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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ballesteros, Erik Carpenter, Kalind Asada, H. Harry Department of Mechanical Engineering Massachusetts Institute of Technology Course 2 CambridgeMA02139 United States Advanced Robotics Systems Group 347Z NASA Jet Propulsion Laboratory PasadenaCA91011 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper investigates the effectiveness of a type of wearable robot, known as Supernumerary Robotic Limbs (SuperLimbs) in assisting an astronaut performing partial-gravity ExtraVehicular Activities (EVAs). SuperLimbs can directly address a key technology gap identified by NASA concerning that of incapacitated crew rescue devices during partial-gravity EVAs. To contextualize SuperLimbs in human spaceflight application, we start by reviewing other forms of wearable robotics technologies and perform a qualitative comparison with SuperLimbs. From there, we present a suite of operational modes that SuperLimbs is capable of delivering in a suited partial-gravity EVA. Within the operational mode suite, we selected the most urgent use-case: that of performing a post-fall recovery, and reviewed the results from a pilot-human study. To validate the effectiveness of SuperLimbs in providing the necessary assistive forces needed for a post-fall recovery, a series of validation experiments was performed with a prototype SuperLimbs system. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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Sharing and Collaborating When Teaching Automatic control: An Experience-Based Needs Analysis 32

Sharing and Collaborating When Teaching Automatic Control: A...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Knorn, Steffi Garone, Anja Varagnolo, Damiano Garone, Emanuele Technische Universität Department of Control Berlin Germany Brussels Institute for Advanced Studies Belgium Norwegian University of Science and Technology Department of Engineering Cybernetics Norway University of Padova Department of Information Engineering Italy Free University of Brussels Department of Automation and Systems Analysis Belgium

ISBN: (纸本)9798350395440

We discuss two specific issues that affected the workflows in our career as automatic control teachers and that are related to how teachers may establish teaching-oriented collaborations with colleagues from the same or different institutions. The first issue we identify is the systematic difficulty that one encounters when wanting to exchange instructional material with colleagues, while the second is the complexity of establishing students exchange programs across different institutions and nations. We discuss the nature and structure of the two problems, discuss why and how they are connected, and draw practical examples of how these problems may affect workflows. We then present a strategy that aims at solving these issues based on the introduction of an opportune indexing of instructional material in terms of contents and complexity of such contents, and how this information may be graphically displayed so to ease human and machine interpretability. We further discuss how this approach was used on a smaller scale to ease collaborations among close colleagues, and how it may be extended and adopted on a larger scale. © 2024 IEEE.

关键词： Process control

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Research on Metamaterial Technology for Microwave Wireless Power Transfer

Research on Metamaterial Technology for Microwave Wireless P...

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2024 International Symposium on Antennas and Propagation, ISAP 2024

作者： Yamamoto, Tsunayuki Kobashi, Takeo Maruyama, Tamami Department of Integrated Science and Technology National Institute of Technology Tsuyama College Tsuyama-shi Japan Advanced Electronics and Information System Engineering Course National Institute of Technology Tsuyama College Tsuyama-shi Japan Department of Production Systems Engineering Institute of Technology Hakodate College Hakodate-shi Japan

ISBN: (纸本)9798350364774

In this paper, two technologies of metamaterial for microwave wireless power transfer are shown. One is a zeroth-order resonance for a microwave snow melting system, and another one is a focusing reflector for realizing of a highly efficient wireless power transfer space. A zeroth-order resonance leads a uniformed microwave heating and a flexibility of feeding in a snow melting system. Focusing reflector can make some electromagnetic hot and null points in a space. These are expected to be required technologies for highly efficient wireless power transfer. © 2024 IEEE.

关键词： Reflection

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Research on workflow recognition for liver rupture repair surgery

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Mathematical Biosciences and engineering 2024年第2期21卷 1844-1856页

作者： Men, Yutao Zhao, Zixian Chen, Wei Wu, Hang Zhang, Guang Luo, Feng Yu, Ming Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Medical Support Technology Research Department Systems Engineering Institute Academy of Military Sciences People’s Liberation Army Tianjin300161 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

