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Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model

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Passive Quadrupedal Gait Synchronization for Extra Robotic L...

IEEE International Conference on robotics and Automation (ICRA)

作者： Daniel J. Gonzalez H. Harry Asada Robotics Research Center in the Department of Electrical Engineering and Computer Science United States Military Academy West Point NY USA d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human's limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone.

关键词： Legged locomotion Wheels Synchronization Couplers Robot kinematics

Nonlinear mpc for collision avoidance and control of uavs with dynamic obstacles

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arXiv 2020年

作者： Lindqvist, Björn Mansouri, Sina Sharif Agha-Mohammadi, Ali-Akbar Nikolakopoulos, George Robotics and AI Team Department of Computer Electrical and Space Engineering Luleå University of Technology LuleåSE-97187 Sweden Jet Propulsion Laboratory California Institute of Technology Pasadena CA91109 United States

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in this article we apply a classification scheme to differentiate between different kinds of trajectories to predict future obstacle positions. The trajectory calculation is done from an initial condition, and fed to the NMPC as an additional input. The solver used is the nonlinear, non-convex solver Proximal Averaged Newton for Optimal Control (PANOC) and its associated software OpEn (Optimization Engine), in which we apply a penalty method to properly consider the obstacles and other constraints during navigation. The proposed NMPC scheme allows for real-time solutions using a sampling time of 50 ms and a two second prediction of both the obstacle trajectory and the NMPC problem, which implies that the scheme can be considered as a local path-planner. This paper will present the NMPC cost function and constraint formulation, as well as the methodology of dealing with the dynamic obstacles. We include multiple laboratory experiments to demonstrate the efficacy of the proposed control architecture, and to show that the proposed method delivers fast and computationally stable solutions to the dynamic obstacle avoidance scenarios. Copyright © 2020, The Authors. All rights reserved.

关键词： Collision avoidance

Multi-Class Segmentation of Aortic Branches and Zones in Computed Tomography Angiography: The AortaSeg24 Challenge

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arXiv 2025年

作者： Imran, Muhammad Krebs, Jonathan R. Sivaraman, Vishal Balaji Zhang, Teng Kumar, Amarjeet Ueland, Walker R. Fassler, Michael J. Huang, Jinlong Sun, Xiao Wang, Lisheng Shi, Pengcheng Rokuss, Maximilian Baumgartner, Michael Kirchhof, Yannick Maier-Hein, Klaus H. Isensee, Fabian Liu, Shuolin Han, Bing Nguyen, Bong Thanh Shin, Dong-Jin Ji-Woo, Park Choi, Mathew Uhm, Kwang-Hyun Ko, Sung-Jea Lee, Chanwoong Chun, Jaehee Kim, Jin Sung Zhang, Minghui Zhang, Hanxiao You, Xin Gu, Yun Pan, Zhaohong Liu, Xuan Liang, Xiaokun Tiefenthaler, Markus Almar-Munoz, Enrique Schwab, Matthias Kotyushev, Mikhail Epifanov, Rostislav Wodzinski, Marek Müller, Henning Qayyum, Abdul Mazher, Moona Niederer, Steven A. Wang, Zhiwei Yang, Kaixiang Ren, Jintao Korreman, Stine Sofia Gao, Yuchong Zeng, Hongye Zheng, Haoyu Zheng, Rui Yue, Jinghua Zhou, Fugen Liu, Bo Cosman, Alexander Liang, Muxuan Zhao, Chang Upchurch, Gilbert R. Ma, Jun Zhou, Yuyin Cooper, Michol A. Shao, Wei Department of Medicine University of Florida GainesvilleFL32611 United States Department of Surgery University of Florida GainesvilleFL32611 United States Department of Electrical and Computer Engineering University of Florida GainesvilleFL32611 United States Department of Computer Information Science and Engineering University of Florida GainesvilleFL32611 United States Shanghai Jiao Tong University Shanghai China Electronic & Information Engineering School Harbin Institute of Technology [Shenzhen Shenzhen China Division of Medical Image Computing German Cancer Research Center [DKFZ Heidelberg Germany CO. LTD Beijing China MedAI Seoul Korea Republic of Korea University Seoul Korea Republic of Department of Radiation Oncology Yonsei Cancer Center Heavy Ion Therapy Research Institute Yonsei University College of Medicine Seoul Korea Republic of Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Medical University of Innsbruck Innsbruck Austria Novosibirsk State University Novosibirsk Russia AGH University of Krakow Krakow Poland Sierre Switzerland University of Geneva Geneva Switzerland The Sense Innovation and Research Center Sion Switzerland National Heart and Lung Institute Faculty of Medicine Imperial College London London United Kingdom Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Hubei Wuhan China Aarhus University Department of Clinical Medicine Nordre Palle Juul-Jensens Blvd. 11 Aarhus8200 Denmark Shanghaitech University Pudong Shanghai China Image Processing Center Beihang University Beijing China Department of Computer Science and Engineering University of California Santa CruzCA95064 United States Department of Biostatistics University of Florida GainesvilleFL32611 United States University Health Network ON Canada Agronomy Department University of F

