Metamaterials can enhance a local electric field for molecular sensing. However, the difficulty in specifically recognizing target molecules and integrating multiple functionalities restricts their development. Here, ...
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This paper investigates the control problem of vehicle platoon with leader selection strategy. The current research on vehicle platoon control is based on the leader-follower communication structure. Under such struct...
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This paper investigates the control problem of vehicle platoon with leader selection strategy. The current research on vehicle platoon control is based on the leader-follower communication structure. Under such structure, each follower tracks the state of its front vehicle to maintain a proper distance and form a platoon. However, the disadvantage of this fixed communication structure is that followers are short of capacity of resisting disturbance when the first vehicle(FV) of platoon is disturbed. To solve this problem, a vehicle platoon model where each follower is able to take any front vehicle as its leader is proposed. Based on this model, the corresponding controller and leader selection strategy are designed. That is, first, a controller considering the string stability of vehicle platoon with various communication topologies is designed;then, each follower changes its connecting vehicle in the communication link to reduce the impact of disturbance on FV when FV suddenly slows down or speeds up. The simulation results show the effectiveness of the control method and the strategy.
Multiple robot cooperation has been playing more and more significant role in scientific and engineering applications. The cooperative hunting task with multiple targets is a critical issue in multiple robot problem. ...
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ISBN:
(纸本)9781665405362
Multiple robot cooperation has been playing more and more significant role in scientific and engineering applications. The cooperative hunting task with multiple targets is a critical issue in multiple robot problem. To successfully hunt multiple preys, predator robots not only need to settle the problem on how to cooperatively hunt a prey, but also find an efficient task allocation to assign each predator to hunt certain prey. This paper proposes a cooperative hunting scheme based on the multi-target k-winner-take-all (k-WTA) algorithm and the wolf-pack-particle-based model. Based on the competitive mechanism, the multi-target k-WTA algorithm is used for task allocation with an optimized hunting strategy and achieves the allocation within a short period of time in dynamic environments. With simple rules, the wolf-pack-particle-based model can trigger collective behaviors and enable predator robots to encircle the prey. The simulative experiment results show that the proposed approach is capable of efficient task allocation and guiding predator robots to round up multiple moving targets in dynamic environments.
Existing shape from focus (SFF) techniques cannot preserve depth edges and fine structural details from a sequence of multi-focus images. Moreover, noise in the sequence of multi-focus images affects the accuracy of t...
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This paper presents a collaborative project between Jacobs University Bremen and University of Central Punjab, supported by the German Academic Exchange Agency - Deutscher Akademischer Austauschdienst (DAAD). It focus...
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ISBN:
(纸本)9781665427883
This paper presents a collaborative project between Jacobs University Bremen and University of Central Punjab, supported by the German Academic Exchange Agency - Deutscher Akademischer Austauschdienst (DAAD). It focuses on the partnership activities and how they have been pivotal to support education and research in marine robotics. This is an example of a successful international project, which has contributed to bring together scientists from different backgrounds working for a common goal.
The creation and use of ontologies has become increasingly relevant for complex systems in recent years. This is because of the growing number of use of cases that rely on real-world integration of disparate systems, ...
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To perform underwater navigation, a robot has to be designed and developed with multiple sensors and robust mapping and navigation algorithms that can withstand challenging underwater conditions. This paper discusses ...
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ISBN:
(纸本)9781665427883
To perform underwater navigation, a robot has to be designed and developed with multiple sensors and robust mapping and navigation algorithms that can withstand challenging underwater conditions. This paper discusses communication between Pixhawk and Jetson in the case of autonomous navigation and ground station in manual operation mode. The information from IMU and depth sensor is used to perceive the underwater environment by developing a map. The generated map is then used for path planning and autonomous navigation. Experiments performed in a swimming pool environment demonstrate the developed framework’s capabilities to be usable in shallow freshwater scenarios.
Catching high-speed targets in the flight is a complex and typical highly dynamic task. However, existing methods require manual setting of catching height or time, resulting in lacks of adaptability and flexibility a...
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Radiologists must utilize medical images of multiple modalities for tumor segmentation and diagnosis due to the limitations of medical imaging technology and the diversity of tumor signals. This has led to the develop...
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Radiologists must utilize medical images of multiple modalities for tumor segmentation and diagnosis due to the limitations of medical imaging technology and the diversity of tumor signals. This has led to the development of multimodal learning in medical image segmentation. However, the redundancy among modalities creates challenges for existing subtraction-based joint learning methods, such as misjudging the importance of modalities, ignoring specific modal information, and increasing cognitive load. These thorny issues ultimately decrease segmentation accuracy and increase the risk of overfitting. This paper presents the complementary information mutual learning (CIML) framework, which can mathematically model and address the negative impact of inter-modal redundant information. CIML adopts the idea of addition and removes inter-modal redundant information through inductive bias-driven task decomposition and message passing-based redundancy filtering. CIML first decomposes the multimodal segmentation task into multiple subtasks based on expert prior knowledge, minimizing the information dependence between modalities. Furthermore, CIML introduces a scheme in which each modality can extract information from other modalities additively through message passing. To achieve non-redundancy of extracted information, the redundant filtering is transformed into complementary information learning inspired by the variational information bottleneck. The complementary information learning procedure can be efficiently solved by variational inference and cross-modal spatial attention. Numerical results from the verification task and standard benchmarks indicate that CIML efficiently removes redundant information between modalities, outperforming SOTA methods regarding validation accuracy and segmentation effect. To emphasize, message-passing-based redundancy filtering allows neural network visualization techniques to visualize the knowledge relationship among different modalitie
Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation...
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ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation efficiency and resolution, surpassing traditional motor control frameworks. We propose a Maximum Torque Per Ampere (MTPA)-based Field-Oriented Control (FoC) strategy for haptic kinesthetic feedback controller, optimizing the performance of a master manipulator's joint with a brushless DC (BLDC) motor under stalled and ultra-slow conditions. This approach enables a master manipulator with three degrees of freedom (DoF) for force feedback. Its effectiveness is validated through simulator and surgical trials, demonstrating improved haptic feedback in surgical applications.
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