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IEEE International Conference on Robotics and Automation (ICRA)

作者： Lucas Wälti Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory (DISAL) School of Architecture Civil and Environmental Engineering (ENAC) Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This work focuses on understanding and identifying the drag forces applied to a rotary-wing Micro Aerial Vehicle (MAV). We propose a lumped drag model that concisely describes the aerodynamical forces the MAV is subject to, with a minimal set of parameters. We only rely on commonly available sensor information onboard a MAV, such as accelerometer data, pose estimate, and throttle commands, which makes our method generally applicable. The identification uses an offline gradient-based method on flight data collected over specially designed trajectories. The identified model allows us to predict the aerodynamical forces experienced by the aircraft due to its own motion in real-time and, therefore, will be useful to distinguish them from external perturbations, such as wind or physical contact with the environment. The results show that we are able to identify the drag coefficients of a rotary-wing MAV through onboard flight data and observe the close correlation between the motion of the MAV, the measured external forces, and the predicted drag forces.

关键词： Accelerometers Force measurement Drag Perturbation methods Atmospheric modeling Wind tunnels Real-time systems

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Development and Optimization of a WebGL-Based Mechanical Model Simulation Platform 4th

Development and Optimization of a WebGL-Based Mechanical Mod...

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4th International Conference on Mechanical Design and Simulation, MDS 2024

作者： Wang, Xintong Tian, Hao Fang, Jingzhe Zhang, Hualiang Zhang, Tao Software College Shenyang University of Technology Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9789819778867

The need for mechanical model simulation platforms is growing as a result of the ongoing advancements in digital technology and the mechanical manufacturing sector. The application scope and efficacy of simulation platforms are severely limited by the issue of sluggish rendering performance, which frequently arises when obtaining high-quality rendering. When drawing high demand mechanical models, a lot of processing power is frequently needed, which makes real-time rendering speed unsatisfactory for practical purposes. In order to achieve real-time rendering and simulation of 3D robots, this experiment built and implemented a WebGL-based 3D simulation platform. Additionally, the simulation platform can be optimized by increasing frame rate and rendering speed without sacrificing rendering effect by building a mixed bounding box. © The Author(s) 2025.

关键词： Digital elevation model

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PowerGen: Resources Utilization and Power Consumption Data Generation Framework for Energy Prediction in Edge and Cloud Computing

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Procedia Computer Science 2024年 238卷 385-395页

作者： Leila Ismail Huned Materwala Intelligent Distributed Computing and Systems (INDUCE) Lab Department of Computer Science and Software Engineering College of Information Technology United Arab Emirates University United Arab Emirates National Water and Energy Center United Arab Emirates University United Arab Emirates

The explosive adoption of IoT applications in different domains, such as healthcare, transportation, and smart home and industry, has led to the pervasive adoption of edge and cloud computing. Large-scale edge and cloud data centers, consisting of thousands of computing servers, are hungry-energy infrastructure exacerbating issues such as environmental carbon footprint and high electricity costs. Developing energy-efficient solutions for cloud infrastructure requires knowledge of the correlation between computing server resource utilization and power consumption. Power consumption modeling exhibits this relationship and is crucial for energy savings. In this paper, we propose PowerGen, a framework to generate server resources utilization and corresponding power consumption dataset. The proposed framework will aid academic researchers to formulate correlations between resources utilization and power consumption by using power prediction models, and evaluate energy-aware resource management approaches in an edge-cloud computing system. It will help edge and cloud administrators to evaluate the energy-efficiency of heterogenous severs architectures in a datacenter. We exemplify the applicability of the dataset, generated by our proposed framework, in power prediction modeling and energy-aware scheduling for green computing scenarios.

关键词： cloud computing edge computing dataset generation energy-efficiency green computing machine learning internet of things power consumption modeling resource management scheduling

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Towards a Deep Learning Pain-Level Detection Deployment at UAE for Patient-Centric-Pain Management and Diagnosis Support: Framework and Performance Evaluation

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Procedia computer science 2023年 220卷 339-347页

作者： Leila Ismail Muhammad Danish Waseem Clouds and Distributed Computing and Systems (CLOUDS) Lab School of Computing and Information Systems Faculty of Engineering and Information Technology The University of Melbourne Australia. Intelligent Distributed Computing and Systems (INDUCE) Research Laboratory Department of Computer Science and Software Engineering College of Information Technology United Arab Emirates University UAE. National Water and Energy Center United Arab Emirates University UAE.