Multi-class segmentation of the aorta in computed tomography angiography (CTA) scans is essential for diagnosing and planning complex endovascular treatments for patients with aortic dissections. However, existing methods reduce aortic segmentation to a binary problem, limiting their ability to measure diameters across different branches and zones. Furthermore, no open-source dataset is currently available to support the development of multi-class aortic segmentation methods. To address this gap, we organized the AortaSeg24 MICCAI Challenge, introducing the first dataset of 100 CTA volumes annotated for 23 clinically relevant aortic branches and zones. This dataset was designed to facilitate both model development and validation. The challenge attracted 121 teams worldwide, with participants leveraging state-of-the-art frameworks such as nnU-Net and exploring novel techniques, including cascaded models, data augmentation strategies, and custom loss functions. We evaluated the submitted algorithms using the Dice Similarity Coefficient (DSC) and Normalized Surface Distance (NSD), highlighting the approaches adopted by the top five performing teams. This paper presents the challenge design, dataset details, evaluation metrics, and an in-depth analysis of the top-performing algorithms. The annotated dataset, evaluation code, and implementations of the leading methods are publicly available to support further research. All resources can be accessed at https://***. © 2025, CC BY-NC-SA.

关键词： computerized tomography

Collaborative Perception Datasets for Autonomous Driving: A Review

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arXiv 2025年

作者： Wang, Naibang Shang, Deyong Gong, Yan Hu, Xiaoxi Song, Ziying Yang, Lei Huang, Yuhan Wang, Xiaoyu Lu, Jianli Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing100084 China Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence School of Computer Science and Technology Beijing Jiaotong University China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Mechatronics Engineering Harbin Institute of Technology 92 West Dazhi St. Harbin China Department of Electronic & Electrical Engineering University of Bath United Kingdom

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the advancement of Vehicle-to-Everything (V2X) communication, numerous collaborative perception datasets have emerged, varying in cooperation paradigms, sensor configurations, data sources, and application scenarios. However, the absence of systematic summarization and comparative analysis hinders effective resource utilization and standardization of model evaluation. As the first comprehensive review focused on collaborative perception datasets, this work reviews and compares existing resources from a multi-dimensional perspective. We categorize datasets based on cooperation paradigms, examine their data sources and scenarios, and analyze sensor modalities and supported tasks. A detailed comparative analysis is conducted across multiple dimensions. We also outline key challenges and future directions, including dataset scalability, diversity, domain adaptation, standardization, privacy, and the integration of large language models. To support ongoing research, we provide a continuously updated online repository of collaborative perception datasets and related literature: https://***/frankwnb/Collaborative-Perceptio n-Datasets-for-Autonomous-Driving. © 2025, CC BY-SA.

