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Opportunities and challenges for monitoring terrestrial biodiversity in the robotics age

Nature ecology & evolution 2025年 2025 May 22页

作者： Stephen Pringle Martin Dallimer Mark A Goddard Léni K Le Goff Emma Hart Simon J Langdale Jessica C Fisher Sara-Adela Abad Marc Ancrenaz Fabio Angeoletto Fernando Auat Cheein Gail E Austen Joseph J Bailey Katherine C R Baldock Lindsay F Banin Cristina Banks-Leite Aliyu S Barau Reshu Bashyal Adam J Bates Jake E Bicknell Jon Bielby Petra Bosilj Emma R Bush Simon J Butler Dan Carpenter Christopher F Clements Antoine Cully Kendi F Davies Nicolas J Deere Michael Dodd Rosie Drinkwater Don A Driscoll Guillaume Dutilleux Mads Dyrmann David P Edwards Mohammad S Farhadinia Aisyah Faruk Richard Field Robert J Fletcher Chris W Foster Richard Fox Richard M Francksen Aldina M A Franco Alison M Gainsbury Charlie J Gardner Ioanna Giorgi Richard A Griffiths Salua Hamaza Marc Hanheide Matt W Hayward Marcus Hedblom Thorunn Helgason Sui P Heon Kevin A Hughes Edmund R Hunt Daniel J Ingram George Jackson-Mills Kelly Jowett Timothy H Keitt Laura N Kloepper Stephanie Kramer-Schadt Jim Labisko Frédéric Labrosse Jenna Lawson Nicolas Lecomte Ricardo F de Lima Nick A Littlewood Harry H Marshall Giovanni L Masala Lindsay C Maskell Eleni Matechou Barbara Mazzolai Alistair McConnell Brett A Melbourne Aslan Miriyev Eric Djomo Nana Alessandro Ossola Sarah Papworth Catherine L Parr Ana Payo-Payo Gad Perry Nathalie Pettorelli Rajeev Pillay Simon G Potts Miranda T Prendergast-Miller Lan Qie Persie Rolley-Parnell Stephen J Rossiter Marcus Rowcliffe Heather Rumble Jon P Sadler Christopher J Sandom Asiem Sanyal Franziska Schrodt Sarab S Sethi Adi Shabrani Robert Siddall Simón C Smith Robbert P H Snep Carl D Soulsbury Margaret C Stanley Philip A Stephens P J Stephenson Matthew J Struebig Matthew Studley Martin Svátek Gilbert Tang Nicholas K Taylor Kate D L Umbers Robert J Ward Patrick J C White Mark J Whittingham Serge Wich Christopher D Williams Ibrahim B Yakubu Natalie Yoh Syed A R Zaidi Anna Zmarz Joeri A Zwerts Zoe G Davies Durrell Institute of Conservation and Ecology (DICE) School of Natural Sciences University of Kent Canterbury UK. s.pringle@kent.ac.uk. Centre for Environmental Policy Imperial College London London UK. Department of Geography and Environmental Sciences Northumbria University Newcastle upon Tyne UK. School of Computing Engineering and the Built Environment Edinburgh Napier University Edinburgh UK. Synthotech Ltd Milner Court Hornbeam Square Harrogate UK. Durrell Institute of Conservation and Ecology (DICE) School of Natural Sciences University of Kent Canterbury UK. Mechanical Engineering Department University College London London UK. HUTAN SWD Kota Kinabalu Malaysia. Programa de Pós-Graduação em Gestão e Tecnologia Ambiental da Universidade Federal de Rondonópolis Rondonópolis Brasil. Department of Engineering Harper Adams University Newport UK. Applied Ecology Research Group School of Life Sciences Anglia Ruskin University Cambridge UK. Centre for Ecology and Hydrology Penicuik UK. Department of Life Sciences Imperial College London Silwood Park Campus Ascot UK. Department of Urban and Regional Planning Faculty of Earth and Environmental Sciences Bayero University Kano Nigeria. Greenhood Nepal Kathmandu Nepal. Animal Rural & Environmental Sciences Nottingham Trent University Nottinghamshire UK. School of Biological and Environmental Sciences Liverpool John Moores University Liverpool UK. Lincoln Centre for Autonomous Systems University of Lincoln Lincoln UK. Royal Botanic Garden Edinburgh Edinburgh UK. School of Biological Sciences University of East Anglia Norwich Research Park Norwich UK. Digital Ecology Limited Bristol UK. School of Biological Sciences University of Bristol Bristol UK. Department of Computing Imperial College London London UK. Department of Ecology and Evolutionary Biology University of Colorado Boulder CO USA. Faculty of Science Technology Engineering and Mathematics (STEM) The Open University Walton Hall Milt

