu Nanjing China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

An augmented longitudinal rigid-body model is developed with a set of algebra equations describing the controls in the cockpit and the differential equations describing the pilot inherent limitations. The landing procedure after one engine failure is formulated into a nonlinear optimal control problem. XV-15 tilt-rotor aircraft is taken as the sample for the demonstration of landing in one engine failure during short takeoff. The results show that the total power required, thrust coefficient, longitudinal flapping angle and optimal controls are more relatively gentle than the solutions without considering the pilot inherent limitations. Compared with the basic longitudinal rigid-body model, the optimal solutions involve more control information. © 2022 IEEE.

关键词： Differential equations

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Diagnostic Accuracy and Reliability of Deep Learning-Based Human Papillomavirus Status Prediction in Oropharyngeal Cancer

Diagnostic Accuracy and Reliability of Deep Learning-Based H...

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International Conference on Medical Imaging and computer-Aided Diagnosis, MICAD 2022

作者： La Greca Saint-Esteven, Agustina Marchiori, Chiara Bogowicz, Marta Barranco-García, Javier Khodabakhshi, Zahra Konukoglu, Ender Riesterer, Oliver Balermpas, Panagiotis Hüllner, Martin Malossi, A. Cristiano I. Guckenberger, Matthias van Timmeren, Janita E. Tanadini-Lang, Stephanie Department of Radiation Oncology University Hospital Zurich and the University of Zurich Rämistrasse 100 Zurich8091 Switzerland Computer Vision Laboratory Department of Information Technology and Electrical Engineering ETH Zurich Sternwartstrasse 7 Zurich8092 Switzerland IBM Research Zurich Säumerstrasse 4 Rüschlikon8803 Switzerland Department of Nuclear Medicine University Hospital Zurich and the University of Zurich Rämistrasse 100 Zurich8091 Switzerland

ISBN: (纸本)9789811667749

Oropharyngeal cancer (OPC) patients with associated human papillomavirus (HPV) infection generally present more favorable outcomes than HPV-negative patients and, consequently, their treatment with radiation therapy may be potentially de-escalated. The diagnostic accuracy of a deep learning (DL) model to predict HPV status on computed tomography (CT) images was evaluated in this study, together with its ability to perform unsupervised heatmap-based localization of relevant regions in OPC and HPV infection, i.e., the primary tumor and lymph nodes, as a measure of its reliability. The dataset consisted of 767 patients from one internal and two public collections from The Cancer Imaging Archive and was split into training, validation and test sets using the ratio 60–20–20. Images were resampled to a resolution of 2 mm3 and a sub-volume of 96 pixels3 was automatically cropped, which spanned from the nose until the start of the lungs. Models Genesis was fine-tuned for the classification task. Grad-CAM and Score-CAM were applied to the test subjects that belonged to the internal cohort (n = 24), and the overlap and Dice coefficients between the resulting heatmaps and the planning target volumes (PTVs) were calculated. Final train/validation/test area-under-the-curve (AUC) values of 0.9/0.87/0.87, accuracies of 0.83/0.82/0.79, and F1-scores of 0.83/0.79/0.74 were achieved. The reliability analysis showed an increased focus on dental artifacts in HPV-positive patients, whereas promising overlaps and moderate Dice coefficients with the PTVs were obtained for HPV-negative cases. These findings prove the necessity of performing reliability studies before a DL model is implemented in a real clinical setting, even if there is optimal diagnostic accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Diseases

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Tunable Rectification of Diffusion-Wave Fields by Spatiotemporal Metamaterials

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Physical Review Letters 2022年第25期129卷 256601-256601页

作者： Jiaxin Li Zhanxiang Zhang Guoqiang Xu Haoran Sun Lizhou Dai Tianlong Li Cheng-Wei Qiu Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The diffusion process is the basis of many branches of science and engineering, and generally obeys reciprocity between two ports of a linear time-invariant medium. Recent research on classical wave dynamics has explored the spatiotemporal modulation to exhibit preferred directions in photons and plasmons. Here we report a distinct rectification effect on diffusion-wave fields by modulating the conductivity and observe nonreciprocal transport of charges. We experimentally create a spatiotemporal diffusion metamaterial, in which a mode transition to zero frequency is realized. A direct current component thereby emerges, showcasing a biased effect on the charge diffusion when the incident fundamental frequency is a multiple of the system modulation frequency. These results may find applications spanning a plethora of diffusive fields in general.

