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1st International Conference on Computational Intelligence, Communication Technology and Networking, CICTN 2023

作者： Salama, Ramiz Al-Turjman, Fadi Bordoloi, Dibyahash Yadav, Satya Prakash Near East University Ai and Robotics Institute Research Center for Ai and IoT Department of Computer Engineering Nicosia Turkey Near East University Ai and Robotics Institute Artificial Intelligence Engineering Dept. Nicosia Turkey University of Kyrenia Research Center for Ai and IoT Faculty of Engineering Kyrenia Turkey Graphic Era Hill University Dehradun Rs Cse Graphic Era University Dept. of Computer Science and Engineering Dehradun India Department of Computer Science and Engineering Greater Noida201306 India

ISBN: (纸本)9798350338027

Wireless sensor networks and green networking have been major research areas in the field of communication technology for the past few decades. In particular, the development of 6G communication systems has brought renewed focus on these areas, as the demands for higher data rates, more diverse applications, and lower energy consumption continue to increase. The use of wireless sensor networks in 6G communication systems has been widely explored in the literature, and has shown great potential for a wide range of applications, including environmental monitoring, industrial process control, and healthcare. However, a key challenge in the deployment of these networks is ensuring their energy efficiency, as the demands on the network will be much higher than in previous generations. To address this challenge, researchers have proposed various green networking techniques, such as energy harvesting and low-power communication protocols, which have been shown to significantly reduce the energy consumption of the sensors. In addition to improving the energy efficiency of wireless sensor networks, researchers have also studied their reliability, scalability, and adaptability. These properties are important in 6G communication systems, as the demands on the network are expected to be much higher than in previous generations. Researchers have proposed various methods to improve the reliability, scalability, and adaptability of wireless sensor networks, including the use of error-correction codes, redundant communication channels, and machine learning algorithms. © 2023 IEEE.

关键词： Wireless sensor networks

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Internet of Intelligent Things (IoT) - An Overview 1

Internet of Intelligent Things (IoT) - An Overview

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1st International Conference on Computational Intelligence, Communication Technology and Networking, CICTN 2023

作者： Salama, Ramiz Al-Turjman, Fadi Aeri, Manisha Yadav, Satya Prakash Ai and Robotics Institute Research Center for Ai and IoT Near East University Nicosia Department of Computer Engineering Mersin10 Turkey Ai and Robotics Institute Near East University Artificial Intelligence Engineering Dept. Mersin Nicosia10 Turkey University of Kyrenia Research Center for Ai and IoT Faculty of Engineering Kyrenia Mersin10 Turkey Graphic Era Hill University Computer Science and Engineering Dehradun India Department of Computer Science and Engineering Greater Noida201306 India

ISBN: (纸本)9798350338027

The basic goal of the IoT is to permit the online connection and communication of everyday physical objects like appliances, vehicles, and other gadgets. This paves the way for effortless and automated data collection and exchange, as well as interaction between the objects themselves and with humans. The Internet of Everything (IoE) is an expansion of the Internet of Things (IoT) that aims to maximize and improve human life by connecting and making the most of all available resources (humans, information, and technology). The transportation, healthcare, agricultural, energy, and manufacturing sectors are all examples. The IoIT aims to incorporate AI and ML within the IoT's interconnected network of physical items. These objects can then independently behave in response to the information they have gathered and the instructions they have been given. This has the potential to lead to smarter, more efficient systems that can react to new information and human input in real time. The Internet of Things, the Internet of Everything, and the Industrial Internet of Things all have the same overarching goal: to pave the way for the development of more efficient and intelligent systems and processes that can enhance a wide range of human endeavors. However, in order to make sure that these technologies are used in a responsible and ethical way, it will be necessary to carefully analyze their consequences and the issues they provide. © 2023 IEEE.

关键词： Internet of things

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Robots Can Feel: LLM-based Framework for Robot Ethical Reasoning

arXiv

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arXiv 2024年

作者： Lykov, Artem Cabrera, Miguel Altamirano Gbagbe, Koffivi Fidèle Tsetserukou, Dzmitry The Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia

This paper presents the development of a novel ethical reasoning framework for robots. "Robots Can Feel" is the first system for robots that utilizes a combination of logic and human-like emotion simulation to make decisions in morally complex situations akin to humans. The key feature of the approach is the management of the Emotion Weight Coefficient-a customizable parameter to assign the role of emotions in robot decision-making. The system aims to serve as a tool that can equip robots of any form and purpose with ethical behavior close to human standards. Besides the platform, the system is independent of the choice of the base model. During the evaluation, the system was tested on 8 top up-to-date LLMs (Large Language Models). This list included both commercial and open-source models developed by various companies and countries. The research demonstrated that regardless of the model choice, the Emotions Weight Coefficient influences the robot's decision similarly. According to ANOVA analysis, the use of different Emotion Weight Coefficients influenced the final decision in a range of situations, such as in a request for a dietary violation F(4, 35) = 11.2, p = 0.0001 and in an animal compassion situation F(4, 35) = 8.5441, p = 0.0001. A demonstration code repository is provided at: https://***/TemaLykov/robots_can_feel. © 2024, CC BY-NC-ND.