With biodiversity loss escalating globally, a step change is needed in our capacity to accurately monitor species populations across ecosystems. Robotic and autonomous systems (RAS) offer technological solutions that may substantially advance terrestrial biodiversity monitoring, but this potential is yet to be considered systematically. We used a modified Delphi technique to synthesize knowledge from 98 biodiversity experts and 31 RAS experts, who identified the major methodological barriers that currently hinder monitoring, and explored the opportunities and challenges that RAS offer in overcoming these barriers. Biodiversity experts identified four barrier categories: site access, species and individual identification, data handling and storage, and power and network availability. robotics experts highlighted technologies that could overcome these barriers and identified the developments needed to facilitate RAS-based autonomous biodiversity monitoring. Some existing RAS could be optimized relatively easily to survey species but would require development to be suitable for monitoring of more 'difficult' taxa and robust enough to work under uncontrolled conditions within ecosystems. Other nascent technologies (for instance, new sensors and biodegradable robots) need accelerated research. Overall, it was felt that RAS could lead to major progress in monitoring of terrestrial biodiversity by supplementing rather than supplanting existing methods. Transdisciplinarity needs to be fostered between biodiversity and RAS experts so that future ideas and technologies can be codeveloped effectively.

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Cloud-aided state estimation of a full-car semi-active suspension system

arXiv

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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： State estimation

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

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IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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Combined actuator sensor unit for interaction with honeybees

Combined actuator sensor unit for interaction with honeybees

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IEEE Sensors Applications Symposium, SAS

作者： Karlo Griparic Tomislav Haus Damjan Miklic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

Interacting with a specific animal society by integrating autonomous robot/s into the society, has become a powerful method to influence the behaviour of animals and investigate collective behaviour of both, animal and robot societies. In order to interact with animals, artificial unit/s should be well integrated into their society. In the European project ASSISIbf, a network of static autonomous robots called CASUs (Combined Actuator Sensor Units) for interaction with young honeybees has been designed. In the proposed approach CASUs can affect honeybees using three types of physical stimuli: heat, vibration and light. To provide feedback signals necessary for controlling CASU interaction with honeybees, accurate and reliable measurements of the stimuli are necessary. This paper describes the mechanical and electronic design of CASUs, capable of emitting controllable heat, vibration and light stimulations. Each CASU is equipped with temperature sensors, 3-axis accelerometers, infrared proximity sensors and microcontroller for data processing. Preliminary experimental results with honeybee groups are presented.

关键词： Robot sensing systems Vibrations Temperature measurement Temperature sensors Animals Heating

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Task specific cooperative grasp planning for decentralized multi-robot systems

Task specific cooperative grasp planning for decentralized m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Rajkumar Muthusamy Charalampos P. Bechlioulis Kostas J. Kyriakopoulos Ville Kyrki The authors are with the Intelligent Robotics Group Aalto University Finland Control Systems Laboratory National Technical University of Athens Zografou Greece

ISBN: (纸本)9781479969241

Grasp planning in multi-robot systems is usually studied in a centralized setting with all robots sharing common knowledge about the overall system. Relaxing this assumption would allow multiple mobile manipulators to cooperate even without strict and precise coordination. Moreover, most typical tasks for cooperative settings, such as transporting heavy objects, require certain forces/torques to be exerted along/around particular directions, for instance, compensating for the weight of the transported object. In this paper, we propose task specific multi-robot grasp planning strategies that allow decentralized planning. Each agent plans its own actions without precise information about the other's plans. The approach is based on analysing a task specific grasp quality metric in a probabilistic context, compensating thus for the incomplete knowledge. Results from simulation experiments demonstrate that task independent planning is clearly inferior when task characteristics are known and thus task specific quality measures should be used. Furthermore, the proposed decentralized planning approaches clearly outperform the baseline and show close to globally optimal performance.

关键词： Planning Robot kinematics Grasping Measurement Force Multi-robot systems

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Sample Efficient Path Integral control under Uncertainty 15

Sample Efficient Path Integral Control under Uncertainty

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Annual Conference on Neural Information Processing systems

作者： Yunpeng Pan Evangelos A. Theodorou Michail Kontitsis Autonomous Control and Decision Systems Laboratory Institute for Robotics and Intelligent Machines School of Aerospace Engineering Georgia Institute of Technology Atlanta GA 30332

ISBN: (纸本)9781510825024

We present a data-driven optimal control framework that is derived using the path integral (PI) control approach. We find iterative control laws analytically without a priori policy parameterization based on probabilistic representation of the learned dynamics model. The proposed algorithm operates in a forward-backward manner which differentiate it from other PI-related methods that perform forward sampling to find optimal controls. Our method uses significantly less samples to find analytic control laws compared to other approaches within the PI control family that rely on extensive sampling from given dynamics models or trials on physical systems in a model-free fashion. In addition, the learned controllers can be generalized to new tasks without re-sampling based on the compositionality theory for the linearly-solvable optimal control framework. We provide experimental results on three different tasks and comparisons with state-of-the-art model-based methods to demonstrate the efficiency and generalizability of the proposed framework.

关键词： Optimal control PI control Curvilinear integral control law Generalization Uncertainty Frameworks Religious Missions

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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An approach to determination of simple circular waits in reconfigurable multi-vehicle systems

An approach to determination of simple circular waits in rec...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation control systems Heuristic algorithms Superluminescent diodes

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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