关键词： Diffusion Metamaterials Bloch-Floquet theorem

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PROSPECT: Precision Robot Spectroscopy Exploration and Characterization Tool

arXiv

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arXiv 2024年

作者： Hanson, Nathaniel Lvov, Gary Rautela, Vedant Hibbard, Samuel Holand, Ethan DiMarzio, Charles Padır, Taşkın Institute for Experiential Robotics Electrical and Computer Engineering Department Northeastern University BostonMA United States Robotics Institute Carnegie Mellon University PittsburghPA United States Lincoln Laboratory Massachusetts Institute of Technology LexingtonMA United States

Near Infrared (NIR) spectroscopy is widely used in industrial quality control and automation to test the purity and grade of items. In this research, we propose a novel sensorized end effector and acquisition strategy to capture spectral signatures from objects and register them with a 3D point cloud. Our methodology first takes a 3D scan of an object generated by a time-of-flight depth camera and decomposes the object into a series of planned viewpoints covering the surface. We generate motion plans for a robot manipulator and end-effector to visit these viewpoints while maintaining a fixed distance and surface normal. This process is enabled by the spherical motion of the end-effector and ensures maximal spectral signal quality. By continuously acquiring surface reflectance values as the end-effector scans the target object, the autonomous system develops a four-dimensional model of the target object: position in an R3 coordinate frame, and a reflectance vector denoting the associated spectral signature. We demonstrate this system in building spectral-spatial object profiles of increasingly complex geometries. We show the proposed system and spectral acquisition planning produce more consistent spectral signals than naïve point scanning strategies. Our work represents a significant step towards high-resolution spectral-spatial sensor fusion for automated quality assessment. © 2024, CC BY-NC-SA.

关键词： Infrared devices

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Real-Time Imitation of Human Head Motions, Blinks and Emotions by Nao Robot: A Closed-Loop Approach

Real-Time Imitation of Human Head Motions, Blinks and Emotio...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Keyhan Rayati Amirhossein Feizi Alireza Beigy Pourya Shahverdi Mehdi Tale Masouleh Ahmad Kalhor Wing-Yue Geoffrey Louie Human and Robot Interaction Lab Electrical and Computer Engineering University of Tehran Tehran Iran Department of Electrical Engineering Shahrood University of Technology Shahrood Iran Intelligent Robotics Laboratory Oakland University Michigan USA

This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPipe as a computer vision library and the DeepFace as an emotion recognition library, this research endeavors to capture the subtleties of human head motion, including blink actions and emotional expressions, and seamlessly incorporate these indicators into the robot’s responses. The result is a comprehensive framework which facilitates precise head imitation within human-robot interactions, utilizing a closed-loop approach that involves gathering real-time feedback from the robot’s imitation performance. This feedback loop ensures a high degree of accuracy in modeling head motion, as evidenced by an impressive R2 score of 96.3 for pitch and 98.9 for yaw. Notably, the proposed approach holds promise in improving communication for children with autism, offering them a valuable tool for more effective interaction. In essence, proposed work explores the integration of real-time head imitation and real-time emotion recognition to enhance human-robot interactions, with potential benefits for individuals with unique communication needs.

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Synthetic Thermal and RGB Videos for Automatic Pain Assessment Utilizing a vision-MLP Architecture

Synthetic Thermal and RGB Videos for Automatic Pain Assessme...

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International Conference on Affective Computing and Intelligent Interaction Workshops and Demos (ACIIW)

作者： Stefanos Gkikas Manolis Tsiknakis Department of Electrical & Computer Engineering Hellenic Mediterranean University Heraklion Greece Affiliated Researcher at the Computational Biomedicine Laboratory of the Foundation for Research and Technology (FORTH) Heraklion Greece

ISBN: (数字)9798331516451

ISBN: (纸本)9798331516468

Pain assessment is essential in developing optimal pain management protocols to alleviate suffering and prevent functional decline in patients. Consequently, reliable and accurate automatic pain assessment systems are essential for continuous and effective patient monitoring. This study presents synthetic thermal videos generated by Generative Adversarial Networks integrated into the pain recognition pipeline and evaluates their efficacy. A framework consisting of a vision-MLP and a Transformer-based module is utilized, employing RGB and synthetic thermal videos in unimodal and multimodal settings. Experiments conducted on facial videos from the BioVid database demonstrate the effectiveness of synthetic thermal videos and underline the potential advantages of it.

