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IEEE International Conference on robotics and Automation (ICRA)

作者： Wei Wang Wei Xiao Alejandro Gonzalez-Garcia Jan Swevers Carlo Ratti Daniela Rus Computer Science and Artificial Intelligence Lab (CSAIL) Massachusetts Institute of Technology Cambridge MA USA SENSEable City Laboratory Massachusetts Institute of Technology Cambridge MA USA Marine Robotics Lab Department of Mechanical Engineering College of Engineering University of Wisconsin-Madison Madison WI USA Department of Mechanical Engineering MECO Research Team KU Leuven Belgium Flanders Make@KU Leuven Belgium

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In autonomous robot navigation, the trajectories from path planners are considered to be safe regions, and deviations could endanger vessels. Model Predictive Control (MPC) stands as a popular choice for trajectory tracking problems as it naturally addresses operational constraints, such as dynamics and control constraints. Nevertheless, achieving robustness in changing environments like oceans and rivers, which are constantly subject to significant external disturbances, remains an ongoing challenge for MPC. It must consistently keep the system within a predefined safe region (such as a reference trajectory) even in the presence of model inaccuracies and perturbations. To address this challenge, we present a robust model predictive control strategy utilizing Control Barrier Functions (CBFs), which increases the disturbance-rejection abilities. We verify our method on an autonomous surface vessel in simulation and natural waters, both with external disturbances. Specifically, compared with the traditional MPC method, our proposed MPC-CBF strategy reduces tracking errors by 17.82% and 40.26% in simulations and field experiments, respectively. Although the control effort slightly increases by 7.78% and 4.20%, respectively, these results clearly demonstrate the enhanced resilience of MPC-CBF to disturbances.

关键词： Sea surface Trajectory tracking Navigation Perturbation methods Robustness Trajectory Rivers

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Resilient and Adaptive Replanning for Multi-Robot Target Tracking with Sensing and Communication Danger Zones

arXiv

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arXiv 2024年

作者： Li, Peihan Wu, Yuwei Liu, Jiazhen Sukhatme, Gaurav S. Kumar, Vijay Zhou, Lifeng Department of Electrical and Computer Engineering Drexel University PhiladelphiaPA19104 United States GRASP Lab University of Pennsylvania PhiladelphiaPA19104 United States Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA30332 United States Department of Computer Science University of Southern California Los AngelesCA90089 United States

Multi-robot collaboration for target tracking presents significant challenges in hazardous environments, including addressing robot failures, dynamic priority changes, and other unpredictable factors. Moreover, these challenges are increased in adversarial settings if the environment is unknown. In this paper, we propose a resilient and adaptive framework for multi-robot, multi-target tracking in environments with unknown sensing and communication danger zones. The damages posed by these zones are temporary, allowing robots to track targets while accepting the risk of entering dangerous areas. We formulate the problem as an optimization with soft chance constraints, enabling real-time adjustments to robot behavior based on varying types of dangers and failures. An adaptive replanning strategy is introduced, featuring different triggers to improve group performance. This approach allows for dynamic prioritization of target tracking and risk aversion or resilience, depending on evolving resources and real-time conditions. To validate the effectiveness of the proposed method, we benchmark and evaluate it across multiple scenarios in simulation and conduct several real-world experiments. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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*** 1.0: The Full Autonomous Stack for Oval Racing at High Speeds

arXiv

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arXiv 2023年

作者： Raji, Ayoub Caporale, Danilo Gatti, Francesco Giove, Andrea Verucchi, Micaela Malatesta, Davide Musiu, Nicola Toschi, Alessandro Popitanu, Silviu Roberto Bagni, Fabio Bosi, Massimiliano Liniger, Alexander Bertogna, Marko Morra, Daniele Amerotti, Francesco Bartoli, Luca Martello, Federico Porta, Riccardo University of Modena and Reggio Emilia Italy University of Parma Italy Technology Innovation Institute - Autonomous Robotics Research Center United Arab Emirates HIPERT srl Italy University of Pisa Italy Computer Vision Lab ETH Zurich Switzerland

The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using independently developed software on open-wheel racecars. This paper presents the complete software architecture used by team TII EuroRacing (TII-ER), covering all the modules needed to avoid static obstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h). In addition to the most common modules related to perception, planning, and control, we discuss the approaches used for vehicle dynamics modelling, simulation, telemetry, and safety. Overall results and the performance of each module are described, as well as the lessons learned during the first two events of the competition on oval tracks, where the team placed respectively second and third. Copyright © 2023, The Authors. All rights reserved.