关键词： Sensor data fusion

Enhancing wide-band trajectory tracking and finite-time control of Dielectric Elastomer Actuators using Nonsingular terminal sliding mode control scheme

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Mechatronics 2025年 109卷

作者： Kassim, Shakiru Olajide Zou, Jiang Behnamgol, Vahid Vaziri, Vahid Aphale, Sumeet S. Group School of Engineering University of Aberdeen ScotlandAB24 3UE United Kingdom The state Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Renewable Energy Research Centre Damavand Branch Islamic Azad University Tehran Iran Department of Electrical and Computer Engineering The Federal Polytechnic Damaturu Yobe State 620221 Nigeria

The utilization of Dielectric Elastomer Actuators (DEAs) in soft robotics is becoming increasingly popular due to their distinctive properties. However, controlling these actuators is challenging due to their nonlinear nature. This study addresses precise control of DEAs while minimizing nonlinear effects over a wide frequency range using a Sliding Mode Control (SMC) scheme. Traditional SMC approaches face two main issues: they do not ensure finite-time convergence during the sliding phase and compromise tracking accuracy due to approximations used to reduce chattering. This work presents a non-singular terminal sliding mode control combined with an enhanced boundary layer switching function to improve precision and finite-time stability. Using stability analysis, extensive MATLAB/SIMULINK simulations, and experimental validation on a conical DEA across diverse reference trajectories and its resilience against uncertainties, the proposed scheme demonstrates superior performance in trajectory tracking compared to PID-based and conventional SMC schemes. The results highlight the scheme's effectiveness in high-frequency trajectory tracking and its robustness to possible uncertainties and disturbances, offering a robust theoretical framework for dielectric elastomer actuator control and a promising approach for advancing soft robotic technologies. © 2025 The Authors

关键词： Intelligent robots

Challenges in Cybersecurity: Lessons from Biological Defense Systems

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SSRN

SSRN 2023年

作者： Schrom, Edward Kinzig, Ann P. Forrest, Stephanie Graham, Andrea L. Levin, Simon A. Bergstrom, Carl T. Castillo-Chavez, Carlos Collins, James P. de Boer, Rob J. Doupé, Adam Ensafi, Roya Feldman, Stuart Grenfell, Bryan T. Halderman, J. Alex Huijben, Silvie Maley, Carlo Moses, Melanie Perelson, Alan S. Perrings, Charles Plotkin, Joshua Rexford, Jennifer Tiwari, Mohit Department of Ecology and Evolutionary Biology Princeton University PrincetonNJ08544 United States School of Life Sciences Arizona State University TempeAZ85287 United States Biodesign Center for Biocomputation Security and Society Arizona State University TempeAZ85287 United States School of Computing and Augmented Intelligence Arizona State University TempeAZ85287 United States Santa Fe Institute Santa FeNM87501 United States Department of Biology University of Washington SeattleWA98195 United States School of Human Evolution and Social Change Arizona State University TempeAZ85287 United States Theoretical Biology and Bioinformatics Utrecht University Utrecht3584 CH Netherlands Center for Cybersecurity and Trusted Foundations Global Security Initiative Arizona State University TempeAZ85287 United States Department of Electrical Engineering and Computer Science Computer Science and Engineering Division University of Michigan Ann ArborMI48109 United States Schmidt Futures New YorkNY10011 United States Princeton School of Public and International Affairs Princeton University PrincetonNJ08544 United States Center for Computer Security and Society University of Michigan Ann ArborMI48109 United States Arizona Cancer Evolution Center Arizona State University TempeAZ85287 United States Department of Computer Science University of New Mexico AlbuquerqueNM87131 United States Department of Biology University of New Mexico AlbuquerqueNM87131 United States Theoretical Biology and Biophysics Group Los Alamos National Laboratory Los AlamosNM87545 United States Department of Biology University of Pennsylvania PhiladelphiaPA19104 United States Department of Computer Science Princeton University PrincetonNJ08540 United States Department of Electrical and Computer Engineering University of Texas AustinTX78712 United States

Defending against novel, repeated, or unpredictable attacks, while avoiding attacks on the ‘self’, are the central problems of both mammalian immune systems and computer systems. Both systems have been studied in great detail, but with little exchange of information across the different disciplines. Here, we present a conceptual framework for structured comparisons across the fields of biological immunity and cybersecurity, by framing the context of defense, considering different (combinations of) defensive strategies, and evaluating defensive performance. Throughout this paper, we pose open questions for further exploration. We hope to spark the interdisciplinary discovery of general principles of optimal defense, which can be understood and applied in biological immunity, cybersecurity, and other defensive realms. © 2023, The Authors. All rights reserved.

