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QTER: QoS-Aware Three-Dimensional Efficient and Reliable Routing for LEO Satellite Networks

IEEE Internet of Things Journal 2025年

作者： Zheng, Jinkai Luan, Tom H. Li, Guanjie Zhang, Yanfeng Yuan, Mingfeng Pan, Jianping Dongguan University of Technology School of Electrical Engineering and Intelligentization China Xi’an Jiaotong University China Xidian University School of Cyber Engineering China Singapore University of Technology and Design Information Systems Technology and Design Pillar Singapore University of Toronto Institute for Aerospace Studies University of Toronto Robotics Institute Canada University of Victoria Department of Computer Science Canada

Low Earth Orbit (LEO) satellite networks offer a promising approach for achieving global coverage and high-speed Internet access. However, the existing communication frameworks within these networks may result in low robustness and reliability. This paper introduces QTER, a novel and lightweight routing framework specifically designed for LEO networks, aimed at addressing these challenges. Our contributions are threefold. First, QTER establishes a cost-effective and reliable routing framework that accommodates a variety of applications with distinct Quality of Service (QoS) requirements. By enabling multi-path routing, the framework minimizes costs while ensuring end-to-end reliability, thus enhancing adaptability to diverse service demands. Second, we leverage the unique structural characteristics of LEO satellite networks by modeling the satellite constellation as a three-dimensional network, wherein higher-shell satellites serve as management satellite nodes (MSNs) to coordinate routing strategies among lower-shell satellites. This architecture significantly improves system efficiency and adaptability. Third, we propose a failure recovery mechanism that allows MSNs to relay packets when lower-orbit satellites are rendered unavailable due to environmental factors, thereby enhancing system robustness. Extensive simulations demonstrate that QTER exhibits resilience to node failures and dynamic network conditions, achieving reductions in average cost and delay by 59.4% and 38.9%, respectively, compared to baselines. © 2014 IEEE.

关键词： Resource allocation

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Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning

arXiv

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arXiv 2024年

作者： Thibault, William Rajendran, Vidyasagar Melek, William Mombaur, Katja Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada The Department of Systems Design Engineering CERC Human-Centred Robotics and Machine Intelligence University of Waterloo Canada Karlsruhe Germany

Learning-based methods have proven useful at generating complex motions for robots, including humanoids. Reinforcement learning (RL) has been used to learn locomotion policies, some of which leverage a periodic reward formulation. This work extends the periodic reward formulation of locomotion to skateboarding for the REEM-C robot. Brax/MJX is used to implement the RL problem to achieve fast training. Initial results in simulation are presented with hardware experiments in progress. © 2024, CC BY.

关键词： Reinforcement learning

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Optimization of DEFORM-3D simulated drilling of UNSS31603-steel by integrated MOORA coupled PCA technique

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Materials Today: Proceedings 2023年

作者： Mugilan, T. Sridhar, N. Santhosh, S. Teddy Jefri, G. Yokesh, K.S. Department of Mechanical Engineering Government College of Technology Coimbatore 641 013 Tamil Nadu India Department of Robotics and Automation SRM Easwari Engineering College Chennai 600 089 Tamil Nadu India Department of Engineering Design Government College of Technology Coimbatore 641 013 Tamil Nadu India

Due to its creep and stress-rapture strengths, superior formability, and high temperature tensile, UNS S31603 alloys are regarded as a good machinability material. As a result of the increased heat and thrust force generated by the cutting process, increased tool wear and damage are an inevitable byproduct of increased cutting speed and feed rate at the cutting edge. Drilling parameters are the only variable that can be changed to affect the temperature, and hence the wear and tear on the drill bit. In this inquiry, a 3D FEM has been proposed to study the drilling process simulation of UNS S31603 to reduce the drilling temperature, thrust force and drilling time. With DEFORM, a computer simulation model has been run to examine temperature changes as a function of cutting speed and feed rate. This study found that raising either the feed rate or the cutting speed resulted in a corresponding rise in temperature. With the aid of the unique optimization approach, integrated MOORA coupled PCA, the input process variables have been optimized. From the optimization, the optimized input parameters were identified as 260 rpm speed, 1.2 mm/min feed rate and the drill point angle of 90 degrees in order to achieve the minimum cutting force of 312 N and minimum temperature of 540 °C. At long last, optimal findings have been obtained that can assist cut down on the excessive development of heat, thrust force, and drilling time. © 2023 Elsevier Ltd. All rights reserved.

