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IEEE SENSORS

作者： Joseph Karam Aiden Shaevitz Joseph R. Davidson Matthew L. Johnston School of Electrical Engineering and Computer Science Oregon State University Corvallis OR USA Collaborative Robotics and Intelligent Systems Institute Oregon State University Corvallis OR USA

ISBN: (数字)9798350363517

ISBN: (纸本)9798350363524

Stretchable electronics and conformal sensors are valuable for applications in soft robotics and wearable devices. Here, we demonstrate a stretchable sensor sheet with integrated readout for measuring strain and orientation across the sheet. Conductive liquid metal wires encased in silicone measure multi-axis strain. These strain sensors, paired with precision 9-axis IMUs mounted on PCBs embedded in the silicone, enable a shape-sensing, stretchable sensor grid. A prototype is presented first with a single strain sensor and IMU pair, which is charac-terized and calibrated for higher accuracy. Then, a larger scale stretchable grid with 24 strain sensors and 16 IMUs is presented. A four-wire liquid metal bus delivers power to the system and serves as a data communication bus. Long-term, our approach may enable motion capture and shape reconstruction without the need for external cameras or instrumented environments.

关键词： Liquids Shape Metals Soft robotics Strain measurement Capacitive sensors Motion capture Wearable devices Wearable sensors Strain

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Brain-Conditional Multimodal Synthesis: A Survey and Taxonomy

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第5期6卷 1080-1099页

作者： Mai, Weijian Zhang, Jian Fang, Pengfei Zhang, Zhijun South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Southeast University School of Computer Science and Engineering Nanjing210096 China South China University of Technology Key Library of Autonomous Systems and Network Control Ministry of Education The School of Automation Science and Engineering Guangzhou510640 China Institute for Super Robotics Huangpu Guangzhou510555 China Nanchang University Jiangxi Thousand Talents Plan Nanchang330031 China Jishou University College of Computer Science and Engineering Jishou416000 China Guangdong Artificial Intelligence and Digital Economy Laboratory Pazhou Lab Guangzhou510335 China Shaanxi University of Technology Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Hanzhong723001 China Changsha Normal University School of Information Science and Engineering Changsha410100 China Guangdong University of Petrochemical Technology School of Automation Science and Engineering Institute of Artificial Intelligence and Automation Maoming525000 China

In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential reflections of how the brain interprets external information, exhibit a distinctive one-to-many correspondence with various external modalities. This correspondence makes brain signals emerge as a promising guiding condition for multimodal synthesis (e.g., image, text, and audio), which is crucial for developing practical brain–computer interface systems and unraveling complex mechanisms underlying human perception. This survey comprehensively examines the emerging field of brain-conditional multimodal synthesis, termed AIGC-brain, to delineate the current landscape and future directions. To begin, related neuroimaging datasets and generative models are introduced as the foundation of AIGC-brain decoding and analysis. Next, we present a comprehensive taxonomy according to AIGC-brain methodologies, followed by task-specific representative work and implementation details to facilitate in-depth comparison and analysis. Quality assessments are then introduced for both qualitative and quantitative evaluation. Finally, this survey explores insights gained, outlining current challenges and prospects of AIGC-brain. As a pioneering survey, this article paves the way for future advances in AIGC-brain research. © 2020 IEEE.

关键词： Taxonomies

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Image and Command Transmission Over the 5G Network for Teleoperation of Mobile Robots

Image and Command Transmission Over the 5G Network for Teleo...

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Iberian robotics Conference (ROBOT)

作者： Thiago B. Levin João Miguel Oliveira Ricardo B. Sousa Manuel F. Silva Bruno S. Parreira Héber Miguel Sobreira Hélio Sousa Mendonça CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Portugal Faculty of Engineering University of Porto (FEUP) Portugal ISEP Polytechnic of Porto. Portugal NOS SGPS Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Human oversight can benefit scenarios with complex tasks, such as pallet docking and loading and unloading containers, beyond the current capabilities of autonomous systems without any failures. Furthermore, teleoperation systems allow remote control of mobile ground robots, especially with the surge of 5G technology that promises reliable and low latency communication. Current works research on exploring the latest features from the 5G standard, including ultra-Reliable Low-Latency Communication (uRLLC) and network slicing. However, these features may not be available depending on the Internet Service Provider (ISP) and communication devices. Thus, this work proposes a network architecture for the teleoperation of ground mobile robots in industrial environments using commercially available devices over the 5G Non-Standalone (NSA) standard. Experimental results include an evaluation of the network and End-to-End (E2E) latency of the proposed system. The results show that the proposed architecture enables teleoperation, achieving an average E2E latency of 347.19 ms.

