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arXiv 2024年

作者： Ghahremani, Maryam Zapata-Rodríguez, Carlos J. Photonics Research Laboratory Center of Excellence on Applied Electromagnetic Systems School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Department of Optics and Optometry and Vision Sciences Faculty of Physics University of Valencia Dr. Moliner 50 Burjassot46100 Spain

This study presents a novel approach to activate a narrowband transparency line within a reflecting broadband window in all-dielectric metasurfaces, in analogy to the electromagnetically-induced transparency effect, by means of a quasi-bound state in the continuum (qBIC). We demonstrate that the resonance overlapping of a bright mode and a qBIC-based nearly-dark mode with distinct Q-factor can be fully governed by a silicon trimer-based unit cell with broken-inversion-symmetry cross shape, thus providing the required response under normal incidence of a linearly-polarized light. Our analysis that is derived from the far-field multipolar decomposition and near-field electromagnetic distributions uncovers the main contributions of different multipoles on the qBIC resonance, with governing magnetic dipole and electric quadrupole terms supplied by distinct parts of the dielectric "molecule." The findings extracted from this research open up new avenues for the development of polarization-dependent technologies, with particular interest in its capabilities for sensing and biosensing. © 2024, CC BY-NC-ND.

关键词： Transparency

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Fixed-time Adaptive Neural Control for Physical Human-Robot Collaboration with Time-Varying Workspace Constraints

arXiv

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arXiv 2023年

作者： Sun, Yuzhu Van, Mien McIlvanna, Stephen Nhat, Nguyen Minh McLoone, Seán Ceglarek, Dariusz Ge, Shuzhi Sam The Centre for Intelligent Autonomous Manufacturing Systems School of Electronics Electrical Engineering and Computer Science Queen’s University Northern Ireland Belfast United Kingdom The Warwick Manufacturing Group University of Warwick Coventry United Kingdom The Department of Electrical and Computer Engineering Social Robotics Laboratory National University of Singapore Singapore

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for handling time-varying workspace constraints that occur in physical human-robot collaboration while also guaranteeing compliance during intended force interactions. The proposed methodology combines the benefits of compliance control, time-varying integral barrier Lyapunov function (TVIBLF) and fixed-time techniques, which not only achieve compliance during physical contact with human operators but also guarantee time-varying workspace constraints and fast tracking error convergence without any restriction on the initial conditions. Furthermore, a neural adaptive control law is designed to compensate for the unknown dynamics and disturbances of the robot manipulator such that the proposed control framework is overall fixed-time converged and capable of online learning without any prior knowledge of robot dynamics and disturbances. The proposed approach is finally validated on a simulated two-link robot manipulator. Simulation results show that the proposed controller is superior in the sense of both tracking error and convergence time compared with the existing barrier Lyapunov functions based controllers, while simultaneously guaranteeing compliance and safety. Copyright © 2023, The Authors. All rights reserved.

关键词： Lyapunov functions

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Fuzzy-NMS: Improving 3D Object Detection With Fuzzy Classification in NMS

IEEE Transactions on Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2024年 1-15页

作者： Wang, Li Zhang, Xinyu Zhao, Fachuan Wu, Chuze Wang, Yichen Song, Ziying Yang, Lei Xu, Bin Li, Jun Ge, Shuzhi Sam School of Machanical Engineering Beijing Institute of Technology Beijing China School of Vehicle and Mobility Tsinghua University Beijing China School of Computer and Information Technology Beijing Key Lab of Traffic Data Analysis and Mining Beijing Jiaotong University Beijing China Department of Electrical and Computer Engineering Interactive Digital Media Institute Social Robotics Laboratory National University of Singapore Singapore