The outbreak of the COVID-19 pandemic revealed the criticality of timely intervention in a situation exacerbated by a shortage in medical staff and equipment. Pain-level screening is the initial step toward identifying the severity of patient conditions. Automatic recognition of state and feelings help in identifying patient symptoms to take immediate adequate action and providing a patient-centric medical plan tailored to a patient's state. In this paper, we propose a framework for pain-level detection for deployment in the United Arab Emirates and assess its performance using the most used approaches in the literature. Our results show that a deployment of a pain-level deep learning detection framework is promising in identifying the pain level accurately.

关键词： Computer Vision Deep Learning Image Processing Machine Learning Pain Detection Patient-Centric Smart healthcare eHealth

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Integration of Artificial Intelligence and Wearable Internet of Things for Mental Health Detection

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International Journal of Cognitive Computing in Engineering 2024年第1期5卷 307-315页

作者： Wang, Wei Chen, Jian Hu, Yuzhu Liu, Han Chen, Junxin Gadekallu, Thippa Reddy Garg, Lalit Guizani, Mohsen Hu, Xiping Guangdong-Hong Kong-Macao Joint Laboratory for Emotional Intelligence and Pervasive Computing Artificial Intelligence Research Institute Shenzhen MSU-BIT University Guangdong Shenzhen518172 China School of Medical Technology Beijing Institute of Technology Beijing100081 China School of Intelligent Systems Engineering Sun Yat-sen University Guangdong Shenzhen518000 China School of Software Dalian University of Technology Dalian116621 China Division of Research and Development Lovely Professional University Phagwara India Center of Research Impact and Outcome Chitkara University Punjab India Faculty of Information and Communication Technology University of Malta Msida Malta United Arab Emirates

The integration of Artificial Intelligence (AI) and Wearable Internet of Things (WIoT) for mental health detection is a promising area of research with the potential to revolutionize mental health monitoring and diagnosis. Since early detection of mental diseases, i.e., depression, is of great importance for diagnosis and treatment, a fast and convenient way is urgently needed. Traditional diagnostic methods are time-consuming, laborious, over-subjective, and easily lead to misdiagnosis. The advance in information techniques and wearable devices brings innovation to mental disease detection. Therefore, this article first compares intelligent depression detection methods and traditional methods to illustrate the significance and then analyzes the opportunities of the wearable device. Then we provide specific psychophysiological data measured by wearable devices and introduce relevant datasets for depression detection. An illustrative example of depression detection with sleep data is presented and discussed and our proposed ensemble method has improved nearly 10% to baselines. Analytical results demonstrate the great potential of using wearable device-measured psychophysiological data to detect depression intelligently. © 2024 The Authors

关键词： Internet of things

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Optimization of Milling Robot Trajectory Based on Whale Optimization Algorithm 3rd

Optimization of Milling Robot Trajectory Based on Whale Opti...

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3rd International Conference on Artificial Intelligence, Robotics, and Communication, ICAIRC 2023

作者： Zhou, Yang Li, Qingxin Sun, Yong Software College Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9789819721993

In response to the problem of vibration and low work efficiency during robot milling, taking into account the work indicators of milling time and stability, combined with the kinematic constraints of the robotic arm, the time impact optimization problem is transformed into a multi-objective optimization problem. The paper proposes an improved whale optimization algorithm, which introduces a differential mutation strategy to improve the problem of traditional whale algorithms easily getting stuck in local optima. Compared with traditional whale optimization algorithms, the improved whale algorithm significantly improves the convergence speed and accuracy during the milling process. Finally, it is verified by a solid robot. The results showed that the pulse value of the planned trajectory was reduced by up to 99.76%, and the efficiency was improved by 47.62%, effectively avoiding robot vibration during the milling process. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multiobjective optimization

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TelePulse: Enhancing the Teleoperation Experience through Biomechanical Simulation-Based Electrical Muscle Stimulation in Virtual Reality 25

TelePulse: Enhancing the Teleoperation Experience through Bi...

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Proceedings of the 2025 CHI Conference on Human Factors in Computing systems

作者： Seokhyun Hwang Seongjun Kang Jeongseok Oh Jeongju Park Semoo Shin Yiyue Luo Joseph DelPreto Sangbeom Lee Kyoobin Lee Wojciech Matusik Daniela Rus SeungJun Kim Information School University of Washington Seattle Washington USA and Human-Centered Intelligent Systems Lab Gwangju Institute of Science and Technology Gwangju Republic of Korea Human-Centered Intelligent Systems Lab Gwangju Institute of Science and Technology Gwangju Republic of Korea ECE University of Washington Seattle Washington USA Distributed Robotics Lab Massachusetts Institute of Technology (MIT) Cambridge Massachusetts USA Artificial Intelligence Lab Gwangju Institute of Science and Technology Gwangju Republic of Korea CSAIL MIT Cambridge Massachusetts USA Distributed Robotics Lab Massachusetts Institute of Technology Cambridge Massachusetts USA

