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arXiv 2024年

作者： Cui, Leichao Li, Xiuxian Meng, Min Jia, Guangyu Department of Control Science and Engineering College of Electronics and Information Engineering The Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201800 China The Centre for Robotics Research Department of Engineering King’s College London Strand LondonWC2R 2LS United Kingdom

The enhancement of 3D object detection is pivotal for precise environmental perception and improved task execution capabilities in autonomous driving. LiDAR point clouds, offering accurate depth information, serve as a crucial information for this purpose. Our study focuses on key challenges in 3D target detection. To tackle the challenge of expanding the receptive field of a 3D convolutional kernel, we introduce the Dynamic Feature Fusion Module (DFFM). This module achieves adaptive expansion of the 3D convolutional kernel’s receptive field, balancing the expansion with acceptable computational loads. This innovation reduces operations, expands the receptive field, and allows the model to dynamically adjust to different object requirements. Simultaneously, we identify redundant information in 3D features. Employing the Feature Selection Module (FSM) quantitatively evaluates and eliminates non-important features, achieving the separation of output box fitting and feature extraction. This innovation enables the detector to focus on critical features, resulting in model compression, reduced computational burden, and minimized candidate frame interference. Extensive experiments confirm that both DFFM and FSM not only enhance current benchmarks, particularly in small target detection, but also accelerate network performance. Importantly, these modules exhibit effective complementarity. Copyright © 2024, The Authors. All rights reserved.

关键词： Object detection

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Detection of Out-of-Plane Waviness in Carbon-Fibre Reinforced Plastics - Comparing different Non-Destructive Evaluation Modalities

Detection of Out-of-Plane Waviness in Carbon-Fibre Reinforce...

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IEEE SENSORS

作者： Rylan Gomes Ehsan Mohseni S.G. Pierce Kenneth Burnham Amine Hifi Charles N Macleod Vincent Maes Matthew Chandler Andy Barnes Gavin Munro Department of Electronic & Electrical Engineering SEARCH: Sensor Enabled Automation Robotics & Control Hub Centre for Ultrasonic Engineering (CUE) University of Strathclyde Royal College Building Glasgow Department of Mechanical Engineering University of Bristol Bristol UK AdaptixNDE Eynsham Spirit AeroSystems Aerospace Innovation Centre Glasgow Prestwick Airport Monkton

ISBN: (数字)9798350363517

ISBN: (纸本)9798350363524

The detection of fibre wrinkles (out-of-plane waviness) is investigated using Eddy Current (ECT), Ultrasonic Testing (UT) and X-ray and is compared on 9 Carbon Fibre Reinforced Plastic (CFRP) samples with varying wrinkle heights. All three Non-Destructive Evaluation (NDE) modalities demonstrated detection capabilities for wrinkle heights 0.13 - 1.31 mm, with UT being able to map the interior structure of the composite material, which was further used to measure the distortion of plies caused due to the presence of wrinkles using an image processing technique.

关键词： Ultrasonic imaging Costs Sensor phenomena and characterization Fiber reinforced plastics Feature extraction Distortion Distortion measurement Eddy currents Carbon Testing

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Autonomous inverse encoding guides 4D nanoprinting for highly programmable shape morphing

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International Journal of Extreme Manufacturing 2025年第3期7卷 467-482页

作者： Shuaiqi Ren Zhiang Zhang Ruokun He Jiahao Fan Guangming Wang Hesheng Wang Bing Han Yong-Lai Zhang Zhuo-Chen Ma Department of Automation Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchun 130012People’s Republic of China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240People’s Republic of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240People’s Republic of China Department of Engineering University of CambridgeCambridge CB21PZUnited Kingdom

Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent ***,due to the lack of autonomous holistic strategies throughout the target shape input,optimal material distribution generation,and fabrication program output,4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual *** this study,we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape *** tuning the laser power of each voxel at the nanoscale,the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding *** this strategy,the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under ***,as a proof-of-concept,a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial *** strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting,leading to cutting-edge applications in microfluidics,micro-robotics,minimally invasive robotic surgery,and tissue engineering.

