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arXiv 2020年

作者： Kulkarni, Abhishek N. Fu, Jie Leslie, Nandi O. Kamhoua, Charles A. Robotics Engineering Program Dept. of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States U.S. Army Research Laboratory

With the increasing sophistication of attacks on cyber-physical systems, deception has emerged as an effective tool to improve system security and safety by obfuscating information or providing misleading information. In this paper, we present a solution to the deceptive game in which a control agent is to satisfy a Boolean objective specified by a co-safe temporal logic formula in the presence of an adversary. The agent intentionally introduces asymmetric information to create payoff misperception. This is done by masking information about the logical formula satisfied given the outcome of the game. We introduce hypergames on graphs as a model to capture the asymmetrical information with one-sided payoff misperception. We present the solution of such a hypergame for synthesizing stealthy deceptive strategies that exploit adversary’s misperception. Specifically, deceptive sure winning and deceptive almost-sure winning strategies are developed by reducing the hypergame to a two-player game and one-player stochastic game with reachability objectives. Finally, an illustrative example is introduced to demonstrate the correctness of theory and proposed algorithms. Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

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Use of Open-source Software in Mechatronics and robotics engineering Education – Part I: Model Simulation and Analysis

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Computers in Education Journal 2021年第3期13卷

作者： Lotfi, Nima Auslander, Dave Rodriguez, Luis A. Mbanisi, Kenechukwu C. Berry, Carlotta A. Mechanical and Mechatronics Engineering Department Southern Illinois University Edwardsville EdwardsvilleIl United States Mechanical Engineering University of California Berkeley BerkeleyCA United States Mechanical Engineering Milwaukee School of Engineering MilwaukeeWI United States Robotics Engineering Worcester Polytechnic Institute WorcesterMA United States Electrical and Computer Engineering Rose-Hulman Institute of Technology Terre HauteIN United States

Open-source Software (OSS) provide attractive solutions for complementing Mechatronics and robotics engineering (MRE) education due to their numerous advantages such as free access, customizability and wide community support, increased adoption and utilization in industry, etc. To provide a deeper insight on the current status, limitations, and potentials of the OSS, a summary of the results of an online survey, conducted among various community stakeholders, is included. Furthermore, the two parts of this contribution are intended to provide an exposure to the OSS which have the potential to be used in MRE education. To this end, two specific problems, namely, model simulation and analysis of a DC motor (Part I) and controller implementation for a 2-DOF robot manipulator (Part II), are solved using Python, Java, Modelica, GNU Octave, and Gazebo. The systems chosen for this work are some of the most-commonly encountered systems and the considered problems, i.e. model simulation, analysis, and control implementation, are fundamental problems in the context of MRE. Therefore, this work can help MRE instructors familiar with these OSS to easily integrate them into their respective courses. On the other hand, the students can also greatly benefit from this work as it provides an entry point into applying different OSS in MRE-related courses and projects. Exposure to various ways in which an MRE problem is translated into a software solution enables the students to generalize their problem-solving process across different computational tools. Students equipped with such a skillset would potentially have a flexible mindset and could make well-balanced and informed judgements when devising a solution to a real-world engineering problem. Full code scripts for each of the OSS introduced in this work, along with Matlab which is intended as a point of comparison, are included on the GitHub repository of the paper to provide free access to the community and to help with widespr

关键词： Open source software

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Reducing Uncertainty in Pose Estimation under Complex Contacts via Force Forecast

Reducing Uncertainty in Pose Estimation under Complex Contac...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Huitan Mao Jing Xiao Department of Computer Science University of North Carolina Charlotte NC USA Robotics Engineering Program and Department of Computer Science Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

How to reduce uncertainty in object pose estimation under complex contacts is crucial to autonomous robotic manipulation and assembly. In this paper, we introduce an approach through forecasting contact force from simulated complex contacts with calibration based on real force sensing. A constraint-based haptic simulation algorithm is used with sphere-tree representation of contacting objects to compute contact poses and forces, and through matching the computed forces to measured real force data via a regression model, the least-uncertain estimate of the relative contact pose is obtained. Our approach can handle multi-region complex contacts and does not make any assumption about contact types or contact locations. It also does not have restriction on object shapes. We have applied the force forecast approach to reducing uncertainty in estimating object poses in challenging peg-in-hole robotic assembly tasks and demonstrate the effectiveness of the approach by successful completion of contact-rich two-pin and three-pin real peg-in-hole assembly tasks with complex shapes of pins and holes.