关键词： Racing automobiles

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Performance Evaluation of a Skin Conformable Polymer-based Flexible Temperature Sensor

Performance Evaluation of a Skin Conformable Polymer-based F...

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IEEE SENSORS

作者： Athul Krishnan Karthick Thiyagarajan Mitradip Bhattacharjee Yang An i-Labs Electrical Engineering and Computer Science Indian Institute of Science Education and Research Bhopal Madhya Pradesh India Smart Sensing and Robotics Laboratory (SensR Lab) Centre for Advanced Manufacturing Technology School of Engineering Design and Built Environment Western Sydney University Penrith NSW Australia

ISBN: (数字)9798350363517

ISBN: (纸本)9798350363524

In today's modern age, there is a growing need for temperature sensors that can conform to the skin and monitor body temperature continuously. Achieving this requires the miniaturization of the sensor and careful selection of the active layer stacking. Further, it is important to check the effect of the active layer stacking on the sensor performance. In this context, we present the performance evaluation results for a polymer-based flexible temperature sensor designed to conform to the skin. This sensor utilizes PEDOT:PSS + GO composition as the temperature-sensitive material developed on top of a flexible PET substrate. The experimental results demonstrate that the performance of the sensor is dependent on the active layer stacking and electrode separation. An impressive sensor sensitivity of $1.205 \%/^\circ\mathrm{C}$ was achieved through sensor miniaturization and a single active layer stacking. This shows the performance tuning of a temperature sensor using active layer stacking.

关键词： Temperature sensors Performance evaluation Temperature measurement Sensitivity Stacking Skin Polymers Tuning Substrates Monitoring

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Localization of Dengue Virus Likelihood Using Image Processing Technique

Localization of Dengue Virus Likelihood Using Image Processi...

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Emerging Smart Computing and Informatics (ESCI), Conference on

作者： Md. Mahbub Hosen Md. Rahatul Islam Faria Tabassum Syeda Thamina Tonni Malik Mohammad Nafiur Noor Shahid Rahman Dept. of Computer Science & Engineering Northern University of Bangladesh Dhaka Bangladesh Dept. of Human Intelligence Systems Kyushu Institute of Technology Wakamatsu Kitakyushu Japan Dept. of Computer Science & Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh Human Intelligence Lab Bangladesh Advance Robotics Research Center Dhaka Bangladesh Dept. of Electrical & Electronic Engineering Canadian University of Bangladesh Dhaka Bangladesh

The Aedes mosquito, found in tropical areas, transmits, and causes dengue fever. The spread of the dengue fever virus from an infected Aedes mosquito bite typically takes between three and fifteen days to manifest itself clinically as dengue fever symptoms. Early and automated detection of this illness will reduce the occurrence of outbreaks and facilitate the digitization of the system. Our primary objective is to identify regions at high risk for dengue fever using limited image data through the utilization of sophisticated machine learning and image processing methods. This work showcases the application of transfer learning algorithms for the timely identification of regions at risk for dengue mosquito infestation, particularly in situations where obtaining early data on dengue outbreaks is challenging. The experiments included images of 2150 dengue-positive data sets and 1440 dengue-negative data sets. We used AI and image classifiers Yolo V4 Tin, Tensor Flow, Google Colab, etc. for the training data set, and the system makes predictions with a 99.63% accuracy rate. Our system has some unique attributes; it not only detects the percentage of dengue probability but also the specific dengue-prone location on the submitted image.