关键词： Cybersecurity

Dynamic attitude estimation improvement for low-cost MEMS IMU by integrating low-cost GPS

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arXiv 2020年

作者： Liao, Guiqiu Zhao, Jiankang Cui, Chao Long, Haihui Zhu, Jianbin Djerida, Achraf School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Imaging Robotics Remote Sensing & Health Department ICube University of Strasbourg Strasbourg France ALTAIR Robotics Laboratory Department of Computer Science University of Verona Verona Italy Shenzhen High Speed Engineering Consulting Co. Ltd. Shenzhen China

This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In the problem of fusing Inertial Measurement Unit (IMU) with low-cost GPS, the effect of time synchronization error on attitude estimation is concerned. A fusion algorithm which can estimate the motion states and the time synchronization error simultaneously is proposed. This algorithm adds a time estimation loop to improve estimation accuracy. Compared with another states augmented estimation approach, this method has the advantages of lower computation burden, avoidance of the discretization error in the low sample rate. The estimation algorithm is implemented in an low-cost embedded microprocessor where the update rate of algorithm can achieve more than 100 Hz, and therefore high-performance computational units are not necessary. In robotic experiment, the proposed algorithm serves as the navigation solution for a small aerial robot. The accuracy and reliability of the self-designed system are tested when the robot is moving with significant acceleration. Copyright © 2020, The Authors. All rights reserved.

关键词： Degrees of freedom (mechanics)

Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle

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Minimal 3D Dubins Path with Bounded Curvature and Pitch Angl...

IEEE International Conference on robotics and Automation (ICRA)

作者： Petr Váňa Armando Alves Neto Jan Faigl Douglas G. Macharet Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Department of Electronic Engineering Universidade Federal de Minas Gerais MG Brazil Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais MG Brazil

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, we address the problem of finding cost-efficient three-dimensional paths that satisfy the maximum allowed curvature and the pitch angle of the vehicle. For any given initial and final configurations, the problem is decoupled into finding the horizontal and vertical parts of the path separately. Although the individual paths are modeled as two-dimensional Dubins curves using closed-form solutions, the final 3D path is constructed using the proposed local optimization to find a cost-efficient solution. Moreover, based on the decoupled approach, we provide a lower bound estimation of the optimal path that enables us to determine the quality of the found heuristic solution. The proposed solution has been evaluated using existing benchmark instances and compared with state-of-the-art approaches. Based on the reported results and lower bounds, the proposed approach provides paths close to the optimal solution while the computational requirements are in hundreds of microseconds. Besides, the proposed method provides paths with fewer turns than others, which make them easier to be followed by the vehicle's controller.

关键词： Three-dimensional displays Two dimensional displays Turning Path planning Atmospheric modeling Space vehicles Optimization

Correction to: SleepBoost: a multi‑level tree‑based ensemble model for automatic sleep stage classification

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Medical & biological engineering & computing 2024年第9期62卷 2785页

作者： Akib Zaman Shiu Kumar Swakkhar Shatabda Iman Dehzangi Alok Sharma Computer Science and Artificial Intelligence Laboratory (CSAIL) Electrical Engineering and Computer Science Department Massachusetts Institute of Technology Cambridge MA USA. School of Electrical & Electronics Engineering Fiji National University Suva Fiji. shiu.kumar@fnu.ac.fj. Centre for Artificial Intelligence and Robotics (CAIR) United International University Dhaka Bangladesh. Department of Computer Science Rutgers University Camden NJ USA. Center for Computational and Integrative Biology Rutgers University Camden USA. Laboratory for Medical Science Mathematics RIKEN Center for Integrative Medical Sciences Yokohama 230‑0045 Japan. Institute for Integrated and Intelligent Systems Griffith University Nathan Brisbane QLD Australia.