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Teaching young learners a foreign language via tangible and graphical user interfaces

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arXiv 2020年

作者： Michailidis, Heracles Michailidi, Eleni Tavoultzidou, Stavroula Fragulis, George F. Laboratory of Robotics Embedded and Integrated Systems Dept. of Electrical and Computer Engineering University of Western Macedonia Greece

The use of tangible interfaces in teaching has been proved more effective, user -friendly and helpful in collaborative learning departments, when compared to traditional teaching approaches. In particular, the tangible interface "Makey Makey"is a modern tool that enhances collaboration between pupils, with positive results in education, despite the limited research done on this interface so far. "Makey Makey" succeeds in motivating and engaging young learners in the learning process, showing better performance and scoring results. In addition, its use in teaching has been shown to benefit the learning process in every age learning *** development and use of such an innovative teaching/learning approach helps young learners perceive the educational process in a different way and assimilate new cognitive fields more effectively. Moreover, educators profit as well, as they can eliminate difficulties and teach more efficiently using examples based on their teaching approach, while enhancing young learners’ parallel skills as well. This study will confirm previous research results stating that assimilation of new concepts is easier with tangible interfaces than with graphical ones, as well as that young learners participating in the survey have shown significant progress in knowledge acquisition when compared to their prior knowledge. Copyright © 2020, The Authors. All rights reserved.

关键词： Learning systems

Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots

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arXiv 2023年

作者： Arm, Philip Waibel, Gabriel Preisig, Jan Tuna, Turcan Zhou, Ruyi Bickel, Valentin Ligeza, Gabriela Miki, Takahiro Kehl, Florian Kolvenbach, Hendrik Hutter, Marco Robotic Systems Lab ETH Zurich Zurich Switzerland State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Laboratory of Hydraulics Hydrology and Glaciology ETH Zurich Zurich Switzerland Center for Space and Habitability University of Bern Bern Switzerland Department of Environmental Sciences University of Basel Basel Switzerland University of Zurich Dübendorf Switzerland Center for Theoretical Astrophysics and Cosmology University of Zurich Zurich Switzerland Institute of Medical Engineering Space Biology Group Lucerne University of Applied Sciences and Art Hergiswil Switzerland

The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots’ inability to traverse steep slopes, unstructured terrain, and loose soil. Additionally, current single-robot approaches only allow a limited exploration speed and a single set of skills. Here, we present a team of legged robots with complementary skills for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and post-mission visualization, instance segmentation to highlight scientific targets, and scientific instruments for remote and in-situ investigation. Furthermore, we integrated a robotic arm on one of the robots to enable high-precision measurements. Legged robots can swiftly navigate representative terrains, such as granular slopes beyond 25 degrees, loose soil, and unstructured terrain, highlighting their advantages compared to wheeled rover systems. We successfully verified the approach in analog deployments at the BeyondGravity ExoMars rover testbed, in a quarry in Switzerland, and at the Space Resources Challenge in Luxembourg. Our results show that a team of legged robots with advanced locomotion, perception, and measurement skills, as well as task-level autonomy, can conduct successful, effective missions in a short time. Our approach enables the scientific exploration of planetary target sites that are currently out of human and robotic reach. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

Monocular visual autonomous landing system for quadcopter drones using software in the loop

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arXiv 2021年

作者： Saavedra-Ruiz, Miguel Pinto-Vargasy, Ana Maria Romero-Cano, Victor Mila - Quebec Institute of Artificial Intelligence Universite de Montreal Canada Alternova Tech SAS Medellín Colombia Robotics and Autonomous Systems Laboratory Faculty of Engineering Universidad Autónoma de Occidente Cali Colombia

Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and resourceintensive;hence, in order to ensure both a sound design process and a safe deployment, simulations are required before implementing a physical prototype. This paper presents the development of a monocular visual system, using a softwarein- the-loop methodology, that autonomously and efficiently lands a quadcopter drone on a predefined landing pad, thus reducing the risks of the physical testing stage. In addition to ensuring that the autonomous landing system as a whole fulfils the design requirements using a Gazebo-based simulation, our approach provides a tool for safe parameter tuning and design testing prior to physical implementation. Finally, the proposed monocular vision-only approach to landing pad tracking made it possible to effectively implement the system in an F450 quadcopter drone with the standard computational capabilities of an Odroid XU4 embedded processor. Copyright © 2021, The Authors. All rights reserved.

关键词： Simulation platform

Deep Brain Stimulation of Anterior Nuclei of the Thalamus and Hippocampal Seizure Rate Modulate Verbal Memory Performance

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Deep Brain Stimulation of Anterior Nuclei of the Thalamus an...

2022 IEEE International Conference on Electro Information Technology, eIT 2022

作者： Marks, Victoria S. Richner, Tom J. Gregg, Nicholas M. Sladky, Vladimir Dolezal, Jaromir Kremen, Vaclav Worrell, Gregory A. Kucewicz, Michal T. Mayo Clinic Mayo Clinic Graduate School of Biomedical Sciences RochesterMN United States Mayo Clinic Bioelectronics Neurophysiology and Engineering Laboratory Department of Neurology RochesterMN United States Mayo Clinic Brain Adaptation and Stimulation Lab Department of Neurology RochesterMN United States Czech Technical University in Prague Faculty of Biomedical Engineering Kladno Prague Czech Republic St. Anne's University Hospital International Clinical Research Center Brno Czech Republic Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Prague Czech Republic Gdansk University of Technology BioTechMed Center Department of Multimedia Systems Faculty of Electronics Telecommunications and Informatics Gdansk Poland