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Predictor-Based Constrained Fixed-Time Sliding Mode Control of Multi-Uav Formation Flight

SSRN

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SSRN 2024年

作者： Khodaverdian, Maria Hajshirmohamadi, Shahram Hakobyan, Aleksandr Ijaz, Salman Center for Scientific Innovation and Education Aerial Robotics Laboratory of National Polytechnic University of Armenia Yerevan Armenia Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan84156-83111 Iran Key Laboratory of More Electric Aircraft and Control System Lab University of Nottingham Ningbo China

In this work, a predictor-based fixed-time sliding mode control is designed to tackle the problem of achieving precise trajectory tracking control of multiple unmanned aerial vehicles formation flight. The proposed approach simultaneously addresses various practical requirements, such as optimality, constraints, fixed-time convergence, external interferences, and computational ***, a constrained performance index is constructed based on the prediction of the fixed-time sliding surface, the reaching law, and the control input. Secondly, optimal control input is calculated by solving the constrained quadratic optimization problem. An outstanding feature of this study is the theoretical guarantee of closed-loop system stability in the presence of external disturbances and ***, the comparative evaluation with sliding mode predictive control law and fixed-time sliding mode control methods demonstrates that the proposed approach achieves a straightforward control method with improved performance and acceptable accuracy. Finally, a test is conducted to demonstrate the algorithm's potential for hardware implementation by employing Hardware-in-the-Loop (HIL) test. © 2024, The Authors. All rights reserved.

关键词： Sliding mode control

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Single Frame Lidar-Camera Calibration Using Registration of 3D Planes

Single Frame Lidar-Camera Calibration Using Registration of ...

引用

IEEE International Conference on Robotic Computing (IRC)

作者： Ashutosh Singandhupe Hung Manh La Quang Phuc Ha Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA School of Electrical and Data Engineering University of Technology Sydney Australia

ISBN: (纸本)9781665472616

This work focuses on finding the extrinsic parameters (rotation and translation) between Lidar and an RGB camera sensor. We use a planar checkerboard and place it inside the Field-of-View (FOV) of both sensors, where we extract the 3D plane information of the checkerboard acquired from the sensor’s data. The plane coefficients extracted from the sensor’s data are used to construct a well-structured set of 3D points. These 3D points are then ’aligned,’ which gives the relative transformation between the two sensors. We use our proposed Correntropy Similarity Matrix Iterative Closest Point (CoSMICP) Algorithm to estimate the relative transformation. This work uses a single frame of the point cloud data acquired from the Lidar sensor and a single frame from the calibrated camera data to perform this operation. From the camera image, we use the projection of the calibration target’s corner points to compute the 3D points, and along the process, we calculate the 3D plane equation using the corner points. We evaluate our approach on a simulated dataset with complex environment settings, making use of the freedom to assess under multiple configurations. Through the obtained results, we verify our method under various configurations.

关键词： Point cloud compression Three-dimensional displays Laser radar Transmission line matrix methods Robot vision systems Cameras Real-time systems

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Inferring user facial affect in work-like settings

arXiv

引用

arXiv 2021年

作者： Ilyas, Chaudhary Muhammad Aqdus Song, Siyang Gunes, Hatice Affective Intelligence & Robotics Lab. Department of Computer Science & Technology University of Cambridge United Kingdom

Unlike the six basic emotions of happiness, sadness, fear, anger, disgust and surprise, modelling and predicting dimensional affect in terms of valence (positivity - negativity) and arousal (intensity) has proven to be more flexible, applicable and useful for naturalistic and real-world settings. In this paper, we aim to infer user facial affect when the user is engaged in multiple work-like tasks under varying difficulty levels (baseline, easy, hard and stressful conditions), including (i) an office-like setting where they undertake a task that is less physically demanding but requires greater mental strain;(ii) an assembly-line-like setting that requires the usage of fine motor skills;and (iii) an office-like setting representing teleworking and teleconferencing. In line with this aim, we first design a study with different conditions and gather multimodal data from 12 subjects. We then perform several experiments with various machine learning models and find that: (i) the display and prediction of facial affect vary from non-working to working settings;(ii) prediction capability can be boosted by using datasets captured in work-like context;and (iii) segment-level (spectral representation) information is crucial in improving the facial affect prediction. © 2021, CC BY-NC-ND.

