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2019 American Control Conference, ACC 2019

作者： Anderle, Milan Michiels, Wim Čelikovský, Sergej Vyhlídal, Tomáš Prague 818208 Czech Republic Department of Computer Science KU Leuven Celestijnenlaan 200A Heverlee3001 Belgium Faculty of Mechanical Engineering Robotics and Cybernetics Czech Institute of Informatics Czech Technical University in Prague Czech Republic

ISBN: (纸本)9781538679265

A novel nonlinear control theory based feedback controller is proposed to damp the oscillations of the suspended load (pendulum) using the active modification of the length of the suspension string. This setting is a highly nonlinear one since the approximate linearization around the equilibrium working point is neither controllable, nor asymptotically stabilizable. The nonlinear design of the control law is therefore based on the conveniently selected control Lyapunov function. The resulting control law is then compared to the previously developed time-delay feedback control law, both in simulations and using the laboratory experimental realization of the suspended load system. Despite the fact that in the simulations the time-delay feedback control law suppresses the oscillations better than the nonlinear control law, in the experiments the performance of the time-delay feedback and of the nonlinear control law are rather similar. Moreover, the former keeps the pendulum string length oscillating, the latter stabilizes the nominal string length as well. Finally, the numerical optimization shows that the ideal damping would be provided by the impulsive-like control producing piece-wise constant string length dynamics. © 2019 American Automatic Control Council.

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Correction to: Deep learning approaches for speech emotion recognition: state of the art and research challenges

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Multimedia Tools and Applications 2021年第16期80卷 23813-23813页

作者： Jahangir, Rashid Teh, Ying Wah Hanif, Faiqa Mujtaba, Ghulam Department of Information Systems Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Department of Computer Science COMSATS University Islamabad Vehari Campus Pakistan Center of Excellence for Robotics Artificial Intelligence and Blockchain Department of Computer Science Sukkur IBA University Sukkur Pakistan

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FAST-Hex – A morphing hexarotor: Design, mechanical implementation, control and experimental validation

arXiv

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arXiv 2020年

作者： Ryll, Markus Bicego, Davide Giurato, Mattia Lovera, Marco Franchi, Antonio Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge United States LAAS-CNRS Université de Toulouse CNRS Toulouse France Dipartimento di Scienze e Tecnologie Aerospaziali Politecnico di Milano Milano Italy Robotics and Mechatronics Lab. Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede Netherlands

We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but under-actuated, collinear multi-rotors and the less efficient, but full-pose-tracking, which is attained by non-collinear multirotors. On the basis of prior work on minimal input configurable micro aerial vehicle we mainly stress three aspects: mechanical design, motion control and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows it to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in R3 ×SO(3) (3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actuator constraints. In case of unfeasibility a new feasible desired trajectory is generated online giving priority to the position tracking over the orientation tracking. Finally we present a large set of experimental results shading light on all aspects of the control and pose tracking of FAST-Hex. Copyright © 2020, The Authors. All rights reserved.

关键词： Motion control

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Advancements in nanomaterials for solar energy harvesting: Challenges, innovations, and future prospects

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Chemical Engineering Journal 2025年 516卷

作者： Sikandar Aftab Burragoni Sravanthi Goud Zeeshan Ali Mohammed A. Assiri Jae Hong Kim Najaf Rubab Erdi Akman Department of Artificial Intelligence and Robotics Sejong University Seoul 05006 Republic of Korea School of Chemical Engineering Yeungnam University Gyeongsan 38541 Republic of Korea Department of Biotechnology School of Sciences SR University Warangal 506371 Telangana India Department of Computer Science Virtual University of Pakistan Faisalabad Campus Faisalabad 38000 Pakistan Chemistry Department Faculty of Science King Khalid University P.O. Box 9004 Abha 61413 Saudi Arabia Department of Materials Science and Engineering Gachon University Seongnam 13120 Republic of Korea Department of Physics Kamil Ozdag Faculty of Science Karamanoglu Mehmetbey University 70200 Karaman Turkiye Department of Mechanical Engineering Recep Tayyip Erdogan University 53100 Rize Turkiye