关键词： Robots

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Bi-VLA: Vision-Language-Action Model-Based System for Bimanual Robotic Dexterous Manipulations

arXiv

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arXiv 2024年

作者： Gbagbe, Koffivi Fidèle Cabrera, Miguel Altamirano Alabbas, Ali Alyunes, Oussama Lykov, Artem Tsetserukou, Dzmitry The Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia

This research introduces the Bi-VLA (Vision-Language-Action) model, a novel system designed for bimanual robotic dexterous manipulation that seamlessly integrates vision for scene understanding, language comprehension for translating human instructions into executable code, and physical action generation. We evaluated the system’s functionality through a series of household tasks, including the preparation of a desired salad upon human request. Bi-VLA demonstrates the ability to interpret complex human instructions, perceive and understand the visual context of ingredients, and execute precise bimanual actions to prepare the requested salad. We assessed the system’s performance in terms of accuracy, efficiency, and adaptability to different salad recipes and human preferences through a series of experiments. Our results show a 100% success rate in generating the correct executable code by the Language Module, a 96.06% success rate in detecting specific ingredients by the Vision Module, and an overall success rate of 83.4% in correctly executing user-requested tasks. © 2024, CC BY-NC-ND.

关键词： Human robot interaction

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Design and validation of a novel tracheal intubation robot

Design and validation of a novel tracheal intubation robot

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Luo, Jingjing Tian, Yu Wang, Hongbo Wang, Jiawei Zhou, Luyan Tang, Jianhao Zhu, Xing Feng, Lili Han, Yuan Li, Wenxian Fudan University Institute of Ai and Robotics Academy for Engineering and Technology Shanghai210043 China Jihua Laboratory Guangdong Foshan528200 China Ministry of Education Engineering Research Center of Ai and Robotics Shanghai210043 China Eye & Ent Hospital of Fudan University Shanghai200031 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China

ISBN: (纸本)9798350325706

Tracheal intubation is a crucial measure to ensure smooth respiration during general anesthesia surgeries. Currently, manual intubation is commonly employed, with its success heavily reliant on the proficiency of the physicians performing the procedure. In this paper, a 3 degree-of-freedom (DOF) master-slave operated tracheal intubation robotic system is proposed, wherein a flexible endoscope serves as the end effector. The structural components of the master-slave mechanism are described in detail, and the kinematic model of the flexible endoscope is established. Four participants were recruited to conduct experimental research on master-slave operation intubation. In the experiment, the shortest operation time recorded was 8.88 seconds, while the longest is 72.04 seconds, they are less than the clinically required safety threshold of 2 minutes. This validates the feasibility of the developed prototype in achieving robot-assisted intubation. © 2023 IEEE.

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Study on a Novel Snake Arm Robot for Working in a Narrow Space

Study on a Novel Snake Arm Robot for Working in a Narrow Spa...

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robotics, Control and Automation (ICRCA), International Conference on

作者： Wei Sun Shujian Liu Yunfei Liu Weijun Wang Yangzhou Zhao Robotics Engineering Center Corporation (China Electronics Technology Robotics CO.LTD) The 21ST Research Institute of China Electronic Technology Group Shanghai China

ISBN: (数字)9798350344721

ISBN: (纸本)9798350344738

In some narrow environments, it is difficult for ordinary robots to enter them to work. The snake arm robot has a large aspect ratio, can move flexibly, and can shuttle in a narrow and tortuous environment. It has great advantages in working in a narrow space. A novel snake arm robot for working in a narrow space is designed. The robot has the characteristics of large length-to-diameter ratio, large bending angle, and multiple redundant degrees of freedom, and can traverse a relatively narrow space. Its redundant degrees of freedom allow the snake-shaped arm to adapt to the surrounding environment autonomously, and it can better complete a series of tasks.

关键词： Automation Accuracy Shape Prototypes Kinematics Bending Ontologies

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Make your LLM fully utilize the context 24

Make your LLM fully utilize the context

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Proceedings of the 38th International Conference on Neural Information Processing Systems

作者： Shengnan An Zexiong Ma Zeqi Lin Nanning Zheng Jian-Guang Lou Weizhu Chen National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center of Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University and Microsoft Peking University and Microsoft Microsoft National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center of Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University

ISBN: (纸本)9798331314385

While many contemporary large language models (LLMs) can process lengthy input, they still struggle to fully utilize information within the long context, known as the lost-in-the-middle challenge. We hypothesize that it stems from insufficient explicit supervision during the long-context training, which fails to emphasize that any position in a long context can hold crucial information. Based on this intuition, our study presents INformation-INtensive (IN2) training, a purely data-driven solution to overcome lost-in-the-middle. Specifically, IN2 training leverages a synthesized long-context question-answer dataset, where the answer requires (1) fine-grained information awareness on a short segment (~128 tokens) within a synthesized long context (4K-32K tokens), and (2) the integration and reasoning of information from two or more short segments. Through applying this information-intensive training on Mistral-7B, we present FILM-7B (FILl-in-the-Middle). To thoroughly assess the ability of FILM-7B for utilizing long contexts, we design three probing tasks that encompass various context styles (document, code, and structured-data context) and information retrieval patterns (forward, backward, and bi-directional retrieval). The probing results demonstrate that FILM-7B can robustly retrieve information from different positions in its 32K context window. Beyond these probing tasks, FILM-7B significantly improves the performance on real-world long-context tasks (e.g., 23.5→26.9 F1 score on NarrativeQA), while maintaining a comparable performance on short-context tasks (e.g., 59.3→59.2 accuracy on MMLU).