关键词： Force Uncertainty Robot sensing systems Task analysis Calibration

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Miniaturized side-firing intracardiac photoacoustic imaging catheter for monitoring radiofrequency ablation

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Scientific Reports 2025年第1期15卷 1-11页

作者： Gao, Shang Wang, Yang Murakami, Ryo Ashikaga, Hiroshi Kim, Young-Ho Mehrmohammadi, Mohammad Halperin, Henry R. Zhang, Haichong K. Department of Robotics Engineering Worcester Polytechnic Institute 100 Institute Rd Worcester 01609 MA United States John A. Burns School of Medicine University of Hawaii 651 Ilalo Street Honolulu 96813 HI United States Digital Technology and Innovation Siemens Healthineers 755 College Rd E Princeton 08540 NJ United States Department of Imaging Sciences University of Rochester Medical Center 601 Elmwood Ave Rochester 14642 NY United States Division of Cardiology Department of Medicine Johns Hopkins University School of Medicine 733 N Broadway Baltimore 21205 MD United States

In this paper, we introduce a miniaturized intracardiac photoacoustic (PA) imaging system based on a phased-array intracardiac echocardiography catheter. This PA imaging system enhances imaging feedback during radiofrequency (RF) ablation for atrial fibrillation (A-fib) by providing ablation-induced lesion mapping. The PA imaging catheter with a 4-mm diameter was designed, featuring flexible tip for bending and navigation through the vessels. The catheter’s imaging resolution was evaluated using a phantom study with 0.2-mm-diameter wires. In an ex vivo study, the catheter was used to detect ablation-induced necrosis in porcine cardiac tissue, evaluating its capability to image through blood layer and differentiate necrotic tissue based on spectral characteristics. The catheter achieved an imaging resolution of 647.35 ± 61.60 µm in the phantom study. In the ex vivo study, it successfully identified necrotic lesions on porcine cardiac tissue, distinguishing these from surrounding tissue based on spectral analysis. The catheter system successfully imaged through an 8-mm blood layer, effectively highlighting necrotic regions. The proposed miniaturized PA imaging catheter demonstrated high-resolution imaging capability and effective detection of ablation-induced tissue boundary. Its flexibility and small diameter allow for maneuverability through cardiac vessels, enhancing its utility for intraoperative feedback during RF ablation procedures. This advancement offers a practical tool for improving the precision and effectiveness of RF ablation in A-fib treatment by integrating high-resolution imaging and maneuverability into a PA imaging catheter, potentially facilitating its adoption in clinical practice. © The Author(s) 2025.

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OriSnake: Design, Fabrication, and Experimental Analysis of a 3-D Origami Snake Robot

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IEEE robotics and Automation Letters 2018年第3期3卷 1993-1999页

作者： Luo, Ming Yan, Ruibo Wan, Zhenyu Qin, Yun Santoso, Junius Skorina, Erik H. Onal, Cagdas D. Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States

Snake robots offer a useful and unique mobility platform for search-and-rescue applications. However, existing prototypes made of rigid links and joints are hampered by a lack of flexibility that limits their utility in highly cluttered, maze-like environments, and their heavy weight limits their energy-efficiency and performance in three-dimensional (3-D) tasks. To address these challenges, this letter presents a new approach using cylindrical, origami continuum modules driven by internal cables and electric motors, as well as a local feedback control system on each module. Thus, we can distribute actuation, sensing, and control for highly scalable soft robotic continuum origami systems. Using this approach, we develop a 3-D origami robotic snake that is able to locomote using lateral undulation and sidewinding gaits similar to those used by biological snakes. The proposed snake robot is a continuously deformable, lightweight, modular, and low cost robotic system made of a folded thin plastic body. We detail the design, fabrication, and control of this first 3-D origami robotic snake prototype, focusing on the analysis of locomotion parameters for each gait. We experimentally search for the optimal parameters for both types of locomotion, with maximum speeds characterized as 40.5 mm/s (0.1 body-lengths per second) for lateral undulation and 35 mm/s (0.09 body-lengths per second) for sidewinding locomotion. © 2016 IEEE.

关键词： Fabrication

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Correction to: Select, route and schedule: optimizing community paramedicine service delivery with mandatory visits and patient prioritization

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Health care management science 2023年第4期26卷 747页

作者： Shima Azizi Özge Aygül Brenton Faber Sharon Johnson Renata Konrad Andrew C Trapp Business Analytics and Information Systems Peter J. Tobin College of Business St. John's University Queens NY USA. azizis@stjohns.edu. Data Science Program Worcester Polytechnic Institute 100 Institute Road Worcester MA USA. Biomedical Engineering Worcester Polytechnic Institute 100 Institute Road Worcester MA USA. The Business School Worcester Polytechnic Institute 100 Institute Road Worcester MA USA.