To date, the advancement of clean and sustainable energy sources has been a primary focus of research, addressing the global increase in energy consumption and related environmental issues. The swift progress of nanomaterials in solar energy conversion has generated significant interest owing to their exceptional structural and optoelectronic characteristics. This review paper examines the cutting-edge innovations and practical implementations of nanomaterials such as nanoparticles, quantum dots, nanorods, nanospheres, nanoflowers, nanocomposites, nanotubes, and one-dimensional (1D) and two-dimensional (2D) materials in the development of next-generation solar cells. We examine the incorporation of mentioned nanomaterials as absorber layers, doping agents, and modification agents in several solar cell designs. These materials are perfect for increasing the scalability and efficiency of solar energy conversion systems because of their special qualities, which include enhanced charge carrier dynamics and tunable bandgaps. We address critical issues like scalability, cost, and environmental concerns while discussing their contributions to improving light absorption, charge separation, and device stability. Moreover, this review clarifies the new device architectures utilizing nanomaterials as absorber layers, revealing the complex mechanisms that contribute to their enhanced performance and realistic stability behaviors. In order to overcome obstacles and fully utilize the potential of nanomaterials for sustainable energy solutions, we conclude by outlining future directions with a focus on interdisciplinary approaches. Interdisciplinary collaboration and ongoing refinement can fully realize the potential of new kinds of nanomaterials, offering significant solutions to global energy concerns and advancing scientific advancement in this emerging sector.

关键词： Nanocomposites

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Coordinated route reconfiguration for throughput optimisation under Rician fading channel

Coordinated route reconfiguration for throughput optimisatio...

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作者： Fida, Adnan Jaidi, Nor Tuah Ngo, Trung Dung Faculty of Computer Science More Than One Robotics Laboratory University Brunei Darussalam Darussalam Brunei Faculty of Computer Science University Brunei Darussalam Darussalam Brunei

This paper focuses on the high throughput data transmission to deliver ample sensor data such as images or videos in a post disaster scenario using mobile wireless sensor networks. We formulate the route optimisation problem in the presence of Rician fading channel. The coordinated route reconfiguration strategy integrates the communication quality, shortest path algorithm, particle swarm optimisation, and mobility of multiple routers to optimise the end-to-end throughput of data transmission routes. We show how a coordinator can be used for identification of routers with critical links and to gradually manoeuvre them towards a reconfigured route with higher end-to-end throughput. The evaluation of our solution shows that proposed strategy considers the inherent characteristics of Rician fading channel, and takes benefit of the router's mobility to provide routes with better performance as compared to the routes generated by non-coordinated route reconfiguration framework. © 2018 Inderscience Enterprises Ltd.

关键词： Wireless sensor networks

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A Multimodal Dataset Addressing Motor Function in Autism

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Scientific data 2025年第1期12卷 959页

作者： João Ruivo Paulo Teresa Sousa João Perdiz Lara Pereira Mariette Vasen Susana Mouga Gabriel Pires Miguel Castelo-Branco Institute of Systems and Robotics University of Coimbra Coimbra Portugal. jpaulo@isr.uc.pt. Coimbra Institute for Biomedical Imaging and Translational Research (CIBIT) Institute of Nuclear Sciences Applied to Health (ICNAS) University of Coimbra Coimbra Portugal. Intelligent Systems Associate Laboratory (LASI) Guimarães Portugal. Institute of Physiology Faculty of Medicine University of Coimbra Coimbra Portugal. Institute of Systems and Robotics University of Coimbra Coimbra Portugal. Physics Department NOVA School of Science and Technology NOVA University of Lisbon Lisbon Portugal. Faculty of Mathematics and Computer Science Friedrich-Schiller-University Jena Jena Germany. Department of Informatics Karlsruhe Institute of Technology (KIT) Karlsruhe Germany. Engineering Department Polytechnic Institute of Tomar Tomar Portugal.

Autism has primarily been characterized at a social-cognitive level, with evidence suggesting impairments in action-perception and motor function. However, there is a lack of publicly available datasets that specifically address the neural and behavioral mechanisms linking these functions in autism. The Move4AS dataset aims to fill this gap, having been designed to facilitate the study of the underlying mechanisms of motor function in the autism spectrum. It combines multiple data modalities, including electroencephalography (EEG) and 3D motion data, collected during motor imitation tasks - dancing and walking - designed to recruit motor function in emotional and social contexts. It comprises a control group of 20 participants and a clinical group of 14 participants. EEG was recorded through a 16-channel wireless EEG cap, and 3D motion was captured using marker-based motion capture suits tracked by a 10-camera setup. Additionally, the dataset includes neuropsychological characterization of the participants (IQ and autism score).