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A Desktop Bilateral Rehabilitation Robot Driven by Nonlinear Rotary Series Elastic Actuator 24

A Desktop Bilateral Rehabilitation Robot Driven by Nonlinear...

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4th International Conference on robotics and Control engineering, RobCE 2024

作者： Zhang, Maozeng Li, Huijun Shi, Ke Li, Ye Song, Aiguo School of Instrument Science and Engineering Southeast University Nanjing Shi Xuanwu Qu China Nanjing Advanced Robotics Technology Research Institute Co. Ltd Nanjing Shi Xuanwu Qu China The Department of Biomedical Engineering National University of Singapore Singapore Singapore

ISBN: (纸本)9798400716782

Upper limb rehabilitation robots have demonstrated substantial efficacy in enhancing limb motor function during the recovery process of stroke patients. The growing integration of compliance into the design of rehabilitation robot drive systems is motivated by concerns related to system stability and the safety of rehabilitation treatments. In our study, we developed a desktop bilateral rehabilitation robot (DBRR) aimed at assisting patients in their rehabilitation training while ensuring precise control over human-robot interaction forces. The drive system incorporates specially designed nonlinear rotary series elastic actuator (nrSEA). The stiffness range can passively vary from 0.13 Nm/° to 0.51 Nm/°. The stiffness profile and torque output performance of the nrSEA were rigorously validated through experiments conducted on the designated testing platform. At a frequency of 0.5 Hz, the root mean square error (RMSE) of the sinusoidal torque output is consistently less than 0.2 Nm, and the step response time at a 9 Nm amplitude is typically below 0.1 s. These experiments unequivocally demonstrate that the nrSEA exhibits exemplary characteristics in human-robot interaction torque control, rendering it highly suitable for applications in robot-assisted rehabilitation therapy. Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Human robot interaction

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SwarmPath: Drone Swarm Navigation Through Cluttered Environments Leveraging Artificial Potential Field and Impedance Control

SwarmPath: Drone Swarm Navigation Through Cluttered Environm...

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IEEE International Conference on robotics and Biomimetics

作者： Roohan Ahmed Khan Malaika Zafar Amber Batool Aleksey Fedoseev Dzmitry Tsetserukou Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel SwarmPath technology that involves the integration of artificial potential field (APF) approach with impedance controller. The proposed approach provides a solution based on collision-free leader-follower behaviour where drones are able to adapt themselves to the environment. Moreover, the leader is virtual while drones are physical followers, leveraging APF path planning approach to find the smallest possible path to the target. Simultaneously, the drones dynamically adjust impedance links, allowing themselves to create virtual links with obstacles to avoid them. As compared to conventional APF, the proposed SwarmPath system not only provides smooth collision avoidance but also enables agents to efficiently pass through narrow passages by reducing the total travel time by 30% while ensuring safety in terms of drone connectivity. Lastly, the results also illustrate that the discrepancies between the simulated and real environments exhibit an average absolute percentage error (APE) of 6% of drone trajectories. This underscores the reliability of our solution in real-world scenarios. Video: https://***/k8Nf_vPZf7U

关键词： Navigation Virtual links Control systems Trajectory Safety Impedance Reliability Collision avoidance Robots Drones

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A Framework for Automatic Following Based on Visual Tracking for Quadruped Robots

A Framework for Automatic Following Based on Visual Tracking...

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robotics, Control and Automation (ICRCA), International Conference on

作者： Guorong Chen Qihan Fan Xiaonan Hou Robotics Engineering Center Group Corporation The 21 Research Institute of China Electronics Technology Shanghai China

ISBN: (数字)9798350344721

ISBN: (纸本)9798350344738

This paper proposes a TOF camera-based auto-matic following framework for quadruped robots, enabling them to track multiple categories of targets and avoid obstacles. Our framework consists of a single target tracking module, a coordinate transformation module, and a navigation module. Specifically, Mixformer is used to obtain the pixel coordinates of the target in the image, and the principles of pinhole imaging are employed to convert these coordinates, along with the depth image, into 3D coordinates and an environmental point cloud. Based on the target's 3D coordinates and the environmental point cloud, the navigation module plans a real-time tracking path that avoids obstacles. Our framework can achieve real-time and stable tracking and obstacle avoidance without additional tags. Experimental validation has confirmed the effectiveness of our framework.

关键词： Point cloud compression Visualization Target tracking Three-dimensional displays Navigation Robot kinematics Process control

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