Non-maximum suppression (NMS) is an essential post-processing module in many 3D object detection frameworks to remove overlapping candidate bounding boxes. However, an overreliance on classification scores and difficulties in determining appropriate thresholds can affect the resulting accuracy directly. To address these issues, we introduce fuzzy learning into NMS and propose a novel generalized Fuzzy-NMS module to achieve finer candidate bounding box filtering. The proposed Fuzzy-NMS module combines the volume and clustering density of candidate bounding boxes, refining them with a fuzzy classification method and optimizing the appropriate suppression thresholds to reduce uncertainty in the NMS process. Adequate validation experiments use the mainstream KITTI and large-scale Waymo 3D object detection benchmarks. The results of these tests demonstrate the proposed Fuzzy-NMS module can improve the accuracy of numerous recently NMS-based detectors significantly, including PointPillars, PV-RCNN, and IA-SSD, etc. This effect is particularly evident for small objects such as pedestrians and bicycles. As a plug-and-play module, Fuzzy-NMS does not need to be retrained and produces no obvious increases in inference time. IEEE

关键词： Object detection

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QuerySOD: A Small Object Detection Algorithm Based on Sparse Convolutional Network and Query Mechanism

QuerySOD: A Small Object Detection Algorithm Based on Sparse...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Zhengcai Cao Junnian Li Jie Niu MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Although remarkable advances have been achieved in generic object detection, small object detection (SOD) remains challenging owing to small objects’ information loss and noisy representation caused by their non-uniform distribution. Their limited width and height, scale variations, and redundant computation make SOD hard. To overcome them, this work proposes a new SOD method based on sparse convolutional network (SCNet) and Query Mechanism called QuerySOD. First, an extended feature pyramid network is constructed for extracting feature maps of small objects with more regional details. Then, a Sparse Head is neatly designed by using SCNet for accelerating the interfering speed and obtaining weights of each layer. After that, a Query Mechanism is innovatively introduced for harvesting the benefit of sparse value feature maps from the Sparse Head. QuerySOD is evaluated on public benchmarks including COCO and VisDrone. Finally, we apply it on ‘Jinghai’ unmanned survey vehicles and receive excellent SOD performance from this real-world application.

关键词： Surveys Accuracy Object detection Seaports Lakes Feature extraction Prediction algorithms Convolutional neural networks Security Noise measurement

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An End-to-End Human Simulator for Task-Oriented Multimodal Human-Robot Collaboration

arXiv

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arXiv 2023年

作者： Shervedani, Afagh Mehri Li, Siyu Monaikul, Natawut Abbasi, Bahareh Di Eugenio, Barbara Žefran, Miloš The Robotics Laboratory Department of Electrical and Computer Engineering University of Illinois Chicago ChicagoIL60607 United States The Natural Language Processing Laboratory Department of Computer Science University of Illinois Chicago ChicagoIL60607 United States The Computer Science Department California State University Channel Islands CamarilloCA93012 United States

This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of communication. The simulator is trained on the existing ELDERLY-AT-HOME corpus and accommodates multiple modalities such as language, pointing gestures, and haptic-ostensive actions. The paper also presents a novel multimodal data augmentation approach, which addresses the challenge of using a limited dataset due to the expensive and time-consuming nature of collecting human demonstrations. Overall, the study highlights the potential for using RL and multimodal user simulators in developing and improving domestic assistive robots. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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A Context-Enhanced Full-Resolution Floor Plan Segmentation Network for Topological Semantic Mapping

A Context-Enhanced Full-Resolution Floor Plan Segmentation N...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Zhengcai Cao Yiyang Sun Zhe Ma MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Topological semantic maps provide a practical solution to enhance indoor navigation for the Partially Sighted or Visually Impaired (PSVI). Segmenting indoor floor plans and extracting boundaries are key to constructing these maps. The existing methods exhibit low accuracy in segmentation. To achieve desired high segmentation accuracy, we introduce a Context-Enhanced Full-Resolution Network (CEFRN) for floor plan segmentation. It is designed to harness the shallow detailed features and inter-category contextual dependencies inherent in floor plans. CEFRN integrates modified residual blocks to capture the low-stage full-resolution features while maintaining its compactness. A position attention module is employed to refine the deep-stage contextual information. We also propose a two-dimensional deep supervision method to merge features from both stages, which significantly boosts the feature representation ability of CEFRN. Finally, a practical topological semantic mapping method for PSVI indoor navigation is introduced. Experimental results demonstrate that CEFRN’s segmentation accuracy well exceeds the state-of-the-art methods’. It can be used to well support accurate topological semantic mapping.