关键词： femtosecond laser fabrication 4D printing two-photon polymerization autonomous inverse encoding stimuli-responsive materials

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Optimizing Drone Operator Workload in the Terminal Area for Shipboard Operations

Optimizing Drone Operator Workload in the Terminal Area for ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Nicholas Bostock Adrien Richez Maneesha Wickramasuriya Allison Webster-Giddings Donald Costello Aerospace Engineering Department United States Naval Academy Annapolis Maryland United States Mechanical and Aerospace Engineering Department George Washington University Washington DC College of Education and Human Development American University of Iraq Baghdag Iraq Weapons Robotics and Control Engineering Department United States Naval Academy Annapolis Maryland United States

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

The United States Navy (USN) is heavily reliant on its ability to operate aircraft in the maritime environment. Done successfully, shipboard flight operations allow air-capable ships to act as mobile airfields, ensuring the USN's ability to maintain freedom of the seas. Typically rotary-wing aircraft land at the stern of USN surface vessels (i.e., a guided missile destroyer (DDG)). Ship movement creates turbulence induced by its superstructure, which may produce unfavorable conditions for rotary-wing aircraft just after takeoff and just before recovery. This ship-aircraft interplay is termed dynamic interface (DI). With the growing prominence of uncrewed aerial systems, the USN deems characterizing the DI a crucial step towards employing these systems from air-capable ships. The United States Naval Academy operates a fleet of 108 ft Yard Patrol Craft tasked with training future naval officers. One of these ships has been modified such that the air wake models a DDG to the 1/4 scale. This research documents the DI tests conducted with a remote-piloted drone through mission representative recoveries to the modified Yard Patrol Craft. While operating in the terminal area, the pilot assessed their workload via a modified Cooper Harper scale.

关键词： Training Sea surface Missiles Correlation Land surface Military aircraft Marine vehicles

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A Continuous Off-Policy Reinforcement Learning Scheme for Optimal Motion Planning in Simply-Connected Workspaces

A Continuous Off-Policy Reinforcement Learning Scheme for Op...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Greece Department of Electrical and Computer Engineering University of Patras Center of AI & Robotics (CAIR) New York University Abu Dhabi

In this work, an Integral Reinforcement Learning (RL) framework is employed to provide provably safe, convergent and almost globally optimal policies in a novel Off-Policy Iterative method for simply-connected workspaces. This restriction stems from the impossibility of strictly global navigation in multiply connected manifolds, and is necessary for formulating continuous solutions. The current method generalizes and improves upon previous results, where parametrized controllers hindered the method in scope and results. Through enhancing the traditional reactive paradigm with RL, the proposed scheme is demonstrated to outperform both previous reactive methods as well as an RRT* method in path length, cost function values and execution times, indicating almost global optimality.

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FreeDriveRF: Monocular RGB Dynamic NeRF without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling

arXiv

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arXiv 2025年

作者： Wen, Yue Song, Liang Liu, Yijia Zhu, Siting Miao, Yanzi Han, Lijun Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Dimanshen Technology Co. Ltd. China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China

Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have recently shown promising capability in scene modeling. However, many existing methods rely heavily on accurate poses inputs and multi-sensor data, leading to increased system complexity. To address this, we propose FreeDriveRF, which reconstructs dynamic driving scenes using only sequential RGB images without requiring poses inputs. We innovatively decouple dynamic and static parts at the early sampling level using semantic supervision, mitigating image blurring and artifacts. To overcome the challenges posed by object motion and occlusion in monocular camera, we introduce a warped ray-guided dynamic object rendering consistency loss, utilizing optical flow to better constrain the dynamic modeling process. Additionally, we incorporate estimated dynamic flow to constrain the pose optimization process, improving the stability and accuracy of unbounded scene reconstruction. Extensive experiments conducted on the KITTI and Waymo datasets demonstrate the superior performance of our method in dynamic scene modeling for autonomous driving. Our implementation will be available at https://***/IRMVLab/FreeDriveRF. Copyright © 2025, The Authors. All rights reserved.

关键词： Optical flows

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DESectBot: Design and Validation of a Novel Two-Segment Decoupled Continuum Robotic System for Endoscopic Submucosal Dissection

DESectBot: Design and Validation of a Novel Two-Segment Deco...

