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Revolutionizing Marine Stability: A Review of Cutting-Edge Gyro Stabilizer Designs and Techniques for Vessels

IEEE Access 2025年 13卷 89542-89555页

作者： Rahiman, Wan Ghazali, Mohamad Hazwan Mohd Mahmood, Iskandar Al-Thani Universiti Sains Malaysia Engineering Campus School of Electrical and Electronic Engineering Penang Nibong Tebal14300 Malaysia Daffodil International University Daffodil Robotics Lab Department of Computer Science and Engineering Dhaka1216 Bangladesh Universiti Kebangsaan Malaysia Faculty of Engineering and Built Environment Department of Mechanical and Manufacturing Engineering Selangor Bangi43600 Malaysia PETRONAS Research Sdn Bhd Selangor Kajang43000 Malaysia

Advancement in marine vessel stabilization technologies has greatly improved the safety and comfort for crews, cargo, and passengers, while also lowering the risk of capsizing. Marine vessels operating in open waters experience disturbances from unpredictable waves and strong winds, leading to instability and potential accidents. To mitigate these risks, stabilizers are integrated into ships to maintain stability, safety, and seaworthiness. As modern vessels evolve, stabilizers play an increasingly vital role, with gyro stabilizers emerging as a highly effective solution for mitigating roll motion without external appendages. This paper provides a comprehensive review of gyro stabilizer designs and techniques, covering their historical development, mathematical modeling, advantages, limitations, and case studies. A review of current research highlights a strong emphasis on simulating gyro stabilizer control systems, demonstrating their potential in enhancing vessel stability. However, key challenges persist, including accurate wave moment prediction during the design phase and gyroscopic drift, which can impact long-term performance and efficiency. Despite these challenges, recent advancements in control algorithms and optimization techniques have improved gyro stabilizer adaptability under varying sea conditions. By exploring the latest developments, this review serves as a valuable reference for researchers, engineers, and maritime professionals seeking to advance marine stabilization technologies. The findings underscore the potential of next-generation gyro stabilizers, including fiber optic gyros, in achieving higher precision, stability, and operational efficiency. © 2013 IEEE.

关键词： Warships

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Improving Robotic Arms Through Natural Language Processing, computer Vision, and Edge Computing

Improving Robotic Arms Through Natural Language Processing, ...

引用

Mechatronics, Control and robotics (ICMCR), International Conference on

作者： Pascal Sikorski Kaleb Yu Lucy Billadeau Flavio Esposito Hadi AliAkbarpour Madi Babaias Undergraduate Research Assistant Computer Science Department Saint Louis University Saint Louis USA Undergraduate Research Assistant Aerospace & Mechanical Engineering Department Saint Louis University Saint Louis USA Associate Professor Computer Science Department Saint Louis University Saint Louis USA Assistant Professor Computer Science Department Saint Louis University Saint Louis USA CBL Assistant Professor of Robotics Aerospace & Mechanical Engineering Department Saint Louis University Saint Louis USA

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of concept demonstrates the feasibility of using large language models (LLMs) and vision systems in tandem for interpreting and executing complex commands conveyed through natural language. This integration aims to improve the intuitiveness and accessibility of assistive robotic systems, making them more adaptable to the nuanced needs of users with disabilities. By leveraging the capabilities of edge computing, our system has the potential to minimize latency and support offline capability, enhancing the autonomy and responsiveness of assistive robots. Experimental results from our implementation on a robotic arm show promising outcomes in terms of accurate intent interpretation and object manipulation based on verbal commands. This research lays the groundwork for future developments in assistive robotics, focusing on creating highly responsive, user-centric systems that can significantly improve the quality of life for individuals with disabilities. For video demonstrations and source code, please refer to: https://***/EnhancedArmEdgeNLP.

关键词： computer vision Mechatronics Source coding Machine vision Large language models Prototypes Focusing Manipulators Natural language processing Edge computing

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A Novel Tactile Sensing Skin for Surface Perception

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IEEE Sensors Journal 2025年

作者： Das, Subham Thiyagarajan, Karthick Kodagoda, Sarath Krishnan, Athul Bhattacharjee, Mitradip Indian Institute of Science Education and Research Bhopal i-Labs Electrical Engineering and Computer Science Department Madhya Pradesh 462066 India Centre for Advanced Manufacturing Technology School of Engineering Design and Built Environment PenrithNSW2751 Australia UTS Robotics Institute University of Technology Sydney Australia SydneyNSW2007 Australia

