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SSRN 2022年

作者： Yao, Canqi Chen, Shibo Salazar, Mauro Yang, Zaiyue School of Mechatronics Engineering Harbin Institute of Technology Harbin150000 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering The Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology EindhovenMB 5600 Netherlands

This paper investigates the scheduling problem of a fleet of electric vehicles, providing mobility as a service to a set of time-specified customers, where the operator needs to solve the routing and charging problem jointly for each EV. Hereby we consider incentive-aware customers and propose that the operator offers monetary incentives to customers in exchange for time flexibility. In this way, the fleet operator can achieve a routing and charging schedule with lower costs, whilst the customers receive monetary compensation for their flexibility. Specifically, we first propose a bi-level optimization model whereby the fleet operator optimizes the routing and charging schedule accounting for the spatio-temporal varying charging price, jointly with a monetary incentive to reimburse the delivery time flexibility experienced by the customers. Concurrently the customers choose their own time flexibility by minimizing their own cost. Second, we cope with the computational burden coming from this nonlinear bi-level optimization model with an accurate reformulation approach consisting of the KKT optimality conditions, a Big-M-based linearization method, and the zero duality gap of convex optimization problems. This way, we convert the proposed problem into a single-level optimization problem, which can be solved by a strengthened generalized Benders decomposition method holding a faster convergence rate than the generalized Benders decomposition method. To evaluate the effectiveness of the proposed mathematical model, we carry out numerous simulation experiments by using the VRP-REP data of Belgium. The numerical results showcase that the proposed mathematical model can reduce the delivery fees for the customers together with the cost of operation incurred by the fleet operator. © 2022, The Authors. All rights reserved.

关键词： Sales

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Nowhere to Go: Benchmarking Multi-robot Collaboration in Target Trapping Environment

arXiv

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arXiv 2023年

作者： Zhang, Hao Chen, Jiaming Cheng, Jiyu Li, Yibin Yang, Simon X. Zhang, Wei The School of Control Science and Engineering Shandong University Jinan250061 China The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada

Collaboration is one of the most important factors in multi-robot systems. Considering certain real-world applications and to further promote its development, we propose a new benchmark to evaluate multi-robot collaboration in Target Trapping Environment (T2E). In T2E, two kinds of robots (called captor robot and target robot) share the same space. The captors aim to catch the target collaboratively, while the target will try to escape from the trap. Both the trapping and escaping process can use the environment layout to help achieve the corresponding objective, which requires high collaboration between robots and the utilization of the environment. For the benchmark, we present and evaluate multiple learning-based baselines in T2E, and provide insights into regimes of multi-robot collaboration. We also make our benchmark publicly available and encourage researchers from related robotics disciplines to propose, evaluate, and compare their solutions in this benchmark. Our project is released at https://***/Dr-Xiaogaren/T2E. Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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Electrochemical Monitoring of Intracellular Reactive Oxygen Species Based on Automated Nanoprobe Platform

Electrochemical Monitoring of Intracellular Reactive Oxygen ...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Yanmei Ma Weikang Hu Muyang Ruan Zhen Zhan Yi Zhang Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Department of Biomedical Engineering City University of Hong Kong Hong Kong China

The electrochemical detection of endogenous molecules from a single cell is a crucial technique for understanding fundamental cellular processes at the subcellular level and uncovering cellular heterogeneity. However, high throughput intracellular detection has posed significant challenges. This paper proposes a simple method for fabricating a nanoprobe for the electrochemical monitoring of intracellular reactive oxygen species (ROS), which are important signaling molecules that play a key role in a wide range of cellular processes, including apoptosis, proliferation, and differentiation. Combined with the automated nanoprobe platform, the study successfully achieved minimally invasive and efficient intracellular ROS detection in living cells. Moreover, the results reveal that the average ROS concentration in the cytoplasm and nucleus is uneven, which has important implications for the understanding of cellular redox signaling.

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Dense range image smoothing using adaptive regularization

Dense range image smoothing using adaptive regularization

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IEEE International Conference on Image Processing

作者： Yiyong Sun Joon-Ki Paik J.R. Price M.A. Abidi Department of Electrical and Computer Engineering Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Image Engineering Graduate School of Advanced Imaging Science Chung-Ang University Seoul South Korea

We propose an adaptive regularization algorithm for smoothing dense range images using a novel, first order stabilizing function. The stabilizer we suggest is based upon minimizing the reconstructed surface area and is derived in the native, spherical coordinate system of the range scanner. This allows adjustments to be made along only the direction of measurement, thereby preventing the data overlapping problem that can arise in dense images. Adaptation is achieved by adjusting the regularization parameter according to the results of 2D edge analysis. Results indicate effective noise suppression along with well preserved edges and details in the reconstructed, 3D surfaces.

