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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Hamed Habibi D. M. K. K. Venkateswara Rao Jose Luis Sanchez-Lopez Holger Voos Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust University of Luxembourg Luxembourg Department of Engineering Faculty of Science Technology and Medicine (FSTM) University of Luxembourg

In this paper, we investigate requirements to prepare an application for Specific Operations Risk Assessment (SORA), regulated by European Union Aviation Safety Agency (EASA) to obtain flight authorization for Unmanned Aerial Vehicles (UAVs) operations and propose some perspectives to automate the approach based on our successful application. Preparation of SORA requires expert knowledge as it contains technicalities. Also, the whole process is an iterative and timeconsuming one. It is even more challenging for higher-risk operations, such as those in urban environments, near airports, and multi- and customized models for research activities. SORA process limits the potential socio-economic impacts of innovative UAV capabilities. Therefore, in this paper, we present a SORA example, review the steps and highlight challenges. Accordingly, we propose an alternative workflow, considering the same steps, while addressing the challenges and pitfalls, to shorten the whole process. Furthermore, we present a comprehensive list of preliminary technical procedures, including the pre/during/post-flight checklists, design and installation appraisal, flight logbook, operational manual, training manual, and General Data Protection Regulation (GDPR), which are not explicitly instructed in SORA manual. Moreover, we propose the initial idea to create an automated SORA workflow to facilitate obtaining authorization, which is significantly helpful for operators, especially the scientific community, to conduct experimental operations.

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An Integrated Real-time UAV Trajectory Optimization and Potential Field Approach for Dynamic Collision Avoidance

An Integrated Real-time UAV Trajectory Optimization and Pote...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： D. M. K. K. Venkateswara Rao Hamed Habibi Jose Luis Sanchez-Lopez Holger Voos Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust University of Luxembourg Luxembourg Department of Engineering Faculty of Science Technology and Medicine (FSTM) University of Luxembourg

This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A minimum-time trajectory optimization problem is formulated with initial and final positions as boundary conditions and collision avoidance as constraints. It is transcribed into a nonlinear programming problem using Chebyshev pseudospectral method. The state and control histories are approximated by using Lagrange polynomials and the collocation points are used to satisfy constraints. A novel sigmoid-type collision avoidance constraint is proposed to overcome the drawbacks of Lagrange polynomial approximation in pseudospectral methods that only guarantees inequality constraint satisfaction only at nodal points. Automatic differentiation of cost function and constraints is used to quickly determine their gradient and Jacobian, respectively. An APF method is used to update the optimal control inputs for guaranteeing collision avoidance. The trajectory optimization and APF method are implemented in a closed-loop fashion continuously, but in parallel at moderate and high frequencies, respectively. The initial guess for the optimization is provided based on the previous solution. The proposed approach is tested and validated through indoor *** video link: https://***/swSspfvYjJs

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A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Novel Design and Enhanced Euler-Bernoulli Model with Cross-Section Optimization

A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Nove...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Emanuele Nicotra Chi Cong Nguyen James Davies Phuoc Thien Phan Trung Thien Hoang Bibhu Sharma Adrienne Ji Kefan Zhu Trung Dung Ngo Van Anh Ho Hung Manh La Nigel H. Lovell Thanh Nho Do Graduate School of Biomedical Engineering Faculty of Engineering UNSW Sydney Kensington Campus Australia More-Than-One Robotics Laboratory Faculty of Sustainable Design Engineering University of Prince Edward Island Charlottetown Canada Soft Haptics Laboratory School of Materials Science Japan Advanced Institute of Science and Technology Kawaguchi Saitama Japan Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Aneurysms, balloon-like bulges in blood vessels, present a significant health risk due to their potential to rupture, leading to life-threatening internal bleeding. Current treatments often involve delivering embolic materials or metal coils to fill these bulges, occluding them from the pressure of blood flow. However, clinical micro-catheters that deploy embolic materials used today face limitations, primarily their rigidity and the lack of active control over the bending tip of the catheter. This paper introduces a new soft micro-robotics catheter, with diameter of only 0.8 mm, equipped with a hollow channel. With this new design, the new device can induce bending motions at its tip for active steerability to reach desired aneurysm targets and then perform the delivery of embolic materials and tools. To enhance the control and precise navigation during procedures, a robust mathematical model and image processing techniques are also introduced and validated. Experiments are also performed to characterise and validate the model’s accuracy and the steerability and navigation capabilities of the new micro-catheter.