关键词： 5G mobile communication Network slicing Web and internet services Ultra reliable low latency communication Mobile robots Reliability Surges Standards Remote control Pallets

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Stable CoM Trajectory Generation for Biped Robots based on Heuristic Capture Point Tracking Approach

Stable CoM Trajectory Generation for Biped Robots based on H...

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IEEE Punecon

作者： Kumod K. Sharma Sunil Nimje S. E. Talole Center for Systems and Technologies for Advanced Robotics Research & Development Estt (Engrs) Pune India Department of Mechanical Engineering Defence Institute of Advanced Technology Pune India

ISBN: (数字)9798331527822

ISBN: (纸本)9798331527839

Biped locomotion is a complex phenomenon. As the bipedal robotic system possesses multiple degrees of freedom (DoF), the resulting dynamics is highly nonlinear and coupled. However for practical purposes, reduced and simplified dynamical models such as Linear Inverted Pendulum Model (LIPM) have been widely used for gait generation. In this work, an LIPM based Capture Point (CP) method has been worked out to achieve stable and robust walk for biped robot. An existing algorithm has been modified to avoid infeasibility of solution while generating the desired trajectories of Zero Moment Point (ZMP), CP and Center of Mass (CoM) for stable bipedal locomotion and the efficacy of the approach is validated through simulations. It is shown that the modification also offers an approach to adjust footprint up to a certain extent according to design requirements or terrain conditions.

关键词： Legged locomotion Simulation Heuristic algorithms Trajectory Nonlinear dynamical systems Robots

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Unknown Object Retrieval in Confined Space through Reinforcement Learning with Tactile Exploration

Unknown Object Retrieval in Confined Space through Reinforce...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xinyuan Zhao Wenyu Liang Xiaoshi Zhang Chee Meng Chew Yan Wu Robotics and Autonomous Systems Department Institute for Infocomm Research (I2R) A*STAR Singapore Department of Mechanical Engineering National University of Singapore Singapore

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The potential of tactile sensing for dexterous robotic manipulation has been demonstrated by its ability to enable nuanced real-world interactions. In this study, the retrieval of unknown objects from confined spaces, which is unsuitable for conventional visual perception and gripper-based manipulation, is identified and addressed. Specifically, a tactile-sensorized tool stick that well fits in the narrow space is utilized to provide multi-point contact sensing for object manipulation. A reinforcement learning (RL) agent with a hybrid action space is then proposed to acquire the optimal policy for manipulating the objects without prior knowledge of their physical properties. To accelerate on-hardware training, a focused training strategy is adopted with the hypothesis that an agent trained on a small set of representative shapes can be generalized to a wide range of everyday objects. Additionally, a curriculum on terminal goals is designed to further accelerate the hardware-based training process. Comparative experiments and ablation studies have been conducted to evaluate the effectiveness and robustness of the proposed approach, which highlights the high success rate of our solution for retrieving everyday objects.

关键词： Training Shape Reinforcement learning Robot sensing systems Robustness Sensors Object recognition

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Movement-Based Interaction: An Approach to Visual and Auditory Stimulus and Memory*

Movement-Based Interaction: An Approach to Visual and Audito...

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Experiment@ International Conference (exp.at)

作者： Maria Rita Nogueira Paulo Menezes Institute of Systems and Robotics University of Coimbra Coimbra Portugal Dept. of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (数字)9798350314403

ISBN: (纸本)9798350314410

Movement-based interaction design is an innovative field that leverages the body's natural movements to create intuitive and engaging interfaces. This approach takes a sensorial approach to visual and auditory memory, seeking to enhance user engagement and create more meaningful experiences. The use of movement-based interfaces has significant implications for senior citizens, who may have mobility limitations or cognitive impairments. Using movement-based interfaces, seniors can engage in physical activity and maintain cognitive function, essential aspects for healthy aging. Movement-based interfaces can also help children develop physical coordination, cognitive skills, and social interaction. Furthermore, movement-based interaction design can benefit everyone's physical well-being by promoting physical activity and reducing sedentary behavior. Studies have demonstrated that movement-based interfaces can enhance posture, physical activity levels, and general health. By combining movement with sensory experiences, movement-based interaction design can create a more engaging and enjoyable experience for users, which can motivate them to maintain physical and cognitive health. In this article, we present two case studies that research the effectiveness of movement-based interaction design in enhancing visual and auditory memory. Overall, the results of these case studies suggest that movement-based interaction design is an effective approach to enhancing visual and auditory memory. The introduction of movement-based interfaces can give participants a more enjoyable and memorable experience, improving user engagement and information retention.