关键词： Smoothing methods Surface reconstruction Image reconstruction Image edge detection Intelligent robots Robot kinematics Intelligent systems Laboratories Laser noise Noise measurement

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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International Conference on Information sciences and Interaction sciences (ICIS)

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills.

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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Towards improving mission execution for autonomous gliders with an ocean model and kalman filter

Towards improving mission execution for autonomous gliders w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ryan N. Smith Jonathan Kelly Gaurav S. Sukhatme School of Engineering Systems Queensland University of Technology Brisbane QLD Australia Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission. Here, we propose the use of an unscented Kalman filter to aid in determining how the planned mission is executed. Given a set of waypoints that define a planned path and a dicretization of the ocean currents from a regional ocean model, we present an approach to determine the time interval at which the glider should surface to maintain a prescribed tracking error, while also limiting its time on the ocean surface. We assume practical mission parameters provided from previous field trials for the problem set up, and provide the simulated results of the Kalman filter mission planning approach. The results are initially compared to data from prior field experiments in which an autonomous glider executed the same path without pre-planning. Then, the results are validated through field trials with multiple autonomous gliders implementing different surfacing intervals simultaneously while following the same path.

关键词： Navigation Vehicles Sea surface Trajectory Kalman filters Uncertainty

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Joint Routing and Charging Problem of Electric Vehicles with Incentive-aware Customers Considering Spatio-temporal Charging Prices

arXiv

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arXiv 2022年

关键词： Sales

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Terrain Classification Using Inside-Wheel Cameras Based on Wheel-Terrain Interaction Characteristics

Terrain Classification Using Inside-Wheel Cameras Based on W...

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IEEE International Conference on robotics and Biomimetics

作者： Longteng Hu Feng Xue Chen Yao Yunzhou Li Jin Wei Peichen Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China Harbin of Institute of Technology (HIT) Harbin China

The wheeled rover is widely used in off-road planetary exploration tasks nowadays. However, complex operating environment like soft deformable terrains on the planet surface demands the high performance of rover. In order to reduce danger, environmental perception technologies need to be used on the rover. Terrain classification is a critical method in environmental perception. In this research, a wheel-vision-based terrain classification method is proposed. This method uses wheel-terrain interaction parameters obtained from inside-wheel cameras which are strongly related to the terrain as input. We use single-wheel testbed to collect and process data to form a dataset. The data is obtained under different slip ratios and different terrains. Then, we train four terrain classification models using machine learning algorithms and analyze their performance. From the results, all performance criteria of the models achieve over 95%, with DT being the optimal method. The feasibility of our method in the case of fewer training samples and the rationality of dataset selection are also verified through the results of different training set sizes and the ablation experiment.

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Hierarchical systems control using threshold fuzzy systems

Hierarchical systems control using threshold fuzzy systems

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IEEE International Conference on systems, Man and Cybernetics

作者： J.L. Overholt K.C. Cheok Behavioral Robotics Laboratory U.S. Army Tank-Automotive and Armaments Command Warren MI USA Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI USA

This paper describes a behavior-based method of controlling an autonomous skid-steer robot operating in an unknown environment. We introduce a new modular, neural-fuzzy system called a threshold fuzzy system (TFS). Supervised training, using error backpropagation, is used to find optimal parameters of the TFS. In this paper, a TFS controller is developed for a skid-steer autonomous vehicle system (AVS). Several hundred simulations are conducted and results for the AVS are compared (favorably) with a traditional neural network approach.

关键词： Hierarchical systems Control systems Fuzzy systems Mobile robots Neural networks Fuzzy neural networks Engines systems engineering and theory Computer science Computer errors

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Development of a swarm UAV simulator integrating realistic motion control models for disaster operations

arXiv

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arXiv 2017年

作者： Siddiqui, Kazi Tanvir Ahmed Feil-Seifer, David Jiang, Tianyi Jose, Sonu Liu, Siming Louis, Sushil Robotics Research Laboratory Computer Science and Engineering Department University of Nevada Reno Reno Nevada89557 United States Evolutionary Computing Systems Lab Computer Science and Engineering Department University of Nevada Reno Reno Nevada89557 United States

Simulation environments for Unmanned Aerial Vehicles (UAVs) can be very useful for prototyping user interfaces and training personnel that will operate UAVs in the real world. The realistic operation of such simulations will only enhance the value of such training. In this paper, we present the integration of a model-based waypoint navigation controller into the Reno Rescue Simulator for the purposes of providing a more realistic user interface in simulated environments. We also present potential uses for such simulations, even for real-world operation of UAVs. Copyright © 2017, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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