ISBN: (纸本)9781665480093

Verbal memory impairment is a common symptom of temporal lobe epilepsy (TLE). The ability to encode and recall verbal memories can be probed with the classic free recall task. We hypothesized that increased seizure frequency will lead to decreased verbal memory. We investigated this hypothesis in patients receiving chronic stimulation to bilateral anterior nuclei of the thalamus (ANT) deep brain stimulation (DBS). Recordings were obtained from individuals with drug resistant mesial TLE implanted with an investigational Medtronic Summit RC+S sensing and stimulation device. As patient seizure diaries are notoriously inaccurate, the patient's intracranial electroencephalography (iEEG) was scored for seizures using a validated seizure classifier with trained epileptologist review, resulting in a reliable seizure diary. The subjects completed free recall memory tasks in their home environment with iEEG and behavioral data streamed to a handheld device and cloud repository. Using multivariate analysis of variance, we were able to determine that ANT stimulation modulates memory performance. Further, changes in the seizure rate were predictive of changes in memory performance as captured by a generalized linear model (GLM). Emerging devices for electrical stimulation of the brain enabling continuous streaming of the iEEG data are crucial for long-term studies of underlying brain dynamics during cognitive tasks. However, not all patients are candidates for devices with chronic sensing capabilities, and this study suggests that changes in verbal memory performance may provide a suitable metric of therapy effectiveness in lieu of a reliable, objective seizure diary. © 2022 IEEE.

关键词： Electroencephalography

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

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arXiv 2022年

作者： Goel, Yash Vaskevicius, Narunas Palmieri, Luigi Chebrolu, Nived Stachniss, Cyrill The laboratory for Photogrammetry and Robotics University of Bonn Germany Robert Bosch GmbH Germany Robert Bosch GmbH Corporate Research Stuttgart Germany The Dynamic Robot Systems Group University of Oxford United Kingdom The University of Bonn Germany The Department of Engineering Science the University of Oxford United Kingdom The Lamarr Institute for Machine Learning and Artificial Intelligence Germany

We investigate the task of object goal navigation in unknown environments where the target is specified by a semantic label (e.g. find a couch). Such a navigation task is especially challenging as it requires understanding of semantic context in diverse settings. Most of the prior work tackles this problem under the assumption of a discrete action policy whereas we present an approach with continuous control which brings it closer to real world applications. We propose a deep neural network architecture and loss function to predict dense cost maps that implicitly contain semantic context and guide the robot towards the semantic goal. We also present a novel way of fusing mid-level visual representations in our architecture to provide additional semantic cues for cost map prediction. The estimated cost maps are then used by a sampling-based model predictive controller (MPC) for generating continuous robot actions. The preliminary experiments suggest that the cost maps generated by our network are suitable for the MPC and can guide the agent to the semantic goal more efficiently than a baseline approach. The results also indicate the importance of mid-level representations for navigation by improving the success rate by 7 percentage points. Copyright © 2022, The Authors. All rights reserved.

关键词： Navigation

Optimal Estimator Design and Properties Analysis for Interconnected systems with Asymmetric Information Structure

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arXiv 2021年

作者： Wang, Yan Xiong, Junlin Yang, Zaiyue Su, Rong School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue 50 Singapore Department of Automation University of Science and Technology of China Hefei230026 China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

This paper studies the optimal state estimation problem for interconnected systems. Each subsystem can obtain its own measurement in real time, while, the measurements transmitted between the subsystems suffer from random delay. The optimal estimator is analytically designed for minimizing the conditional error covariance. The boundedness of the expected error covariance (EEC) is analyzed. In particular, a new condition that is easy to verify is established for the boundedness of EEC. Further, the properties of EEC with respect to the delay probability are studied. We found that there exists a critical probability such that the EEC is bounded if the delay probability is below the critical probability. Also, a lower and upper bound of the critical probability is derived. Finally, the proposed results are applied to a power system, and the effectiveness of the designed methods is illustrated by simulations. © 2021, CC BY-SA.

关键词： Errors

Sensor-less Complex System Control of PMSM Based on Improved SMO

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Sensor-less Complex System Control of PMSM Based on Improved...

作者： Yingjie Xiong Anna Wang Tao Zhang College Of Information Science and Engineering Northeastern University Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology

The sensor-less control system of PMSM is complicated,and it is of great significance to carry out accurate mathematical modeling and simulation *** is small in size,high in efficiency,and low in noise,so it is very popular in AC motor *** have been widely used in various electrical appliances such as machine tools,robots,and household *** order to reduce the high-frequency chatter of the sensor-less control strategy of permanent magnet synchronous motors,a sensor-less control method based on improved SMO is *** back-EMF component in the static coordinate system is obtained through the *** backEMF component undergoes closed-loop feedback to eliminate the high-frequency *** back-EMF component is calculated by an improved PLL to obtain the position and speed of the rotor to improve system *** the end of the article,the feasibility is proved by comparing it with the simulation of conventional SMO-PLL.

关键词： PMSM SMO with closed-loop feed back improved PLL

Development of a novel autonomous lower extremity exoskeleton robot for walking assistance

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Frontiers of Information Technology & Electronic engineering 2019年第3期20卷 318-329页

作者： Yong HE Nan LI Chao WANG Lin-qing XIA Xu YONG Xin-yu WU Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical Engineering and Intelligent Systems the University of Electro-Communications

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton(Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application *** traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra *** new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

关键词： Lower-limb Exoskeleton Self-balancing Bipedal walking Modular design