Humans employ a fusion of pressure and temperature signals to perceive tactile stimuli. While replicating the complexity of human tactile sensing poses challenges, advancements in artificial tactile sensing skins play a crucial role in the progress of robotics and prosthetics. Here, we present a novel tactile sensing skin designed for the perception of diverse surfaces. It utilizes a microstructured porous tactile sensor, exhibiting notable sensitivity at 21.5 kPa-1 under low-pressure conditions and 2.5 kPa-1 in high-pressure scenarios. The sensor also boasts an impressively low detection limit of 2.5 Pa, allowing for discernment of subtle pressure variations. Simultaneously, we utilize a flexible temperature sensor exhibiting a sensitivity of 0.58 % ∘C-1 and swift response attributes to facilitate the detection of radiated heat from diverse surfaces. The incorporation of a multilayer perceptron algorithm into the developed glove-like system, equipped with tactile and temperature sensors, achieves 87% accuracy in classifying eleven distinct surfaces. © 2001-2012 IEEE.

关键词： Tactile sensors

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AXI-REALM: Safe, Modular and Lightweight Traffic Monitoring and Regulation for Heterogeneous Mixed-Criticality Systems

arXiv

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arXiv 2025年

作者： Benz, Thomas Ottaviano, Alessandro Liang, Chaoqun Balas, Robert Garofalo, Angelo Restuccia, Francesco Biondi, Alessandro Rossi, Davide Benini, Luca ETH Zurich Switzerland Department of Computer Science and Engineering UC San Diego San DiegoCA United States Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy University of Bologna Bologna Italy

The automotive industry is transitioning from federated, homogeneous, interconnected devices to integrated, heterogeneous, mixed-criticality systems (MCS). This leads to challenges in achieving timing predictability techniques due to access contention on shared resources, which can be mitigated using hardware-based spatial and temporal isolation techniques. Focusing on the interconnect as the point of access for shared resources, we propose AXI-REALM, a lightweight, modular, technology-independent, and open-source real-time extension to AXI4 interconnects. AXI-REALM uses a budget-based mechanism enforced on periodic time windows and transfer fragmentation to provide fair arbitration, coupled with execution predictability on real-time workloads. AXI-REALM features a comprehensive bandwidth and latency monitor at both the ingress and egress of the interconnect system. Latency information is also used to detect and reset malfunctioning subordinates, preventing missed deadlines. We provide a detailed cost assessment in a 12 nm node and an end-to-end case study implementing AXI-REALM into an open-source MCS, incurring an area overhead of less than 2 %. When running a mixed-criticality workload, with a time-critical application sharing the interconnect with non-critical applications, we demonstrate that the critical application can achieve up to 68.2 % of the isolated performance by enforcing fairness on the interconnect traffic through burst fragmentation, thus reducing the subordinate access latency by up to 24 times. Near-ideal performance, (above 95 % of the isolated performance) can be achieved by distributing the available bandwidth in favor of the critical application. Copyright © 2025, The Authors. All rights reserved.

关键词： Automotive industry

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Training Human-Robot Teams by Improving Transparency Through a Virtual Spectator Interface

arXiv

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arXiv 2025年

作者： Dallas, Sean Qiang, Hongjiao AbuHijleh, Motaz Jo, Wonse Riegner, Kayla Smereka, Jon Robert, Lionel Louie, Wing-Yue Tilbury, Dawn M. The Robotics Department University of Michigan Ann ArborMI48105 United States The Department of Electrical and Computer Engineering Oakland University RochesterMI48309 United States The Department of Mechanical Engineering Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48105 United States The School of Information University of Michigan Ann ArborMI48105 United States United States

After-action reviews (AARs) are professional discussions that help operators and teams enhance their task performance by analyzing completed missions with peers and professionals. Previous studies comparing different formats of AARs have focused mainly on human teams. However, the inclusion of robotic teammates brings along new challenges in understanding teammate intent and communication. Traditional AAR between human teammates may not be satisfactory for human-robot teams. To address this limitation, we propose a new training review (TR) tool, called the Virtual Spectator Interface (VSI), to enhance human-robot team performance and situational awareness (SA) in a simulated search mission. The proposed VSI primarily utilizes visual feedback to review subjects’ behavior. To examine the effectiveness of VSI, we took elements from AAR to conduct our own TR, and designed a 1 × 3 between-subjects experiment with experimental conditions: TR with (1) VSI, (2) screen recording, and (3) non-technology (only verbal descriptions). The results of our experiments demonstrated that the VSI did not result in significantly better team performance than other conditions. However, the TR with VSI led to more improvement in the subjects’ SA over the other conditions. Copyright © 2025, The Authors. All rights reserved.