关键词： Visualization Pediatrics Aging Older adults

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Camera Lidar Fusion for Unmanned Aerial Vehicle Detection

Camera Lidar Fusion for Unmanned Aerial Vehicle Detection

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Iberian robotics Conference (ROBOT)

作者： Cosimo Leuci Sedat Dogru Lino Marques Department of Electronics and Telecommunications (DET) Polytechnic University of Turin Turin Italy Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Due to their low-cost and ease of use, cameras are very popular for drone detection. Thanks to the feature reach images obtained from the cameras, it is possible to classify drones with a relatively high success ratio. However, cameras lack the means for accurate localization, allowing only a rough measure of the orientation of the target UAV. In order to better localize the UAV, in this study we fuse camera and lidar measurements, localizing UAVs accurately. This fusion was implemented using a Kalman filter, which enables integration of both sensor data, improving detection and tracking accuracy

关键词： Location awareness YOLO Laser radar Accuracy Robot vision systems Cameras Autonomous aerial vehicles Kalman filters Vehicle dynamics Drones

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Optimizing Autonomous Vehicle Sensor Setups: A Framework for Coverage Analysis

Optimizing Autonomous Vehicle Sensor Setups: A Framework for...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Philipp Hafemann Simon Enrico Hahn Markus Lienkamp Department of Mobility Systems Engineering Institute of Automotive Technology and Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Germany School of Engineering & Design Munich Germany

The performance of environment perception in autonomous vehicles is significantly influenced by the sensor setup, which is determined in the early design phase. The selection of the type and position of sensors in this phase often occurs before the availability of data processing algorithms. Therefore, the evaluation of the sensor setup can only be based on coverage metrics. This paper presents a novel framework for modeling the sensor coverage of autonomous vehicles. By discretizing the environment into grid cells, our framework analyzes each sensor and the whole setup. Our methodology systematically determines the coverage, identifies redundancy and blind spot areas, and obtains quantifiable metrics for evaluating the sensor setup efficiency. Utilizing the PyVista visualization library, we present the individual building blocks of the framework and their open-source implementation. The results from a real-world case study demonstrate our framework’s ability to identify weaknesses in sensor setup coverage. Our approach helps to develop a comprehensive understanding of the sensor coverage and, therefore, contributes to designing more effective and reliable sensing systems.

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EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation

arXiv

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arXiv 2023年

作者： Alt, Benjamin Nguyen, Minh Dang Hermann, Andreas Katic, Darko Jäkel, Rainer Dillmann, Rüdiger Sax, Eric ArtiMinds Robotics Karlsruhe Germany Intelligent Systems and Production Engineering Forschungszentrum Informatik Karlsruhe Germany Karlsruhe Institute of Technology Germany

The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and improve patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses significant challenges to vision-based perception systems. We present EfficientPPS, a neural architecture for part-aware panoptic segmentation that provides robots with semantically rich visual information for grasping and manipulation tasks. We also present an unsupervised data collection and labelling method to reduce the need for human involvement in the training process. EfficientPPS is evaluated on a dataset containing real-world hospital objects and demonstrated to be robust and efficient in grasping transparent transfusion bags with a collaborative robot *** Codes 68T45 © 2023, CC BY-SA.

关键词： Hospitals

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Trajectory-free dynamic locomotion using key trend states for biped robots with point feet

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Science China(Information Sciences) 2023年第8期66卷 263-264页

作者： Lianqiang HAN Xuechao CHEN Zhangguo YU Xishuo ZHU Kenji HASHIMOTO Qiang HUANG School of Mechatronical Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Intelligent Mine Research Institute China Coal Research Institute Co. Ltd. Department of Mechanical Engineering Informatics Meiji University Humanoid Robotics Institute (HRI) Waseda University

Dear editor,Biped robots can not only cross complex environment such as ravines and rocks [1], but can also interact in more diverse activities with people. A biped robot with point feet is called an underactuated bip... 详细信息

关键词： Trajectories

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