关键词： Accuracy Hospitals Indoor navigation Semantics Feature extraction Mobile robots Floors Intelligent robots Autonomous vehicles Drones

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Application of Deep Learning Method to Estimate Bottomhole Pressure Dynamics of Oil Wells

Application of Deep Learning Method to Estimate Bottomhole P...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Haibo Cheng Shichao Li Peng Zeng Valeriy Vyatkin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize waterflooding development. In this study, a deep learning-based surrogate model method is proposed to estimate bottomhole pressure (BHP) of production wells in waterflooding reservoirs. Bidirectional long short-term memory (BiLSTM) network, as an efficient deep learning approach, is applied to BHP estimation using fluctuation data. Extended Fourier amplitude sensitivity test (EFAST) method is employed to analyse the influence of different input factors on BHP dynamics, and a reduced dataset is rebuilt to predict BHP parameter based on BiLSTM-EFAST algorithm. The estimation results are tested on a dataset from Volve oilfield in North Sea, and compared with other deep learning methods. The test results indicate that the proposed method can achieve higher prediction accuracy. A reduced dataset-based approach provides a new attempt to reduce model complexity and improve calculation speed for big data-driven surrogate model in oil and gas industry.

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Smart Insole: Stand-Alone Soft 3-Axis Force Sensing Array in a Shoe

Smart Insole: Stand-Alone Soft 3-Axis Force Sensing Array in...

引用

IEEE SENSORS

作者： Jian Gao Zihao Pu Ruixin Qiu Ying Li Xiulun Yin Kieran Morton Sadan Wani Justin Wyss Michael Steszyn Ryusuke Ishizaki Fumiya Hamatsu Takeshi Ohsato John D.W. Madden Department of Electrical & Computer Engineering Advanced Material Processing Engineering Laboratory University of British Columbia Vancouver Canada i-generator Portland USA Frontier Robotics Honda R&D Co. Ltd Saitama Japan

Foot plantar force monitoring has been explored using in-shoe soft insole measurements for application in diabetic foot and to assess footwear performance. Sensors are impractical for regular use due to bulky electronics and short battery life. They typically lack shear sensing. A soft flexible and custom configurable 3-axis capacitive sensing array is demonstrated through a customizable arrangement of 16-shear and normal force taxels completely imbedded in a shoe insole that wirelessly updates at 50 $\mathrm{n}_{2}$ . A patterned silicone dielectric mounted on a flex printed circuit board enables normal and shear sensitivities of 19.9 and 2.8 $\text{kPa}^{-1}$ . The 20 $\text{mW}$ power consumption includes transmission of data to a nearby mobile device, which is satisfied for more than 50 hours using a built-in 350 mAh LiPo battery. Operation in a shoe is demonstrated.

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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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FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration

arXiv

引用

arXiv 2023年

作者： Stathoulopoulos, Nikolaos Koval, Anton Agha-Mohammadi, Ali-Akbar Nikolakopoulos, George Robotics and AI Group Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå971 87 Sweden Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109 United States

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots’ poses. The novel proposed solution utilizes state-of-the-art place recognition learned descriptors, that through the framework’s main pipeline, offer a fast and robust region overlap estimation, hence eliminating the need for the time-consuming global feature extraction and feature matching process that is typically used in 3D map integration. The region overlap estimation provides a homogeneous rigid transform that is applied as an initial condition in the point cloud registration algorithm Fast-GICP, which provides the final and refined alignment. The efficacy of the proposed framework is experimentally evaluated based on multiple field multi-robot exploration missions in underground environments, where both ground and aerial robots are deployed, with different sensor configurations. Copyright © 2023, The Authors. All rights reserved.

关键词： Antennas

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