关键词： Infill drilling

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Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking

Learning Quadrupedal Locomotion with Impaired Joints Using R...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mincheol Kim Ukcheol Shin Jung-Yup Kim Department of Mechanical Design and Robot Engineering Humanoid Robot Research Laboratory Seoul National University of Science and Technology Seoul Republic of Korea Robotics Institute Carnegie Mellon University Pittsburgh PA US

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Quadrupedal robots have played a crucial role in various environments, from structured environments to complex harsh terrains, thanks to their agile locomotion ability. However, these robots can easily lose their locomotion functionality if damaged by external accidents or internal malfunctions. In this paper, we propose a novel deep reinforcement learning framework to enable a quadrupedal robot to walk with impaired joints. The proposed framework consists of three components: 1) a random joint masking strategy for simulating impaired joint scenarios, 2) a joint state estimator to predict an implicit status of current joint condition based on past observation history, and 3) progressive curriculum learning to allow a single network to conduct both normal gait and various joint-impaired gaits. We verify that our framework enables the Unitree’s Go1 robot to walk under various impaired joint conditions in real-world indoor and outdoor environments.

关键词： Legged locomotion Deep reinforcement learning Motion capture Indoor environment Quadrupedal robots Reliability History

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designing User Interfaces for Partially Automated Vehicles: Effects of Information and Modality on Trust and Acceptance

SSRN

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SSRN 2023年

作者： Kim, Soyeon He, Xiaolin van Egmond, René Happee, Riender Department of Human-Centered Design Faculty of Industrial Design Engineering Delft University of Technology Landbergstraat 15 Delft2628 CE Netherlands Department of Cognitive Robotics Faculty of Mechanical Maritime and Materials Engineering Delft University of Technology Mekelweg 2 Delft2628 CD Netherlands

Trust and perceived safety are pivotal in the acceptance of automated vehicles and can be enhanced by providing users with automation information on the (safe) operation of the vehicle. This study aims to identify how user interfaces (UI) can enhance drivers' trust and acceptance and reduce perceived risk. Four interfaces were designed with different levels of complexity. These levels were achieved by combining automation information (surrounding information vs surrounding and manoeuvre information) and modality (visual vs visual and auditory). These interfaces were evaluated in a driving simulator in which a partially automated vehicle reacted to an event of a merging and braking vehicle in its front. The criticality of the events was manipulated by the factors merging gap (in meters) and deceleration (m/s2) of the vehicle in front. This reaction of the automation was either to brake or to change lanes. The results show that an optimal combination of automation information and modality enhances drivers' trust, communication with automation, perceived ease of use, and perceived usefulness. More specifically, the most complex UI, which provided surrounding and manoeuvre information via the visual and auditory modalities, was associated with the highest trust and acceptance ranking and the lowest perceived risk. Manoeuvre information delivered through the auditory modality was particularly effective in enhancing trust and acceptance. The benefits of the UIs were consistent over events. However, in the most critical events, drivers did not feel entirely safe and did not trust the automation completely. This study shows that the design of UIs for partially automated vehicles should include surrounding and manoeuvre information combining visual and auditory modalities. © 2023, The Authors. All rights reserved.

关键词： User interfaces

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Measuring and Analyzing Human Wide-Area Contact Motion using Tactile Sensors*

Measuring and Analyzing Human Wide-Area Contact Motion using...

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IEEE-RAS International Conference on Humanoid Robots

作者： Shuang Wang Ko Ayusawa Eiichi Yoshida Department of Medical and Robotic Engineering Design Faculty of Advanced Engineering Tokyo University of Science Tokyo Japan Human Augmented Research Center (Kashiwa) Chiba CNRS-AIST JRL (Joint Robotics Laboratory) IRL Tsukuba Ibaraki Japan

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

This paper proposes a framework for measuring human motions involving surface contacts by collecting data from distributed tactile sensors and motion capture systems simultaneously. Although contacts play an important role in natural robot interaction with humans and environments, their high complexity makes contact-rich motions challenging for even advanced humanoid robots. One possible approach is to learn from humans who generate such motions with ease in their daily lives. While analysis of human contact motions can lead to understanding human motion strategy to improve robots’ motion capacity and robustness, access to human motion data including contacts is still limited. This paper addresses this issue by establishing a method for obtaining human motions with wide-area contacts. The contact information measured by the tactile sensors is mapped on the human body through position-orientation and force registration, and unified with synchronized body motion data. A series of experiments have been conducted to validate the physical quality of the force measurement and demonstrate that the proposed framework is effective in acquiring whole-body contact motions.