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Estimating Effectiveness of Identifying Human Trafficking via Data Envelopment Analysis

arXiv

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arXiv 2020年

作者： Dimas, Geri L. Khalkhali, Malak El Bender, Alex Maass, Kayse Lee Konrad, Renata A. Blom, Jeffrey S. Zhu, Joe Trapp, Andrew C. Data Science Program Worcester Polytechnic Institute United States Business School Worcester Polytechnic Institute United States Mechanical and Industrial Engineering Department Northeastern University United States Love Justice International United States Business School Worcester Polytechnic Institute Data Science Program Worcester Polytechnic Institute United States

Transit monitoring is a preventative approach used to identify possible cases of human trafficking prior to exploitation while an individual is in transit or before one crosses a border. Transit monitoring is often conducted by non-governmental organizations (NGOs) who train staff to identify and intercept suspicious activity. Love Justice International (LJI) is a well-established NGO that has been conducting transit monitoring for years along the Nepal-India border at multiple monitoring stations. In partnership with LJI, we developed a system that uses data envelopment analysis (DEA) to help LJI decision-makers evaluate the performance of these stations at intercepting potential human-trafficking victims given the amount of resources (e.g. staff, etc.) available and make specific operational improvement recommendations. Our model consists of 91 decision-making units (DMUs) from 7 stations over 13 quarters and considers three inputs, four outputs, and 3 homogeneity criteria. Using this model we identified efficient stations, compared rankings of station performance, and recommended strategies to improve efficiency. To the best of our knowledge, this is the first application of DEA in the anti-human trafficking domain. Copyright © 2020, The Authors. All rights reserved.

关键词： Data envelopment analysis

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Topological Approximate Dynamic programming under Temporal Logic Constraints

Topological Approximate Dynamic Programming under Temporal L...

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IEEE Annual Conference on Decision and Control

作者： Lening Li Jie Fu Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper, we develop a model-free approximate dynamic programming method for stochastic systems modeled as Markov decision processes to maximize the probability of satisfying high-level system specifications expressed in a subclass of temporal logic formulas-syntactically co-safe linear temporal logic. Our proposed method includes two steps: First, we decompose the planning problem into a sequence of sub-problems based on the topological property of the task automaton which is translated from a temporal logic formula. Second, we extend a model-free approximate dynamic programming method to solve value functions, one for each state in the task automaton, in an order reverse to the causal dependency. Particularly, we show that the run-time of the proposed algorithm does not grow exponentially with the size of specifications. The correctness and efficiency of the algorithm are demonstrated using a robotic motion planning example.

关键词： Task analysis Planning Dynamic programming Markov processes Automata Approximation algorithms Function approximation

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Compositional planning in Markov decision processes: Temporal abstraction meets generalized logic composition

Compositional planning in Markov decision processes: Tempora...

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American Control Conference

作者： Xuan Liu Jie Fu Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (纸本)9781538679012;9781538679265

In hierarchical planning for Markov decision processes (MDPs), temporal abstraction allows planning with macro-actions that take place at different time scale in form of sequential composition. In this paper, we propose a novel approach to compositional reasoning and hierarchical planning for MDPs under co-safe temporal logic constraints. In addition to sequential composition, we introduce a composition of policies based on generalized logic composition: Given sub-policies for sub-tasks and a new task expressed as logic compositions of subtasks, a semi-optimal policy, which is optimal in planning with only sub-policies, can be obtained by simply composing sub-polices. Thus, a synthesis algorithm is developed to compute optimal policies efficiently by planning with primitive actions, policies for sub-tasks, and the compositions of sub-policies, for maximizing the probability of satisfying constraints specified in the fragment of co-safe temporal logic. We demonstrate the correctness and efficiency of the proposed method in stochastic planning examples with a single agent and multiple task specifications.

关键词： Markov chain time scales Planning Formal logic Policies Abstraction Temporal logic accuracy class

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Opportunistic Synthesis in Reactive Games under Information Asymmetry

Opportunistic Synthesis in Reactive Games under Information ...

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IEEE Annual Conference on Decision and Control

作者： Abhishek N. Kulkarni Jie Fu Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Faculty of the Department of Electrical and Computer Engineering with affiliation to Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Reactive synthesis is a class of methods to construct a provably-correct control system, referred to as a robot, with respect to a temporal logic specification in the presence of a dynamic and uncontrollable environment. This is achieved by modeling the interaction between the robot and its environment as a two-player zero-sum game. However, existing reactive synthesis methods assume both players to have complete and symmetrical information, which is not the case in many strategic interactions. In this paper, we use a variant of hypergames to model the interaction between the robot and its environment;where the latter has incomplete information about the specification of the robot. We propose a novel method of opportunistic synthesis defined over the hypergame model to identify a subset of hypergame states from where the robot can leverage the asymmetrical information to achieve a better outcome, which is not possible if both players have symmetrical and complete information. By assuming the environment to play a stochastic strategy in its perceived sure-winning and sure-losing regions of the game, we show that by following the opportunistic strategy, the robot is ensured to only improve the outcome of the game-measured by satisfaction of sub-specifications-whenever an opportunity becomes available. We demonstrate the correctness and optimality of this method using a robot motion planning example in the presence of an adversary.

关键词： Robots Games Task analysis Computational modeling Game theory Planning Stochastic processes

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