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arXiv 2024年

作者： Liu, Shuhong Deng, Tianchen Zhou, Heng Li, Liuzhuozheng Wang, Hongyu Wang, Danwei Li, Mingrui Department of Information Science and Technology Department of Complexity Science and Engineering The University of Tokyo Tokyo113-8654 Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Mechanical Engineering Columbia University New York10027 United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Computer Science Dalian University of Technology Dalian116024 China

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments, characterized by substantial holes due to unobserved geometry caused by obstacles or limited view angles. To address this challenge, we present Manhattan Gaussian SLAM, an RGB-D system that leverages the Manhattan World hypothesis to enhance geometric accuracy and completeness. By seamlessly integrating fused line segments derived from structured scenes, our method ensures robust tracking in textureless indoor areas. Moreover, The extracted lines and planar surface assumption allow strategic interpolation of new Gaussians in regions of missing geometry, enabling efficient scene completion. Extensive experiments conducted on both synthetic and real-world scenes demonstrate that these advancements enable our method to achieve state-of-the-art performance, marking a substantial improvement in the capabilities of Gaussian SLAM systems. © 2024, CC BY.

关键词： Gaussian distribution

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Peak Time-Windowed Mean Estimation using Convex Optimization

Peak Time-Windowed Mean Estimation using Convex Optimization

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IEEE Conference on Decision and control

作者： Jared Miller Niklas Schmid Matteo Tacchi Didier Henrion Roy S. Smith Department of Information Technology and Electrical Engineering (D-ITET) ETH Zürich Physikstrasse 3 Automatic Control Laboratory (IfA) and NCCR Automation Zürich Switzerland Univ. Grenoble Alpes CNRS Grenoble INP (Institute of Engineering Univ. Grenoble Alpes) GIPSA-lab Grenoble France LAAS-CNRS Université de Toulouse CNRS Toulouse France and the Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper presents an algorithmic approach towards bounding the peak time-windowed average value attained by a state function along trajectories of a dynamical system. An example includes the maximum average current flowing across a power line in any 5 -minute window. The peak time-windowed mean estimation task may be posed as a finite-dimensional but nonconvex optimization problem in terms of an initial condition and stopping time. This problem can be lifted into an infinite-dimensional linear program in occupation measures, where no conservatism is introduced under compactness and dynamical regularity assumptions. The peak time-windowed mean estimation linear program is in turn truncated into a convergent sequence of semidefinite programs using the moment-Sum-of-Squares hierarchy. Bounds of the time-windowed mean are computed for example systems.

关键词： Heuristic algorithms Current measurement Estimation Convex functions Trajectory Dynamical systems Optimization

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Algae Textile and Bioplastic Kit for Space Travel and Sustainable Living Applications for the Future of Wellbeing 19

Algae Textile and Bioplastic Kit for Space Travel and Sustai...

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19th IAA Symposium on Visions and Strategies 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Neidlinger, Kristin Musilova, Michaela Sensoree Therapeutic Biomedia San FranciscoCA United States DesignLab University Twente Netherlands International MoonBase Alliance United States Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology STU Bratislava Slovakia Bratislava Slovakia

ISBN: (纸本)9781713843146

Textile based wellness is a global need. As skin absorbs directly from the environment, ten percent of the chemicals in clothing transfer to the skin and body. What if we obtained vital nutrients like oxygen and vitamins directly with our textiles? This would have significant implications for the sustainability of human space travel. Current research shows algae as a lifeform suitable for growing in space orbit. It is small and weightless, and can be grown and implemented as a material resource from soft textiles to sturdy plastics. It also can be composted or reconstituted into new shapes and designs. For this research, an algae-based bioplastics and textiles kit was created for testing for space applications during the fourth EMMIHS analog lunar mission (February 1-15, 2020) at the Hawaii - Space Exploration Analog and Simulation (HI-SEAS) habitat in Hawai’i, USA. It was part of a collaboration between the EuroMoonMars initiative by ILWEG, the International Moonbase Alliance and HI-SEAS. For the simulation, a closed loop DIY kit for growing and composting Algae Textile for space habitats was studied. Soft textiles to hard plastics were iterated in the controlled air environment for potential use in space travel. It was found that astronauts may create unique textiles with oxygen prolific health benefits. The textiles have the potential to act as a portable source of photosynthesis, as well as be a sensor to record stress levels and note correlations with atmospheric events. It is possible to extract time dated scientific data at the end of the study to gain insights on human wellbeing during the mission. Finally, the textile may be composted then repurposed. The fabric may also be infused with the wearers’ DNA to become a surrogate skin to record growth and environmental stresses of microgravity, as it becomes an agent to monitor the effects of travel. As space travel is known to cause DNA and RNA degeneration, there is potential to counteract hardships with chlor