Liver rupture repair surgery serves as one tool to treat liver rupture, especially beneficial for cases of mild liver rupture hemorrhage. Liver rupture can catalyze critical conditions such as hemorrhage and shock. Surgical workflow recognition in liver rupture repair surgery videos presents a significant task aimed at reducing surgical mistakes and enhancing the quality of surgeries conducted by surgeons. A liver rupture repair simulation surgical dataset is proposed in this paper which consists of 45 videos collaboratively completed by nine surgeons. Furthermore, an end-to-end SA-RLNet, a self attention-based recurrent convolutional neural network, is introduced in this paper. The self-attention mechanism is used to automatically identify the importance of input features in various instances and associate the relationships between input features. The accuracy of the surgical phase classification of the SA-RLNet approach is 90.6%. The present study demonstrates that the SA-RLNet approach shows strong generalization capabilities on the dataset. SA-RLNet has proved to be advantageous in capturing subtle variations between surgical phases. The application of surgical workflow recognition has promising feasibility in liver rupture repair surgery. ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons.

关键词： Image classification

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Solving PnP Problem Using Improved Sparrow Search Algorithm

Solving PnP Problem Using Improved Sparrow Search Algorithm

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IEEE International Symposium on Intelligent Signal Processing and Communication systems (ISPACS)

作者： Kurihara Riku Kousuke Matsushima Advanced Engineering Course National Institute of Technology Kurume College Kurume Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Kurume Japan

ISBN: (数字)9798350389210

ISBN: (纸本)9798350389227

The Perspective-n-Point (PnP) problem is a fundamental challenge in engineering that plays a crucial role in fields such as computer vision and augmented reality. This problem aims to estimate the position and orientation (pose) of a camera from known 3D points and their corresponding 2D projections on the image plane. With recent technological advancements, application areas such as autonomous vehicles, drones, and robotics are demanding increasingly faster and more accurate camera pose estimation. To address this challenge, we have introduced an improved Sparrow Search Algorithm (SSA) with the capability to dynamically restrict the search area. While the conventional SSA demonstrated excellent optimization capabilities, it faced efficiency issues when searching in high-dimensional spaces, such as those encountered in PnP problems. Our enhancement enables the algorithm to leverage information obtained during the search process to gradually narrow down the search area, thereby more efficiently locating the optimal solution.

关键词： Point cloud compression Accuracy Three-dimensional displays Heuristic algorithms Robot vision systems Pose estimation Signal processing algorithms Search problems Cameras Optimization

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Mobile Generalized Category Discovery for Road Damage Detection

Mobile Generalized Category Discovery for Road Damage Detect...

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IEEE International Symposium on Intelligent Signal Processing and Communication systems (ISPACS)

作者： Akashi Rintaro Kousuke Matsushima Advanced Engineering Course National Institute of Technology Kurume College Kurume Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Kurume Japan

ISBN: (数字)9798350389210

ISBN: (纸本)9798350389227

In recent years, there has been a considerable amount of research conducted on the topic of road damage detection using deep learning techniques, with the aim of supporting the safe driving of mobility vehicles. To date, convolutional neural networks and supervised learning with large datasets have been employed for road damage detection, demonstrating high classification accuracy. However, all images in the dataset must be manually labeled. Moreover, images cannot be classified into classes that are not included in the training dataset. The real world presents a vast array of damage types, and the unlabeled input images encompass both known and unknown classes. This renders the system unsuitable for use in providing safe driving support for mobility. Considering this background, Generalized Category Discovery (GCD) has been put forth as a potential solution, aiming to achieve accurate classification in a comprehensive setting where both known and unknown classes are present in unlabeled data. The purpose of this study is to propose a novel model for GCD with the aim of providing safe driving assistance for mobility. The model is based on the pre-trained MobileViT. To validate its performance, this paper examines its performance on the general CIFAR-10 and CIFAR-100 datasets and on a road damage-specific dataset, and discusses the challenges encountered.

关键词： Training Deep learning Accuracy Communication systems Roads Clustering methods Supervised learning Signal processing Convolutional neural networks

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Multi-Lens Visual SLAM with Integrated Moving Object Removal using Unsupervised Models

Multi-Lens Visual SLAM with Integrated Moving Object Removal...