关键词： Temperature Protocols Pain Infrared imaging Transformer cores Transformers Generative adversarial networks Thermal conductivity Reliability Videos

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Conceptual Design and Simulation of a BCF Swimming Soft Robotic Fish for Deep-Sea

Conceptual Design and Simulation of a BCF Swimming Soft Robo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Yanyan Ding, Menglong Zhu, Shiqiang Liang, Yiming Bai, Yunhe Xie, Keren Wan, Minhong Gu, Jason Li, Tiefeng Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H4R2 Canada Center for X-mechanics Zhejiang University Hangzhou310027 China Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering Mechanics Zhejiang University Hangzhou310027 China

ISBN: (纸本)9781665481090

This work provides a design of a deep-sea soft robotic fish propelled by the body and/or caudal fin (BCF) mode. The robotic fish consists of a bionic fish head and a BCF propulsion body. To enhance the swimming performance of the first soft robot fish in the deep sea, the design combines the advantages of high efficiency in BCF propulsion with the large deformation angle of dielectric elastomers (DE) flexible joints. The connection of the bionic fish head and BCF is cast in one piece of silicone to achieve deep-sea pressure self-adaptation of the soft robotic fish. The swimming performance was simulated using the CFD method, and the BCF propulsion behaviors were analyzed to evaluate the design proposed. The design goal was verified through numerical calculation, and a further enhanced strategy for the thrust ability of the fish was presented as well. This work can provide a low-cost bionic soft robot fish solution for deep-sea exploration. © 2022 IEEE.

关键词： Conceptual design

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Robotic fish:Opening a new era of underwater detection

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The Innovation 2025年第3期6卷 13-14页

作者： Dongfang Li Suet To Zhicheng Xu Guanghong Liu Rob Law Edmond Q.Wu Limin Zhu State Key Laboratory of Ultraprecision Machining Technology Department of Industrial and Systems EngineeringThe Hong Kong Polytechnic UniversityHong Kong 999077China School of Electrical Engineering and Automation Fuzhou UniversityFujian 350108China China Electronics Technology Group Corporation Information Science Research InstituteBeijing 100086China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Asia-Pacific Academy of Economics and Management Faculty of Business AdministrationUniversity of MacaoMacao 999078China Department of Computer Science and Engineering Shanghai JiaoTong UniversityShanghai 200240China

Escalating competition within aquatic environments,particularly in oceans,underscores the imperative for innovative solutions in underwater *** solutions necessitate the development of intelligent underwater equipment,with robotic fish emerging as a promising contender.1 Leveraging advancements in robotics and artificial intelligence,robotic fish offer a suite of advantages that position them as transformative assets in underwater exploration and *** fish are autonomous robots designed based on biomimetics principles that mimic the appearance of fish and can autonomously swim and perform specific tasks in water.

关键词： robotic fish intelligent underwater equipmentwith autonomous robots underwater detection oceans artificial intelligencerobotic fish aquatic environments innovative solutions

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Twins-PainViT: Towards a Modality-Agnostic vision Transformer Framework for Multimodal Automatic Pain Assessment Using Facial Videos and fNIRS

Twins-PainViT: Towards a Modality-Agnostic Vision Transforme...

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International Conference on Affective Computing and Intelligent Interaction Workshops and Demos (ACIIW)

ISBN: (数字)9798331516451

ISBN: (纸本)9798331516468

Automatic pain assessment plays a critical role for advancing healthcare and optimizing pain management strategies. This study has been submitted to the First Multimodal Sensing Grand Challenge for Next-Gen Pain Assessment (AI4PAIN). The proposed multimodal framework utilizes facial videos and fNIRS and presents a modality-agnostic approach, alleviating the need for domain-specific models. Employing a dual ViT configuration and adopting waveform representations for the fNIRS, as well as for the extracted embeddings from the two modalities, demonstrate the efficacy of the proposed method, achieving an accuracy of 46.76% in the multilevel pain assessment task.

关键词： Deep learning computer vision Pain Multimodal sensors Pipelines Neurons Medical services Transformers Functional near-infrared spectroscopy Videos

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