关键词： Algae

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Sim2Real 3D Object Classification using Spherical Kernel Point Convolution and a Deep Center Voting Scheme

arXiv

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arXiv 2021年

作者： Weibel, Jean-Baptiste Patten, Timothy Vincze, Markus Vision for Robotics Laboratory Automation and Control Institute TU Wien Austria Robotics Institute Faculty of Engineering and Information Technology University of Technology Sydney Australia

While object semantic understanding is essential for most service robotic tasks, 3D object classification is still an open problem. Learning from artificial 3D models alleviates the cost of annotation necessary to approach this problem, but most methods still struggle with the differences existing between artificial and real 3D data. We conjecture that the cause of those issue is the fact that many methods learn directly from point coordinates, instead of the shape, as the former is hard to center and to scale under variable occlusions reliably. We introduce spherical kernel point convolutions that directly exploit the object surface, represented as a graph, and a voting scheme to limit the impact of poor segmentation on the classification results. Our proposed approach improves upon state-of-the-art methods by up to 36% when transferring from artificial objects to real objects. Copyright © 2021, The Authors. All rights reserved.

关键词： Convolution

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Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design

arXiv

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arXiv 2022年

作者： Zhang, Zhuqing Song, Yang Huang, Shoudong Xiong, Rong Wang, Yue State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang Hangzhou China Robotics Institute Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW2007 Australia

This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a novel invariant extended Kalman filter (invariant EKF) is designed. We theoretically prove that, when we do not consider the uncertainty of the map information, the proposed invariant EKF can naturally maintain the correct observability properties of the system. To consider the uncertainty of the map information, we introduce a Schmidt filter. With the Schmidt filter, the uncertainty of the map information can be taken into consideration to avoid over-confident estimation while the computation cost only increases linearly with the size of the map keyframes. In addition, we introduce an easily implemented observability-constrained technique because directly combining the invariant EKF with the Schmidt filter cannot maintain the correct observability properties of the system that considers the uncertainty of the map information. Finally, we validate our proposed system’s high consistency, accuracy, and efficiency via extensive simulations and real-world experiments. Copyright © 2022, The Authors. All rights reserved.

关键词： Lie groups

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Convergence Analysis of the Short-Memory Principle for Fractional Models

Convergence Analysis of the Short-Memory Principle for Fract...

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European control Conference (ECC)

作者： Oliver Stark Felix Strehle Sören Hohmann Faculty of Electrical Engineering and Information Technology Institute of Control Systems Karlsruhe Institute of Technology Karlsruhe Germany

This paper deals with the convergence analysis of a closed-form solution for fractional models with the short-memory principle. Fractional models are increasingly used to describe complex physical, chemical, or biological systems. However, calculating the output signal of a fractional model necessitates an actual closed-form solution, which in turn requires the system to be at rest at the beginning of the simulation. In this work, we drop the restriction of a system at rest by presenting a closed-form solution based on the short-memory principle. This extension then allows, for example, to perform parameter identification during run time. The second contribution is the convergence analysis of the closed-form solution with the short-memory principle. A necessary property regarding the fractional order is derived such that the closed-form solution with the short-memory principle converges to the closed-form solution of the system at rest.

关键词： Analytical models Closed-form solutions Parameter estimation Biological system modeling Europe Linear programming Error correction codes

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Feasibility of Utilizing Passive BCI for Assistance Evaluation: A Case Study on a Knee Exoskeleton

Feasibility of Utilizing Passive BCI for Assistance Evaluati...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Asghar Mahmoudi Morteza Khosrotabar Jannis Kuhmann Martin Grimmer Stephan Rinderknecht Maziar A. Sharbafi Faculty of Mechanical Engineering Institute for Mechatronic Systems Technical University Darmstadt Germany Lauflabor Locomotion Lab. Institute of Sports Science Technical Uni-versity Darmstadt Darmstadt Germany Department of Electrical En-gineering and Information Technology Control and Cyber-Physical Systems Technical University Darmstadt Darmstadt Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This study explored the feasibility of incorpo-rating a passive Brain-Computer Interface (BCI) into the individualization process of wearable assistive devices, with a specific focus on lower-limb exoskeletons. These devices can greatly improve mobility and quality of life for those with lower limb impairments. However, their optimal performance relies on personalized adjustments. This study offered a unique approach to user feedback without intentional control. A one-degree-of-freedom knee exoskeleton was utilized, introducing different levels of impedance to create distinct assistance levels. The analysis identified specific brain clusters, notably the right premotor and supplementary motor cortex, exhibiting significant differences in activity between the easiest and the most challenging conditions. This critical proof-of-concept step demonstrated that through decoding the user's brain activity, passive BCI could support the individualization of assistive technology. This approach indicated the potential to enhance the performance and user experience of wearable assistive devices.