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Active interactions between animals and technology: biohybrid approaches for animal behaviour research

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Animal Behaviour 2025年 224卷

作者： Papadopoulou, M. Ball, M. Bartashevich, P. Burns, A.L.J. Chiara, V. Clark, M.A. Costelloe, B.R. Fele, M. French, F. Hauert, S. Heinrich, M.K. Herbert-Read, J.E. Hoitt, J. Ioannou, C.C. Landgraf, T. Matchette, S.R. Polverino, G. Sankey, D.W.E. Scott, D.M. Sridhar, V.H. Strömbom, D. Trianni, V. Vo-Doan, T.T. King, A.J. Department of Biosciences Faculty of Science and Engineering Swansea University Swansea United Kingdom Department of Biology Lafayette College Easton PA United States Institute for Theoretical Biology Department of Biology Humboldt-Universität zu Berlin Berlin Germany Cluster of Excellence ‘Science of Intelligence’ Berlin Germany Department Fish Biology Fisheries and Aquaculture Leibniz Institute of Freshwater Ecology and Inland Fisheries Berlin Germany Faculty of Life Sciences Albrecht Daniel Thaer-Institute of Agricultural and Horticultural Sciences Humboldt-Universität zu Berlin Berlin Germany Museum and Institute of Zoology Polish Academy of Science Warszawa Poland School of Biological Sciences University of Bristol Bristol United Kingdom School of Natural Sciences Macquarie University Sydney Australia Centre for the Advanced Study of Collective Behaviour University of Konstanz Konstanz Germany Department of Biology University of Konstanz Konstanz Germany Department of Collective Behavior Max Planck Institute of Animal Behavior Konstanz Germany School of Computing and Digital Media London Metropolitan University London United Kingdom Bristol Robotics Laboratory University of Bristol Bristol United Kingdom IRIDIA Université Libre de Bruxelles Brussels Belgium Department of Zoology University of Cambridge Cambridge United Kingdom Department of Mathematics and Computer Science Freie Universität Berlin Berlin Germany Department of Ecological and Biological Sciences University of Tuscia Viterbo Italy School of Natural and Environmental Science Newcastle University Newcastle upon Tyne United Kingdom Centre for Ecology and Conservation Faculty of Environment Science and Economy University of Exeter Penryn Campus Cornwall United Kingdom School of Animal Rural and Environmental Sciences Nottingham Trent University Nottingham United Kingdom Department for the Ecology of Animal Societies Max Planck Institute of Animal Behavior Konstanz Germany Ins

Biohybrid approaches (where living and engineered components are combined) provide new opportunities for advancing animal behaviour research and its applications. This review article and accompanying special issue explores how different types of novel technologies can be used in the field of animal behaviour from three perspectives: (1) comprehension, (2) application and (3) integration. Under the perspective of ‘comprehension,’ we present examples of how technologies like virtual animals or robots can be used in experimental settings to interact with living animals in a standardized manner. Such interactions can advance our understanding of fundamental topics such as mate choice, social learning and collective behaviour. Under ‘application,’ we investigate the potential for technologies to monitor, react and interact with animals in a variety of scenarios. For example, we discuss how drones can be used to keep large herbivores away from valuable crops and robotic predators to deter invasive species. Under ‘integration,’ we discuss possibilities for the coexistence of engineered and biological systems, augmenting the capacity or resilience of either or both components. Integration can be physical, for example, livestock can have sensors sit in their inner body for temperature monitoring, or within the environment, where sensors or robots monitor and interact with animals, such as a short-term earthquake forecasting method. Based upon these three themes, we discuss and classify existing biohybrid animal behaviour research, including the four articles included in our special issue. We also consider the ethics of this emerging field, highlight the advantages and potential issues associated with using technologies to create biohybrid systems and emphasize how such technologies can support the advancement of animal behaviour research. © 2025 The Association for the Study of Animal Behaviour

关键词： behavioural control behavioural monitoring biomimetic robotics ethorobotics interspecies interaction sensory integration

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An anonymous and privacy-preserving lightweight authentication protocol for secure communication in UAV-assisted IoAV networks

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computer Communications 2025年 239卷

作者： Shariq, Mohd Jamil, Norziana Rawat, Gopal Singh Chaudhry, Shehzad Ashraf Masud, Mehedi Cangelosi, Angelo Department of Information Systems and Security College of IT UAE University P.O.Box 15551 Al Ain Abu Dhabi United Arab Emirates Bennett University Greater Noida201310 India Department of Computer Science and Information Technology College of Engineering Abu Dhabi University Abu Dhabi United Arab Emirates Department of Software Engineering Faculty of Engineering and Architecture Nisantasi University Istanbul34398 Turkey Department of Computer Science College of Computers and Information Technology Taif University P.O. Box 11099 Taif21944 Saudi Arabia Manchester Centre for Robotics and AI University of Manchester United Kingdom