关键词： Human robot interaction

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Grid Impedance Adaptive VSG Control Based on Accurate Small-Signal Modelling

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IEEE Transactions on Industry Applications 2025年

作者： Wang, Minyang Yang, Yuxin Zhang, Yuchen Ambia, Mir Nahidual Ahmed, Al-Durra Zhang, Daming Meng, Ke Zhang, Ge University of New South Wales School of Elec Eng and Telco Faculty of Engineering NSW Australia Queensland University of Technology School of Electrical Engineering and Robotics Brisbane Australia University of Sydney Sydney Australia Principal Grid Connection Engineer at Nordex Oceania Australia Khalifa University Electrical Engineering and Computer Science Department Abu Dhabi United Arab Emirates ElectraNet Pty Ltd Adelaide Australia University of Queensland School of Electrical Engineering and Computer Science Brisbane Australia

The wide-spread integration of renewable energy has increased inverter-based generation, weakening grid strength and inertia, bringing challenges to power system stability. To address these issues, virtual synchronous generator (VSG) control has emerged as a modern grid-forming (GFM) technology that can autonomously provide active and reactive power to support grid frequency and voltage. However, when a VSG inverter operates under strong grid conditions, power oscillations may occur under a fixed parameter setting, making the grid difficult to reach a steady state. Under such circumstances, traditional stability analysis based on the rate of change of frequency (RoCoF) is insufficient, advanced analysis methods based on the changes in system impedance and further improvements are required. This paper proposed an accurate small-signal model of the VSG inverter along with an impedance identification method for grid impedance. Additionally, an improved VSG control adaptive to grid impedance is proposed based on the knowledge of small-signal model and system impedance. All proposed methods have been tested on a single-machine-infinite-bus (SMIB) system and the stability results demonstrate their effectiveness under both weak and strong grid scenarios. © 1972-2012 IEEE.

关键词： Synchronous generators

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RAINER: A Robust Ensemble Learning Grid Search-Tuned Framework for Rainfall Patterns Prediction

arXiv

引用

arXiv 2025年

作者： Li, Zhenqi Zhong, Junhao Wang, Hewei Xu, Jinfeng Li, Yijie You, Jinjiang Zhang, Jiayi Wu, Runzhi Dev, Soumyabrata The Fu Foundation School of Engineering and Applied Science Columbia University United States Biomedical Engineering Department Pratt School of Engineering Duke University United States School of Computer Science University College Dublin Ireland Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong Robotics Institute School of Computer Science Carnegie Mellon University United States Faculty of Science and Engineering University of Nottingham Ningbo China China College of Intelligence and Computing Tianjin University China The ADAPT SFI Research Centre

Rainfall prediction remains a persistent challenge due to the highly nonlinear and complex nature of meteorological data. Existing approaches lack systematic utilization of grid search for optimal hyperparameter tuning, relying instead on heuristic or manual selection, frequently resulting in sub-optimal results. Additionally, these methods rarely incorporate newly constructed meteorological features such as differences between temperature and humidity, to capture critical weather dynamics. Furthermore, there is a lack of systematic evaluation of ensemble learning techniques and limited exploration of diverse advanced models introduced in the past one or two years. To address these limitations, we propose a Robust ensemble LeArning grId search-tuNed framEwoRk (RAINER) for rainfall prediction. RAINER incorporates a comprehensive feature engineering pipeline, including outlier removal, imputation of missing values, feature reconstruction, and dimensionality reduction via Principal Component Analysis (PCA). The framework integrates novel meteorological features to capture dynamic weather patterns and systematically evaluates non-learning mathematical-based methods and a variety of machine learning models, from weak classifiers (e.g., KNN, LASSO, and Random Forest) to advanced neural networks such as Kolmogorov-Arnold Networks (KAN). By leveraging grid search for hyperparameter tuning and ensemble voting techniques, RAINER achieves state-of-the-art results within real-world dataset. Extensive experiments demonstrate the framework’s superior performance across diverse metrics, such as Accuracy, Precision, Recall, F1-score, and AUC, highlighting the pivotal role of feature engineering, grid search, and ensemble learning in rainfall prediction tasks. © 2025, CC BY.

关键词： Dimensionality reduction

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Iterative Shaping of Multi-Particle Aggregates based on Action Trees and VLM

arXiv

引用

arXiv 2025年

作者： Lee, Hoi-Yin Zhou, Peng Duan, Anqing Yang, Chenguang Navarro-Alarcon, David Department of Mechanical Engineering The Hong Kong Polytechnic University KLN Hong Kong School of Advanced Engineering The Great Bay University Dongguan China Department of Robotics Mohamed Bin Zayed University of Artificial Intelligence United Arab Emirates Department of Computer Science University of Liverpool Liverpool United Kingdom