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Robotics, engineering, Science, and Technology (RESTCON), International Conference on

作者： Ryoichirou Hara Kousuke Matsushima Advanced Engineering Course National Institute of Technology Kurume College Fukuoka Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Fukuoka Japan

In advanced Driver-Assistance systems (ADAS), SLAM (Simultaneous Localization and Mapping) technology is required to accurately estimate the position and orientation of onboard cameras. Compared to LiDAR SLAM, Visual SLAM has the advantage of collecting rich environmental information at a lower cost. However, the accuracy of the estimated pose and map construction is greatly reduced by moving objects in the camera scene. To solve this problem, a multi-camera SLAM has been proposed, which works robustly in dynamic environments by using multiple cameras to acquire more feature points from omnidirectional environmental information. In this paper, we propose a robust SLAM system based on a multi-camera SLAM system combined with object detection and semantic segmentation networks. We then evaluate the robustness of the proposed method by comparing it to SLAM systems that do not remove moving objects. Experimental results showed that the Absolute Trajectory Error and the Relative Position Error performed better than conventional SLAM by masking moving objects. It also showed that more static objects were detected and constructed in the map.

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Uncertainty-aware Monocular 3D Object Detection for Safe Driving Assistance

Uncertainty-aware Monocular 3D Object Detection for Safe Dri...

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IEEE International Symposium on Intelligent Signal Processing and Communication systems (ISPACS)

作者： Masahiko Ida Kousuke Matsushima Advanced Engineering Course National Institute of Technology Kurume College Fukuoka Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Fukuoka Japan

ISBN: (数字)9798350389210

ISBN: (纸本)9798350389227

Safety is of utmost importance when utilizing mobile vehicles. The introduction of safe driver assistance and automated driving systems will not only solve this problem, but also reduce road accidents and make driving smoother. To achieve these goals, 3D object detection is an essential technology and various methods have been proposed. Among these, monocular 3D object detection is an important technique and it is very difficult to identify the dimensions, direction and position of an object from a monocular image. Previous methods have predicted the dimensions directly from monocular images, resulting in poor accuracy of the dimensions in the depth direction. However, this paper proposes an indirect method for estimating the dimensions in the depth direction by predicting the volume of 3D bounding box. Detection accuracy for distant and partially visible objects is improved by using a loss function that uses uncertainty to account for the variability in predictions that occurs during learning. The proposed method has received an excellent evaluation on KITTI dataset.

关键词： Training Three-dimensional displays Accuracy Uncertainty Road accidents Object detection Signal processing Safety Object recognition Vehicles

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Electrical Tracking,Erosion and Fire Retardancy Performance of Silicone Rubber Insulation Containing Aluminum Trihydrate,Graphene and Glass Fiber Additives

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CSEE Journal of Power and Energy systems 2023年第5期9卷 1918-1925页

作者： M.Tariq Nazir Arslan Khalid B.Toan Phung Arup K.Das Peter Cheetham Ashish Paramane Shakeel Akram Khoi Loon Wong School of Engineering RMIT UniversityMelbourneVIC 3000Australia. the Center for Advanced Power Systems(CAPS) Florida State UniversityFL 32310USA the Flame Security International Pty Limited Australia the School of Electrical Engineering and Telecommunications University of New South Wales SydneyNSW 2052Australia Department of Electrical Engineering National Institute of TechnologySilcharAssam 788010India the College of Electrical Engineering and Control Science Nanjing Tech UniversityNanjingJiangsu 211816China

Silicone rubber composite is a priority electrical insulating material used in high-voltage outdoor insulation *** electrical tracking/erosion and poor flame resistance performance of silicone rubber once ignited,substantially reduce its working *** paper attempts to investigate tracking/erosion performance of room temperature vulcanized(RTV)silicone rubber along with flame retardant parameters using aluminum trihydrate(ATH),graphene nanosheets(GN)and milled glass fiber(GF)*** inclined plane test(IPT)was performed in line with criteria defined in IEC 60587 using step-up tracking voltage method while flame retardancy is evaluated according to ASTM E 1354.0 using a cone *** suggest 30% of ATH assists in improving physical tracking/erosion resistance of pristine silicone elastomer rubber by impeding development of leakage current and a great reduction in maximum average temperatures on the surface of *** improvement in performance of RTV2 is achieved through introduction of 1%of GN and 5% of GF as seen in ***,30% of ATH reduces heat release rate and smoke production rate,and this trend is improved with the introduction of GN/***4 has pop up as the most promising silicone rubber composite with excellent electrical tracking,erosion,and flame resistance performance relative to its counterparts in this study.

关键词： Dry band arcing electrical tracking heat release rate leakage current silicone rubber smoke production rate

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A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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