With the rapid proliferation of the Internet of Things (IoT), autonomous vehicles (AVs), or self-driving cars, rely heavily on real-time data sharing and message exchanges over wireless networks. AVs use sensors, artificial intelligence, machine learning, and advanced algorithms to perform various functions, enabling users to operate without human intervention. Owing to the flexibility and high mobility of drones, they could aid in the operations of AVs. However, the security and privacy are the main concerns;specifically, the threat of physical capture and violation of anonymity are the main hurdles for realization of secure communication among the AVs and drones. To address these challenges, we propose an anonymous and provably Secure Lightweight Authentication Protocol for unmanned-aerial-vehicle-assisted Internet of Autonomous Vehicles (SLAP-IoAV). The proposed protocol uses cryptographic primitives such as exclusive-OR operations, elliptic-curve cryptography, collision-resistant one-way hashing, and concatenation to ensure robust security. An informal security analysis found that SLAP-IoAV is secure against several known attacks, and a performance analysis established that the protocol has less computational and communication overhead than existing competitive protocols. Additionally, Scyther simulation results confirm that no security vulnerabilities are present. Overall, our protocol delivers superior security and performance, making it well-suited to real-world applications in the AV industry. © 2025 Elsevier B.V.

关键词： Authentication Protocol

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Generation of a Compendium of Transcription Factor Cascades and Identification of Potential Therapeutic Targets using Graph Machine Learning

arXiv

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arXiv 2023年

作者： Sivarajkumar, Sonish Tandale, Pratyush Bhardwaj, Ankit Johnson, Kipp W. Titus, Anoop Glicksberg, Benjamin S. Khader, Shameer Yadav, Kamlesh K. Subramanian, Lakshminarayanan Molecular Robotics Kerala India School of Computing and Information University of Pittsburgh Pennsylvania PA United States Health Informatics & Data Science Georgetown University WashingtonDC United States Department of Computer Science Courant Institute of Mathematical Sciences New York University New YorkNY United States Institute for Next Generation Healthcare Mount Sinai Health System New YorkNY United States Department of Preventive Cardiology DeBakey Heart & Vascular Center Houston Methodist HoustonTX United States Hasso Plattner Institute for Digital Health Icahn School of Medicine at Mount Sinai New YorkNY United States Faculty of Medicine Imperial College London London United Kingdom School of Engineering Medicine Texas A&M University HoustonTX United States Department of Translational Medical Sciences Center for Genomic and Precision Medicine Texas A&M University HoustonTX United States

Transcription factors (TFs) play a vital role in the regulation of gene expression thereby making them critical to many cellular processes. In this study, we used graph machine learning methods to create a compendium of TF cascades using data extracted from the STRING database. A TF cascade is a sequence of TFs that regulate each other, forming a directed path in the TF network. We constructed a knowledge graph of 81,488 unique TF cascades, with the longest cascade consisting of 62 TFs. Our results highlight the complex and intricate nature of TF interactions, where multiple TFs work together to regulate gene expression. We also identified 10 TFs with the highest regulatory influence based on centrality measurements, providing valuable information for researchers interested in studying specific TFs. Furthermore, our pathway enrichment analysis revealed significant enrichment of various pathways and functional categories, including those involved in cancer and other diseases, as well as those involved in development, differentiation, and cell signaling. The enriched pathways identified in this study may have potential as targets for therapeutic intervention in diseases associated with dysregulation of transcription factors. We have released the dataset, knowledge graph, and graphML methods for the TF cascades, and created a website to display the results, which can be accessed by researchers interested in using this dataset. Our study provides a valuable resource for understanding the complex network of interactions between TFs and their regulatory roles in cellular processes. Copyright © 2023, The Authors. All rights reserved.

关键词： Transcription factors

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Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs

Communication-based and Communication-less approaches for Ro...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Elena Umili Marco Tognon Dario Sanalitro Giuseppe Oriolo Antonio Franchi Sapienza University of Rome Rome Italy Autonomous Systems Lab ETH Zurich Zürich Switzerland LAAS-CNRS Université de Toulouse CNRS Toulouse France Robotics and Mechatronics lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

In this paper, we analyze the coordination problem of groups of aerial robots for assembly applications. With the enhancement of aerial physical interaction, construction applications are becoming more and more popular. In this domain, the multi-robot solution is very interesting to reduce the execution time. However, new methods to coordinate teams of aerial robots for the construction of complex structures are required. In this work, we propose an assembly planner that considers both assembly and geometric constraints imposed by the particular desired structure and employed robots, respectively. An efficient graph representation of the task dependencies is employed. Based on this framework, we design two assembly planning algorithms that are robust to robot failures. The first is centralized and communication-based. The second is distributed and communication-less. The latter is a solution for scenarios in which the communication network is not reliable. Both methods are validated by numerical simulations based on the assembly scenario of Challenge 2 of the robotic competition MBZIRC2020.

关键词： Task analysis Robot kinematics Robotic assembly Planning Resource management Robustness

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