In this paper, we address the problem of manipulating multi-particle aggregates using a bimanual robotic system. Our approach enables the autonomous transport of dispersed particles through a series of shaping and pushing actions using robotically-controlled tools. Achieving this advanced manipulation capability presents two key challenges: high-level task planning and trajectory execution. For task planning, we leverage Vision Language Models (VLMs) to enable primitive actions such as tool affordance grasping and non-prehensile particle pushing. For trajectory execution, we represent the evolving particle aggregate's contour using truncated Fourier series, providing efficient parametrization of its closed shape. We adaptively compute trajectory waypoints based on group cohesion and the geometric centroid of the aggregate, accounting for its spatial distribution and collective motion. Through realworld experiments, we demonstrate the effectiveness of our methodology in actively shaping and manipulating multi-particle aggregates while maintaining high system cohesion. © 2025, CC BY-NC-SA.

关键词： Fourier series

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LP-ICP: General Localizability-Aware Point Cloud Registration for Robust Localization in Extreme Unstructured Environments

arXiv

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arXiv 2025年

作者： Yue, Haosong Xu, Qingyuan Chen, Fei Pan, Jia Chen, Weihai School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Computer Science The University of Hong Kong Hong Kong Hangzhou Innovation Institute Beihang University Hangzhou310053 China

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low accuracy and poor robustness in localization and mapping. It is known that degeneracy caused by the lack of geometric constraints can lead to errors in 6-DOF pose estimation along ill-conditioned directions. Therefore, there is a need for a broader and more fine-grained degeneracy detection and handling method. This paper proposes a new point cloud registration framework, LP-ICP, that combines point-to-line and point-to-plane distance metrics in the ICP algorithm, with localizability detection and handling. LP-ICP consists of a localizability detection module and an optimization module. The localizability detection module performs localizability analysis by utilizing the correspondences between edge points (with low local smoothness) to lines and planar points (with high local smoothness) to planes between the scan and the map. The localizability contribution of individual correspondence constraints can be applied to a broader range. The optimization module adds additional soft and hard constraints to the optimization equations based on the localizability category. This allows the pose to be constrained along ill-conditioned directions, with updates either tending towards the constraint value or leaving the initial estimate unchanged. This improves accuracy and reduces fluctuations. The proposed method is extensively evaluated through experiments on both simulation and real-world datasets, demonstrating higher or comparable accuracy than the state-of-the-art methods. The dataset and code of this paper will also be open-sourced at https://***/xuqingyuan2000/LP-ICP. Copyright © 2025, The Authors. All rights reserved.

关键词： Constrained optimization

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Liver Necrotic Mapping Using Diffusing Illumination Photoacoustic Imaging

Liver Necrotic Mapping Using Diffusing Illumination Photoaco...

引用

Photons Plus Ultrasound: Imaging and Sensing 2025

作者： Gao, Shang Hua, Yanbo Bhagavatula, Sharath K. Liu, Guigen Jonas, Oliver Zhang, Haichong K. Department of Robotics Engineering Worcester Polytechnic Institute MA United States Department of Biomedical Engineering Worcester Polytechnic Institute MA United States Department of Computer Science Worcester Polytechnic Institute MA United States Department of Radiology Brigham and Women’s Hospital Harvard Medical School MA United States

ISBN: (纸本)9781510683860

Liver cancer treatments often face challenges, particularly when tumors are considered surgically unresectable. Percutaneous radiofrequency ablation (RFA) offers a minimally invasive alternative but can have higher recurrence rates due to incomplete ablations. Standard non-contrast ultrasound imaging cannot distinguish ablation-induced necrosis, limiting ability to monitor treatment and ensure complete tumor coverage during the ablation procedure. Photoacoustic (PA) imaging, which uses light to generate ultrasound signals, has shown promise in distinguishing between ablated and normal tissues through spectroscopic PA (sPA) imaging. However, conventional light delivery methods are unsuitable for minimally invasive procedures due to bulky fiber bundles. Optical fibers, though suitable for less invasive insertion, have limited illumination volume because of the confined light delivery only at the fiber tip. This study introduces a diffusing fiber approach for effective light delivery within the liver, enhancing the PA excitation area compared to conventional tip illumination. The diffusing fiber was tested in both phantom and ex vivo liver tissue studies. Results demonstrated that the diffusing fiber provided a wider PA excitation area and more homogeneous illumination. In an ex vivo porcine liver, the diffusing fiber accurately mapped the ablated region with minimal deviation from gross pathological measurements. Our findings suggest that this diffusing fiber approach could significantly improve the accuracy of PA imaging for liver ablation, potentially reducing recurrence rates by ensuring complete tumor ablation and minimizing complications by enabling real time monitoring. This innovation paves the way for more reliable and effective minimally invasive treatments for liver cancer. © 2025 SPIE.

关键词： Photoacoustic microscopy

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