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arXiv 2025年

作者： Yang, Zhengeng Yu, Hongshan Zhang, Jianjun Tang, Qiang Mian, Ajmal College of Engineering and Design Hunan Normal University Hunan Changsha410081 China School of Robotics Hunan University Hunan Changsha410082 China Department of Computer Science The University of Western Australia PerthWA6009 Australia

Infrared sensing is a core method for supporting unmanned systems, such as autonomous vehicles and drones. Recently, infrared sensors have been widely deployed on mobile and stationary platforms for detection and classification of objects from long distances and in wide field of views. Given its success in the vision image analysis domain, deep learning has also been applied for object recognition in infrared images. However, techniques that have proven successful in visible light perception face new challenges in the infrared domain. These challenges include extremely low signal-to-noise ratios in infrared images, very small and blurred objects of interest, and limited availability of labeled/unlabeled training data due to the specialized nature of infrared sensors. Numerous methods have been proposed in the literature for the detection and classification of small objects in infrared images achieving varied levels of success. There is a need for a survey paper that critically analyzes existing techniques in this domain, identifies unsolved challenges and provides future research directions. This paper fills the gap and offers a concise and insightful review of deep learning-based methods. It also identifies the challenges faced by existing infrared object segmentation methods and provides a structured review of existing infrared perception methods from the perspective of these challenges and highlights the motivations behind the various approaches. Finally, this review suggests promising future directions based on recent advancements within this domain. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantic Segmentation

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designing an Ultrasonic System Used to Reduce the Cross-Linking Time of Epoxy Resins Used in the Construction of Brake Cylinders

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Macromolecular Symposia 2024年第3期413卷 2300206-2300206页

作者： Pasare, Vili Nitoi, Dan Opran, Constantin G. Chivu, Oana Semenescu, Augustin Milicescu, Stefan Faculty of Industrial Engineering and Robotics Department of Engineering Graphics and Industrial Design National University of Science and Technology Politehnica of Bucharest 313 Splaiul Independentei Bucharest060042 Romania University of Medicine and Pharmacy Carol Davila Bucharest Bulevardul Eroii Sanitari Nr. 8 Sector 5 Bucuresti Romania

Ultrasounds and their applications constitute fields of theoretical and practical research with applicability starting with the military, medicine, automotive industry, and ending with household appliances. The use of ultrasonic field in the cross-linking of epoxy resins reduces the time required to produce composite structures, independent of the type of reinforcing components used. Brake cylinders, made by successive deposition of two layers of epoxy resin and quartz sand used in applications where frictional forces are very high, constitute a challenge for composite structures. The article presents the analytical calculation and the design of the ultrasonic system used in making a sample made of metallic base material and two layers of epoxy resin reinforced with quartz sand. Using this new proposed technology, there is a substantial reduction in the time required to solidify the structure and the elimination of the need for a high temperature necessary to carry out the traditional technological process. © 2024 Wiley-VCH GmbH.

关键词： Quartz

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Prototype of Turbine Propulsion System with Controllable Thrust Vector for Long-Range Unmanned VTOL Aircraft 21st

Prototype of Turbine Propulsion System with Controllable Thr...

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21st Polish Control Conference, PCC 2023

作者： Czyba, Roman Lemanowicz, Marcin Domin, Jaroslaw Grzybowski, Jacek Stępień, Izabela Ungier, Lukasz Rosiek, Radoslaw Bialas, Piotr Niemiec, Michal Department of Automatic Control and Robotics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland Department of Chemical Engineering and Process Design Faculty of Chemistry Silesian University of Technology ul. Ks. M. Strzody 7 Gliwice44-100 Poland Department of Mechatronics Faculty of Electrical Engineering Silesian University of Technology ul. Akademicka 10a Gliwice44-100 Poland