关键词： Forecasting

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Electrochemical impedance behavior of implantable neural interface following the change of equivalent circuit element 12

Electrochemical impedance behavior of implantable neural int...

引用

12th International Conference on CYBER technology in Automation, Control, and Intelligent Systems, CYBER 2022

作者： Zhang, Jing Liu, Lusheng Wang, Aiping Wang, Junkongshuai Fang, Tao Niu, Lan Bin, Jianxiong Wang, Pengchao Mu, Wei Jia, Jie Zhang, Lihua Kang, Xiaoyang Laboratory for Neural Interface and Brain Computer Interface Engineering Research Center of Ai and Robotics Ministry of Education Shanghai Engineering Research Center of Ai and Robotics Moe Frontiers Center for Brain Science State Key Laboratory of Medical Neurobiology Institute of Ai and Robotics Academy for Engineering and Technology Fudan University Shanghai200433 China Ji Hua Laboratory Guangdong Province Foshan528200 China Department of Rehabilitation Medicine Huashan Hospital Fudan University Shanghai200040 China Yiwu Research Institute of Fudan University Zhejiang Yiwu City322000 China Research Center for Intelligent Sensing Zhejiang Lab Hangzhou311121 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The simulation of two basic equivalent circuit models of the implantable neural interface is described in this paper. The simulated equivalent circuits are created based on the physicochemical mechanism of charge transfer on the surface of the implantable neural interface. Each parameter of the equivalent circuit model was varied to investigate the regular pattern of individual element affecting the performance of the implantable neural interface. In this paper, one circuit model is based on the charge transfer process, and another circuit model is based on the mixed charge transfer and diffusion process. The equivalent circuits are split into two parts. The neural interface of the implantable neural interface device is simulated in one part, and the rest of that is simulated in another part. The electrochemical impedance data is acquired firstly by simulating the equivalent circuit with Z-view software. Then, the simulated data was analyzed to investigate the change tendency of a single parameter, providing a theoretical method for developing customized implantable neural interface with specific electrochemical impedance. © 2022 IEEE.

关键词： Equivalent circuits

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Integrating a Digital Twin Concept in the Zero Emission Sea Transporter (ZEST) Project for Sustainable Maritime Transport using Stonefish Simulator

arXiv

引用

arXiv 2024年

作者： Grimaldi, Michele Cernicchiaro, Carlo Rossides, George Ktoris, Angelos Yfantis, Elias Kyriakides, Ioannis Computer Vision and Robotics Institute University of Girona Girona Spain School of Engineering & Physical Sciences Heriot-Watt University United Kingdom Marine Robotics Innovation Centre Cyprus Marine and Maritime Institute Larnaca Cyprus Marine & Offshore Science Technology & Engineering Centre Cyprus Marine and Maritime Institute Larnaca Cyprus Marine Technology Division Cyprus Marine and Maritime Institute Larnaca Cyprus Computational Cognition Lab Open University of Cyprus Nicosia Cyprus Department of Engineering University of Nicosia Nicosia Cyprus

In response to stringent emission reduction targets imposed by theInternational Maritime Organization (IMO) and the European Green Deal\'s Fit for55 legislation package, the maritime industry has shifted its focus towardsdecarbonization. While significant attention has been placed on vesselsexceeding 5,000 gross tons (GT), emissions from coastal and short sea shipping,amounting to approximately 13% of global shipping transportation and 15% withinthe European Union (EU), have not received adequate consideration. Thisabstract introduces the Zero Emission Sea Transporter (ZEST) project, designedto address this issue by developing a zero-emissions multi-purpose catamaranfor short sea route © 2024, CC BY.

关键词： Emission control

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