关键词： Performance evaluation Navigation Metals Aneurysm Bending Mathematical models Rigidity

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Automated Ultrasonic Testing of Carbon-Carbon Composite Materials

Automated Ultrasonic Testing of Carbon-Carbon Composite Mate...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Evgeniy A. Pavlukhin Igor Y. Kinzhagulov Alexey V. Fedorov Magomed A. Omarov Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia Institution of Science “Engineering and design center for support of the operation of space technology ST Petersburg Russia

The quality of products made of carbon-carbon composite materials (CCCM) is influenced by many factors, including the parameters of the technological process and the technical level of equipment for the manufacture of materials and structures. One of the most important moments in the process of creating products from CCCM is the formation of reinforcing components, matrix and their structural bonds. The efficiency of the system of structural bonds depends on the homogeneity (heterogeneity) of the material structure. The required mechanical and thermal properties of CCCM are ensured by the uniformity (continuity) of the structure, the change of which affects the properties of the material as a whole. In the event of discontinuity, an uneven distribution of mechanical and thermal fields can occur, which will jeopardize the performance of the entire structure, so non-destructive testing (NDT) of CCCM is an important task. The ultrasonic shadow method of control was chosen as the NDT method. This method makes it possible to detect structural inhomogeneities in the material of the test object - accumulations of pores and microcracks (at the microlevel), cracks, zones of low density, local heterogeneity of the structure (at the macrolevel). This article discusses the automation and ultrasonic testing of products from CCCM.

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DCHM: Dynamic Collaboration of Heterogeneous Models Through Isomerism Learning in a Blockchain-Powered Federated Learning Framework 39

DCHM: Dynamic Collaboration of Heterogeneous Models Through ...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Hao, Zhihao Zhang, Bob Li, Haisheng School of Computer Science and Artificial Intelligence Beijing Key Laboratory of Commercial Data Security Protection and Intelligent Governance Beijing Technology and Business University Beijing China Department of Computer and Information Science Faculty of Science and Technology University of Macau Taipa China Centre for Artificial Intelligence and Robotics Institute of Collaborative Innovation University of Macau Taipa China

ISBN: (纸本)157735897X

Solutions to time-varying problems are crucial for research areas such as predicting changes in human body shape over time. While recurrent neural networks have made significant advancements in this field, their reliance on centralized processing has led to challenges such as model silos and data isolation. In response, distributed AI systems like federated learning have emerged to facilitate dynamic collaboration among models;however, they still depend on central coordinators, which pose risks to system security and efficiency. Moreover, traditional federated learning primarily supports homogeneous models and lacks effective strategies for the interaction of heterogeneous models. To address these limitations, we propose a novel method called Dynamic Collaboration of Heterogeneous Models (DCHM), based on Isomerism Learning, which leverages a consortium blockchain network to enhance model credibility and facilitate coordination among heterogeneous models. Additionally, we introduce a Distributed Hierarchical Aggregation (DHA) algorithm that enables permissioned nodes within each group to aggregate local model results and share them for standardized processing. After several iterative cycles, these nodes perform secondary integration of local results to produce global outcomes. Experimental results demonstrate that DCHM effectively analyzes the temporal variability of body shape changes with high efficiency. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Federated learning

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Holding, Grasping and Sensing of Prosthetic Robot Arm Like a Real Human Hand, a Journey Beyond Limits: An Extensive Review

Holding, Grasping and Sensing of Prosthetic Robot Arm Like a...

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Human Engineering Symposium, HUMENS 2021

作者： Babu, Devin Nasir, Abdul Jamaludin, A.S. Rosle, Muhammad Hisyam Faculty of Electrical and Electronic Engineering Technology University Malaysia Pahang Pekan Campus Pekan Pahang26600 Malaysia Department of Robotics College of Science and Engineering Ritsumeikan University 1-1-1 Noji-higashi Kusatsu Shiga525-8577 Japan

ISBN: (纸本)9789811641145

This paper provides a comprehensive survey on the current state of prosthetic robotic arm;focusing on grasping strategy, sensing technologies, and control system. Numerous studies have been carried on prosthetic robotic arm field in improving its functionality. Mechanical/ prosthetic robotic arm is built to function as real—human-hand like for various fields like medical and industrial purposes. Starting from the design to details of every single compartment of the arm, up to providing the most needed function according to the purpose of the prosthetic robotic arm was built. The implementation method and system control/architecture used are with proven experimental results that indicate each study's outcome is the primary concern. Although each developed prosthetic robotic arm differed between each other based on their purpose and technology used, aiming for the optimal design similar to human’s hand proves challenging for researchers, especially when it comes to the issue of practicality in whether it can be used to accomplish regular tasks a standard arm are able to. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Force actuators Neural network Prosthetic robotic arm

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Non-contact Assessment of Cardiovascular and Thermoregulatory Function during Exercise after Sleep Deprivation

Non-contact Assessment of Cardiovascular and Thermoregulator...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Kanaru Fumimoto Shima Okada Masanobu Manno Yusuke Sakaue Masaaki Makikawa Graduate School of Science and Engineering Ritsumeikan University Shiga Japan Department of Robotics Faculty of Science and Engineering Ritsumeikan University Shiga Japan Ritsumeikan Global Innovation Research Organization Ritsumeikan University Shiga Japan Research Organization of Science and Technology Ritsumeikan University Shiga Japan