ISBN: (纸本)9783031351723

The aim of the project was to build a prototype of a turbine drive with a controllable thrust vector for a long-range vertical take-off and landing (VTOL) aircraft. The construction of the prototype required the development of a vectoring system for the tail propulsion system and a dedicated VTOL aircraft stabilization and control system. The prototype of the turbine drive system was based on energy-efficient electric motors. Research also involved modeling the turbine propulsion aerodynamics with usage of computational fluid dynamics (CFD) analysis. As a result of the design stage, a prototype of the propulsion system was created, on which flight tests were carried out. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computational fluid dynamics

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Collaborative Fall Detection and Response Using Wi-Fi Sensing and Mobile Companion Robot

Collaborative Fall Detection and Response Using Wi-Fi Sensin...

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IEEE International Conference on robotics and Biomimetics

作者： Yunwang Chen Yaozhong Kang Ziqi Zhao Yue Hong Lingxiao Meng Max Q.-H. Meng Shenzhen Key Laboratory of Robotics Perception and Intelligence Southern University of Science and Technology Shenzhen China Department of Electrical and Electronic Engineering SUSTech Shenzhen China School of System Design and Intelligent Manufacturing SUSTech Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in non-line-of-sight (NLOS) scenarios, offering non-intrusive monitoring. Besides, a companion robot is utilized to provide assistance capabilities to navigate and respond to incidents autonomously, improving efficiency in providing assistance in various environments. The experimental results demonstrate the effectiveness of the proposed system in detecting falls and responding effectively.

关键词： Navigation Biomimetics Collaboration Robot sensing systems Sensors Fall detection Wireless fidelity Monitoring Injuries Channel state information

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Integration of Computer Vision in A Testing Facility for Prosthetic Joint Inspection and Performance Assessment 24

Integration of Computer Vision in A Testing Facility for Pro...

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24th International Conference on Mechatronics Technology, ICMT 2021

作者： Glanville, Stephen Chong, Jun Jie Jafari, Aghil Etoundi, Appolinaire University of the West of England Faculty of Environment and Technology Health and Applied Sciences Bristol Robotics Laboratory Bristol United Kingdom Newcastle University Faculty of Mechanical Design and Manufacturing Engineering Singapore038986 Singapore University of the West of England Department Engineering Design and Mathematics Bristol United Kingdom University of the West of England Department Engineering Design and Mathematics Bristol United Kingdom

ISBN: (纸本)9781665424592

This paper presents a computer vision system within a test facility for prosthetic joint inspection and performance by analysing range of motion data. Testing with individuals rather than using a testing facility can cause issues, such as irritation, pain and rubbing of the residual limb. The use of a computer vision system within a testing facility can assess the performance of a prosthetic device by capturing video, images, and calculating angle data for range of motion. Other benefits of using a testing facility include reduced testing times and energy for the end user and the ability to test rigorously. It can be concluded that the computer vision system can capturing accurate angle data for use within the testing facility. However, a discrepancy between 0.55 and 0.6 degrees was found when comparing the angle of the knee joint in the computer aided design model to the built environment. Further development of the code and the use of masking with colour coded targets would result in more accurate angle calculation and automation. © 2021 IEEE.

关键词： Joints (anatomy)

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Development of ADL Motion Database to Promote Co-creative Care Support

Development of ADL Motion Database to Promote Co-creative Ca...

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SICE Annual Conference

作者： Kohei Okabe Kenji Kato Naoyuki Kubota Yasuhisa Hirata Mechanical System Safety Research Group JNIOSH Tokyo Japan Lab Clinical Evaluation with Robotics National Center for Geriatrics and Gerontology Nagoya Japan Department of Mechanical Systems Engineering Graduate School of Systems Design Tokyo Metropolitan University Tokyo Japan Department of Robotics Graduate School of Engineering Tohoku University Sendai Japan