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Indirect Haptic Disturbances Enhance Motor Variability, with Divergent Effects on Skill Transfer

Indirect Haptic Disturbances Enhance Motor Variability, with...

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Wouter Arink Katherine L. Poggensee Niek Beckers David A. Abbink Laura Marchal-Crespo All authors are with the Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Department of Rehabilitation Medicine Erasmus MC University Medical Center Rotterdam Rotterdam The Netherlands Department of Sustainable Design Engineering Delft University of Technology Delft The Netherlands

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Research on motor learning has found evidence that learning rate is positively correlated with the learner's motor variability. However, it is still unclear how to robotically promote that variability without compromising the learner's sense of agency and motivation, which are crucial for motor learning. We propose a novel method to enhance motor variability during learning of a dynamic task by applying pseudo-random perturbing forces to the internal degree of freedom of the dynamic system rather than directly applying the forces to the learner's limb. Twenty healthy participants practiced swinging a virtual pendulum to hit oncoming targets, either with the novel method or without disturbances, to evaluate the effect of the method on motor learning, skill transfer, motivation, and agency. We evaluated skill transfer using two tasks, changing either the target locations or the task dynamics by shortening the pendulum rod. The indirect haptic disturbance method successfully increased participants' motor variability during training compared to training without disturbance. Although we did not observe group-level differences in learning, we observed divergent effects on skill generalization. The indirect haptic disturbances seemed to promote skill transfer to the altered task dynamics but limited transfer in the task with altered target positions. Motivation was not affected by the haptic disturbances, but future work is needed to determine if indirect haptic noise negatively impacts sense of agency. Increasing motor variability by indirect haptic disturbance is promising for enhancing skill transfer in tasks that incorporate complex dynamics. However, more research is needed to make indirect haptic disturbance a valuable tool for real-life motor learning situations.

关键词： Training Limiting Perturbation methods Dynamics Noise Motors Control systems Robot sensing systems Haptic interfaces Dynamical systems

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

Fuzzy Object Ambiguity Determination and Human Attention Ass...

引用

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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Inline Photometrically Calibrated Hybrid Visual SLAM

arXiv

引用

arXiv 2024年

作者： Abboud, Nicolas Sayour, Malak Elhajj, Imad H. Zelek, John Asmar, Daniel Vision and Robotics Lab Maroun Semaan Faculty of Engineering and Architecture American University of Beirut Riad El Solh Beirut1107 2020 Lebanon Department of System Design Engineering University of Waterloo 200 University Avenue West WaterlooON Canada

This paper presents an integrated approach to Visual SLAM, merging online sequential photometric calibration within a Hybrid direct-indirect visual SLAM (H-SLAM). Photometric calibration helps normalize pixel intensity values under different lighting conditions, and thereby improves the direct component of our H-SLAM. A tangential benefit also results to the indirect component of H-SLAM given that the detected features are more stable across variable lighting conditions. Our proposed photometrically calibrated H-SLAM is tested on several datasets, including the TUM monoVO as well as on a dataset we created. Calibrated H-SLAM outperforms other state of the art direct, indirect, and hybrid Visual SLAM systems in all the experiments. Furthermore, in online SLAM tested at our site, it also significantly outperformed the other SLAM Systems. © 2024, CC BY-NC-ND.

关键词： Lighting

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Development and Validation of a Modular Sensor-Based System for Gait Analysis and Control in Lower-Limb Exoskeletons

arXiv

引用

arXiv 2024年

作者： Marinou, Giorgos Kourouma, Ibrahima Mombaur, Katja Heidelberg University Heidelberg69120 Germany Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany Department of Systems Design Engineering The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada

With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb exoskeletons, utilizing advanced sensor technologies and fuzzy logic. We aim to surpass the limitations of current biomechanical evaluation methods confined to laboratories and to address the high costs and complexity of exoskeleton control systems. The system integrates inertial measurement units, force-sensitive resistors, and load cells into instrumented crutches and 3D-printed insoles. These components function both independently and collectively to capture comprehensive biomechanical data, including the anteroposterior center of pressure and crutch ground reaction forces. This data is processed through a central unit using fuzzy logic algorithms for real-time gait phase estimation and exoskeleton control. Validation experiments with three participants, benchmarked against gold-standard motion capture and force plate technologies, demonstrate our system’s capability for reliable gait phase detection and precise biomechanical measurements. By offering our designs open-source and integrating cost-effective technologies, this study advances wearable robotics and promotes broader innovation and adoption in exoskeleton research. Copyright © 2024, The Authors. All rights reserved.

关键词： Exoskeleton (robotics)

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