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

The number of deaths due to heat stroke has been increasing rapidly in recent years, and it is predicted that by 2050 there will be 2.5 times as many deaths as at present. One of the major causes of heat stroke is loss of autonomic nervous system activity. Autonomic nervous system activity is a function of thermoregulation as well as cardiovascular regulation. However, the only index mainly used to control body condition is the cardiovascular index centering on heart rate. In addition, a noncontact, easy-to-use measurement system is needed for daily physical condition management. The purpose of this study was to evaluate autonomic nervous system activity in terms of both cardiovascular and thermoregulatory functions. We also aimed to construct a system that can measure these functions in a noncontact manner. To observe the effects of autonomic nervous system dysfunction more clearly, the subjects were asked to exercise. We focused on cutaneous blood vessels, which are commonly involved in cardiovascular and thermoregulatory functions. For the measurement of skin blood vessels, we used an index called the G/B ratio, which we have been developing for some time. This system uses differences in light absorbance to extract the contraction and dilation characteristics of facial capillaries. As a validation experiment, an exercise task using a bicycle ergometer was performed. The exercise intensity was set at 40% and calculated using the Karvonen method. Two conditions were used: normal sleep (control) and sleep deprivation for more than 24 hours (SD) to create a state of autonomic inactivity. The following parameters were measured: heart rate, blood pressure, peripheral vascular resistance, and cardiac output as cardiovascular indices, and deep body temperature, skin temperature, and facial animation as thermoregulatory indices. The G/B ratio also showed different variations between the control and SD conditions. The G/B ratio also varied differently between the control a

关键词： Temperature measurement Heating systems Heart rate Prevention and mitigation Autonomic nervous system Skin Regulation Time measurement Pressure measurement Indexes

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Tightly Coupled SLAM with Imprecise Architectural Plans

arXiv

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arXiv 2024年

作者： Shaheer, Muhammad Millan-Romera, Jose Andres Bavle, Hriday Giberna, Marco Sanchez-Lopez, Jose Luis Civera, Javier Voos, Holger Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust University of Luxembourg Luxembourg Faculty of Science Technology and Medicine University of Luxembourg Luxembourg I3A Universidad de Zaragoza Spain

Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global localization in real-world environments, they typically overlook a critical challenge: the "as-planned" architectural designs frequently deviate from the "as-built" real-world environments. To address this gap, we present a novel algorithm that tightly couples LIDAR-based simultaneous localization and mapping with architectural plans under the presence of deviations. Our method utilizes a multi-layered semantic representation to not only localize the robot, but also to estimate global alignment and structural deviations between "as-planned" and "as-built" environments in real-time. To validate our approach, we performed experiments in simulated and real datasets demonstrating robustness to structural deviations up to 35 cm and 15◦. On average, our method achieves 43% less localization error than baselines in simulated environments, while in real environments, the "as-built" 3D maps show 7% lower average alignment error. Paper Video: https://***/watch?v=eEZPkcpjWlM © 2024, CC BY.

关键词： Mapping

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A Soft e-Textile Sensor for Enhanced Deep Learning-based Shape Sensing of Soft Continuum Robots

A Soft e-Textile Sensor for Enhanced Deep Learning-based Sha...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Eric Vincent Galeta Ayman A. Nada Sabah M. Ahmed Victor Parque Haitham El-Hussieny Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria Egypt Electrical Engineering Department Faculty of Engineering Assiut University Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer sensors often fail to integrate well with the flexible nature of these robots, adding unwanted bulk and rigidity. To overcome these hurdles, our study presents a new approach to shape sensing in soft continuum robots through the use of soft e-textile resistive sensors. This sensor, designed to flawlessly integrate with the robot’s structure, utilizes a resistive material that adjusts its resistance in response to the robot’s movements and deformations. This adjustment facilitates the capture of multidimensional force measurements across the soft sensor layers. A deep Convolutional Neural Network (CNN) is employed to decode the sensor signals, enabling precise estimation of the robot’s shape configuration based on the detailed data from the e-textile sensor. Our research investigates the efficacy of this e-textile sensor in determining the curvature parameters of soft continuum robots. The findings are encouraging, showing that the soft e-textile sensor not only matches but potentially exceeds the capabilities of traditional rigid sensors in terms of shape sensing and estimation. This advancement significantly boosts the safety and efficiency of robotic navigation systems.

关键词： Training Shape Navigation Estimation Sensor phenomena and characterization Robot sensing systems Sensors Safety Convolutional neural networks Continuum robots

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Weisfeiler and Leman Go Loopy: A New Hierarchy for Graph Representational Learning

arXiv

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arXiv 2024年

作者： Paolino, Raffaele Maskey, Sohir Welke, Pascal Kutyniok, Gitta Department of Mathematics LMU Munich Germany Germany Faculty of Computer Science TU Wien Austria Institute for Robotics and Mechatronics DLR-German Aerospace Center Germany Department of Physics and Technology University of Tromsø Norway

We introduce r-loopy Weisfeiler-Leman (r-WL), a novel hierarchy of graph isomorphism tests and a corresponding GNN framework, r-MPNN, that can count cycles up to length r+2. Most notably, we show that r-WL can count homomorphisms of cactus graphs. This extends 1-WL, which can only count homomorphisms of trees and, in fact, we prove that r-WL is incomparable to k-WL for any fixed k. We empirically validate the expressive and counting power of r-MPNN on several synthetic datasets and demonstrate the scalability and strong performance on various real-world datasets, particularly on sparse graphs. Our code is available on GitHub. © 2024, CC BY-NC-ND.

关键词： Contrastive Learning

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