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

作者： Wenjie Liu Yuancheng Shao Yao Zhang Zixi Chen Di Wu Yuqiao Chen Cesare Stefanini Ling Li Peng Qi Department of Control Science and Engineering Tongji University Shanghai China Zhuhai Institute of Advanced Technology Zhuhai China Department of Mechanical Engineering KU Leuven Belgium Department of Excellence in Robotics and AI Biorobotics Institute Pisa Italy Suzhou Ultimage Health Technology Co. Ltd. Suzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Endoscopic Submucosal Dissection (ESD) is a minimally invasive procedure designed to remove precancerous and cancerous lesions from the gastrointestinal (GI) tract. Given the GI tract’s tortuous and narrow shape, along with the need for varied movements during dissection, this requires highly flexible and compact instruments, making flexible continuum robots suitable candidates. In this paper, we propose a novel two-segment continuum robot system named DESectBot, featuring a diameter of 5.5 mm and a total length of the active bending module of 48 mm, while the robot’s total length exceeds 1 m. We designed a novel joint combination structure called the spatial cross-curved disk skeleton for the robot, which addresses the mechanical coupling problem between flexible robot actuators. The DESectBot boasts six degrees of freedom, and its kinematic modeling has been derived and utilized in the closed-loop control of the DESectBot. The validation of the DESectBot was conducted through a two-stage test: first, the decoupling performance of the DESectBot was validated. The results show that when one active bending segment bends, the other segment remains almost uninfluenced, with a maximum variation of 1.15 degrees, demonstrating the robot’s effective decoupling capability. Secondly, the accuracy of DESectBot was validated through trajectory-following experiments. The results reveal that the average tracking error for both trajectories is less than 2 mm, and the maximum tracking error is below 2.5 mm. Taking marking, one of the ESD procedures with a 5mm tolerance, as an example, the DESectBot has the potential to be utilized for ESD procedure.

关键词： Minimally invasive surgery Shape Kinematics Bending Electrostatic discharges Skeleton Trajectory Continuum robots Lesions Intelligent robots

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Relevance of the Rayleigh-Bénard model in studying optical turbulence

Relevance of the Rayleigh-Bénard model in studying optical ...

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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

The Rayleigh-Bénard physical model generates well-defined optical turbulence. We demonstrate its characterization and use in various experimental studies, including phase retrieval, structured light, and optical ...

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Machine Learning-Based Underwater Communication System Using Light Carrying Orbital Angular Momentum

Machine Learning-Based Underwater Communication System Using...

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Conference on Lasers and Electro-Optics (CLEO)

作者： William A. Jarrett Svetlana Avramov-Zamurovic Joel M. Esposito Charles Nelson Weapons Robotics and Control Engineering Department United States Naval Academy Electrical and Computer Engineering Department United States Naval Academy Annapolis Maryland USA

An underwater communication system using light carrying orbital angular momentum is evaluated using a convolutional neural network through simulated and experimental thermally-generated underwater optical turbulence. ... 详细信息

ISBN: (数字)9781957171050

ISBN: (纸本)9781665466660

关键词： Underwater communication Optical computing Optical fiber networks Lasers and electrooptics Orbits Convolutional neural networks Electrooptical waveguides

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Comparative Analysis of Different Sliding Mode control Approaches for Load Frequency control in Edge of the Grid System

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IET Generation, Transmission and Distribution 2025年第1期19卷

作者： Aich, Pritom Ahmed, Anis Shah, Rakibuzzaman Islam, Md Rabiul Roy, Naruttam Kumar Nasir, Ali Department of Electrical and Electronic Engineering Daffodil International University Dhaka Bangladesh Department of Electrical and Electronic Engineering Khulna University of Engineering & Technology Khulna Bangladesh Federation University Australia Mt HelenVIC Australia School of Electrical Computer and Telecommunications Engineering University of Wollongong WollongongNSW Australia Control and Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

The integration of renewable energy sources (RESs) at the edge of the grid plays a contributory role in advancing the transition to a sustainable energy future. However, this transition introduces significant variability, which challenges the maintenance of frequency stability in power systems. To address the impacts of RES variability, various robust control strategies have been developed. This paper compares the performance of different advanced sliding mode control (SMC) approaches, i.e., super twisting (ST) algorithm-based second order sliding mode control (STSOSMC), second order sliding mode control (SOSMC), double integral sliding mode control (DISMC) and integral sliding mode control (ISMC) with conventional sliding mode control (SMC) for load frequency control with stochastic RESs such as biogas generators (BG) and wind-based doubly fed induction generators (DFIG). The impact of the advanced sliding mode controllers on the voltage and rotor angle stability of the system is also explored. The efficacy of the controllers is tested under different load disturbances, considering nonlinearities such as communication delay (CD), sensor inaccuracy (SI), governor dead band (GDB), and generation rate constraint (GRC). The results demonstrate that STSOSMC achieves superior frequency regulation with minimal chattering and outperforms other controllers in terms of settling time, overshooting, and undershooting in frequency deviation. The result also demonstrates the effectiveness of STSOSMC in managing the variability and disturbances of RESs. Therefore, it could be considered the most robust control mechanism from the edge of the grid system with high penetration of RESs. © 2025 The Author(s). IET Generation, Transmission & Distribution published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Robust control

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