This paper introduces fundamental development of a new database of activities of daily living (ADL) for the purpose of supporting independent care for the elderly or disabilities with adaptable AI-enable robots. The main concept of AI-robots is briefly illustrated. According to the concept of AI-robots, a simple framework to deal with ADL in aspect of both subjective and objective is demonstrated to achieve goal-oriented care support. The patient centric support is expected to prevent excessive care by the AI-robots. In order to perform the care support, the activities or motions defined as Doing-ADL that elderly people usually perform are digitalized as motion data. A method of utilizing a database system that accumulates such motion data is conceptually shown. Furthermore, the operation of the system as a digital platform for inclusive social care is proposed from the viewpoint of co-creation among care recipients, care workers and the AI-enabled robots.

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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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Problems in Control Systems of Electric Drives of Metalworking Machines

Problems in Control Systems of Electric Drives of Metalworki...

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IEEE NW Russia Young Researchers in Electrical and Electronic engineering Conference (EIConRusNW)

作者： Nikolay V. Lazovskiy Oleg A. Kundyukov Kirill K. Ershov Department of Robotics and Automation of Production Systems St. Petersburg state electrotechnical University “LETI” Saint Petersburg Russia Department of Automated Electric Drive and Electrical Engineering Saint Petersburg state University of industrial technologies and design Saint Petersburg Russia

The types of errors of machine tools are considered. Methods for increasing the productivity of machine tools and the accuracy of processing workpieces are analyzed. Promising directions for the development of electri...

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Azimuth Axis Electric Drives for Telescopes and Radio Telescopes: Review and Analysis

Azimuth Axis Electric Drives for Telescopes and Radio Telesc...

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IEEE NW Russia Young Researchers in Electrical and Electronic engineering Conference (EIConRusNW)

作者： Kirill K. Ershov Nikolay S. Blagodarnii Mikhail P. Belov Oleg A. Kundyukov Department of Automated Electric Drive and Electrical Engineering Saint Petersburg State University of Industrial Technologies and Design Saint-Petersburg Russian Federation Department of Robotics of Automated Production Systems Saint Petersburg Electrotechnical University “LETI” Saint-Petersburg Russian Federation

The article deals with the electric drives of telescopes and radio telescopes tracking systems. Requirements to electric drives of azimuthal axis of these mechanisms are given. Various kinematic schemes and types of electric motors used in these drives are considered. At the end the requirements to control systems for drives with different motors and kinematic schemes are formed.

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When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots

SSRN

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SSRN 2023年

作者： Wang, Ke Hu, Zhaoyang Jacopo Tisnikar, Peter Helander, Oskar Chappell, Digby Kormushev, Petar Robot Intelligence Lab Dyson School of Design Engineering Imperial College London United Kingdom Department of Bioengineering Imperial College London United Kingdom Vision for Robotics Lab Department of Mechanical and Process Engineering ETH Zürich Switzerland

Online footstep planning is essential for bipedal walking robots, allowing them to walk in the presence of disturbances and sensory noise. Most of the literature on the topic has focused on optimizing the footstep placement while keeping the step timing constant. In this work, we introduce a footstep planner capable of optimizing footstep placement and step time online. The proposed planner, consisting of an Interior Point Optimizer (IPOPT) and an optimizer based on Augmented Lagrangian (AL) method with analytical gradient descent, solves the full dynamics of the Linear Inverted Pendulum (LIP) model in real time to optimize for footstep location as well as step timing at the rate of 200 *** show that such asynchronous real-time optimization with the AL method (ARTO-AL) provides the required robustness and speed for successful online footstep planning. Furthermore, ARTO-AL can be extended to plan footsteps in 3D, allowing terrain-aware footstep planning on uneven terrains. Compared to an algorithm with no footstep time adaptation, our proposed ARTO-AL demonstrates increased stability in simulated walking experiments as it can resist pushes on flat ground and on a 10◦ ramp up to 120 N and 100 N respectively. © 2023, The Authors. All rights reserved.

关键词： Motion planning

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