关键词： Performance evaluation Brain Exoskeletons Motors User experience Brain-computer interfaces Decoding Assistive devices Impedance Robots

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Designing Optimal Parameters for Single-Axis Solar-Tracker through Analysis of Sun-Path and Tracking Vector Dynamics

Designing Optimal Parameters for Single-Axis Solar-Tracker t...

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International Conference on electrical engineering and information & Communication Technology (ICEEICT)

作者： M. Akhtaruzzaman Md Shofiqul Islam Fahim Shahryer Muammer Din Arif Md. Sazib Mollik Muhammad Towfiqur Rahman Md. Mahbubur Rahman Mohammad Kamrul Hasan Shugata Ahmed Md. Ashrafuzzaman Department of Computer Science and Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh Department of Mechanical Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh Department of Electrical and Electronic Engineering Northern University Bangladesh (NUB) Dhaka Bangladesh Department of Computer Science and Engineering University of Asia Pacific (UAP) Dhaka Bangladesh Faculty of Information Science and Technology Universiti Kebangsaan Malaysia (UKM) Bangi Malaysia Department of Robotics and Mechatronics Engineering University of Dhaka (UoD) Bangladesh Global corporate & finance Experian (malaysia) Sdn. Bhd. Cyberjaya Malaysia

ISBN: (数字)9798350385779

ISBN: (纸本)9798350385786

The persistent challenges faced by sun-tracking systems include inefficient power production, wastage of energy, ineffective control, and high costs. Most of the existing systems are either static or dual-axis tracking which lead to inefficient output or increasing energy wastage and cost overheads. Though, single-axis tracking system has some benefits over the static or dual-axis tracking, most of the systems do not analyze the selection of optimal sun-path which again leads to inefficient and inadequate absorption of sunlight. Addressing the issues, this article presents a design of optimal parameters for single-axis solar-tracking by analyzing the sun-path and tracking vector dynamics. The study mainly focuses on analyzing solar-tracking dynamics, variations in sunray angles, Azimuth and Elevation dynamics throughout the day for the twelve months, Sun-vector calculation for local coordinates, joint rotational-axis, and joint motion control using a Proportional-Derivative controller. Additionally, the article outlines a conceptual architecture for automated control, monitoring, and power distribution for the potential development of a sustainable smart city. The proposed strategy addresses the issues of the optimal design of a single-axis solar-tracker, thus ensuring the reduction of cost overhead and energy wastage.

关键词： Costs Tracking Heuristic algorithms Power system dynamics Dynamics Production Vectors

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface

Optical Evanescent Field for Direct Observation of Sub-100nm...

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

作者： Panart Khajornrungruang Thitipat Permpatdechakul Keisuke Suzuki Aran Blattler Yutaka Terayama Daiki Goto Pipat Phaisalpanumas Natthaphon Bun-Athuek Amornphun Phunopas Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Mechanical Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Mechanical Information Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Mechanical Science and Technology Course Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Industiral Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Mechanical Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes.

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Performance Analysis of a QoS System with WFQ Queuing Using Temporal Petri Nets 1

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20th International Conference on Computer information Systems and Industrial Management Applications, CISIM 2021

作者： Strzęciwilk, Dariusz Nafkha, Rafik Zawiślak, Rafal Institute of Information Technology University of Life Sciences Nowoursynowska Street 159 Warsaw02-787 Poland Faculty of Electrical Electronic Computer and Control Engineering Lodz University of Technology Stefanowskiego 18/22 Lódź Poland

ISBN: (数字)9783030843403

ISBN: (纸本)9783030843397

The paper presents the results of analysis and modelling of differentiated services using Petri nets. Mechanisms and methods of implementation of QoS (Quality of Service) services in packet networks are discussed. A network model supporting data transfers related to different traffic classes was designed and studied. Traffic shaping mechanisms based on WFQ (Weighted Fair Queuing) system used in QoS were studied. The impact of the traffic shaping mechanism was studied and the performance of the modelled systems was evaluated. The application of simulation tools in the form of TPN (Temporal Petri Nets) was aimed at verifying the traffic shaping mechanisms and evaluating the performance of the studied WFQ system. Our simulation results show that the number of high-priority flows have a critical impact on average waiting times and queue length. © 2021, Springer Nature Switzerland AG.

关键词： Petri nets

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