ISBN: (纸本)9798400713941

This paper introduces TelePulse, a system integrating biomechanical simulation with electrical muscle stimulation (EMS) to provide precise haptic feedback for robot teleoperation tasks in virtual reality (VR). TelePulse has two components: a physical simulation part that calculates joint torques based on real-time force data from remote manipulators, and an electrical stimulation part that converts these torques into muscle stimulation. Two experiments were conducted to evaluate the system. The first experiment assessed the accuracy of EMS generated through biomechanical simulations by comparing it with electromyography (EMG) data during force-directed tasks, while the second experiment evaluated the impact of TelePulse on teleoperation performance during sanding and drilling tasks. The results suggest that TelePulse provided more accurate stimulation across all arm muscles, thereby enhancing task performance and user experience in the teleoperation environment. In this paper, we discuss the effect of TelePulse on teleoperation, its limitations, and areas for future improvement. © 2025 Copyright held by the owner/author(s).

关键词： Teleoperation Virtual Reality Haptic Electrical Muscle Stimulation Biomechanics Simulation Wearable Device

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Modeling 3 Needle Steering in Uppaal

arXiv

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arXiv 2022年

作者： Lehmann, Sascha Rogalla, Antje Neidhardt, Maximilian Reinecke, Anton Schlaefer, Alexander Schupp, Sibylle Institute for Software Systems Germany Institute of Medical Technology Intelligent Systems Hamburg University of Technology Hamburg Germany

Medical cyber-physical systems are safety-critical, and as such, require ongoing verification of their correct behavior, as system failure during run time may cause severe (or even fatal) personal damage. However, creating a verifiable model often conflicts with other application requirements, most notably regarding data precision and model accuracy, as efficient model checking promotes discrete data (over continuous) and abstract models to reduce the state space. In this paper, we approach the task of medical needle steering in soft tissue around potential obstacles. We design a verifiable model of needle motion (implemented in Uppaal Stratego) and a framework embedding the model for online needle steering. We mitigate the conflict by imposing boundedness on both the data types, reducing from 3 to 3 when needed, and the motion and environment models, reducing the set of allowed local actions and global paths. In experiments, we successfully apply the static model alone, as well as the dynamic framework in scenarios with varying environment complexity and both a virtual and real needle setting, where up to 100% of targets were reached depending on the scenario and needle. © 2022, CC BY.

关键词： Needles

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The Need for a Meta-Architecture for Robot Autonomy

arXiv

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arXiv 2022年

作者： Gutiérrez, Stalin Muñoz Steinbauer-Wagner, Gerald Autonomous Intelligent Systems Group Institute of Software Technology Graz University of Technology Austria

Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally require the application of rigorous methodologies during the system development, including the use of correct-by-construction techniques to implement robot behaviors. As the level of autonomy in robots increases, so do the cost of offering guarantees about the dependability of the system. Certifiable dependability of autonomous robots, we argue, can benefit from formal models of the integration of several cognitive functions, knowledge processing, reasoning, and meta-reasoning. Here, we put forward the case for a generative model of cognitive architectures for autonomous robotic agents that subscribes to the principles of model-based engineering and certifiable dependability, autonomic computing, and knowledge-enabled robotics. © 2022, CC BY.

关键词： Robots

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Stereo Image Super-Resolution via Disparity Estimation and Domain Diffusion 9th

Stereo Image Super-Resolution via Disparity Estimation and D...

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9th International Symposium on Artificial Intelligence and Robotics, ISAIR 2024

作者： Wang, Wanjun Ma, Chunyan Zhu, Hongjun Xu, Kai Han, Huihui School of Computer and Software Engineering Anhui Institute of Information Technology WuHu241199 China School of Artificial Intelligence Department of Information Hohai University NanJing210024 China Platforms of Automotive Intelligent Software and Systems Anhui Institute of Information Technology WuHu241199 China

ISBN: (纸本)9789819629107

Image super-resolution (SR) and disparity estimation are closely related in stereo images, with effective utilization of disparity maps enhancing SR performance. This paper proposes a stereo image super-resolution reconstruction network utilizing disparity estimation and a domain diffusion model. The network integrates disparity estimation with diffusion models for feature summation and domain space construction, enabling interaction between forward and backward diffusion memory units. To further improve reconstructed image quality, we introduce a novel memory unit inspired by long short-term memory concepts. Disparity loss and structural similarity are included in the loss function to achieve more accurate results. Experiments show that our method outperforms existing techniques. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Stereo image processing

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