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International Conference on Advanced robotics (ICAR)

作者： Abdelhakim Amer Mohit Mehndiratta Jonas le Fevre Sejersen Huy Xuan Pham Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR Lab) Aarhus University Aarhus C Denmark GIM Robotics Espoo Finland Department of Electrical Engineering and Information Technology Automatic Control Group Paderborn University Paderborn Germany

Automated visual inspection of on- and off-shorewind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes 1 1 https://***/open-airlab/VTNMPC-Autonomous-Wind-Turbine-Inspection are open-sourced.

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Bis-benzylisoquinoline alkaloids inhibit flavivirus entry and replication by compromising endolysosomal trafficking and autophagy

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Virologica Sinica 2024年第6期39卷 892-908页

作者： Lihong Huang Lele Liu Junhai Zhu Nanjun Chen Jie Chen Chuen-Fuk Chan Fei Gao Youqin Yin Jiufeng Sun Rongxin Zhang Kehui Zhang Wenbao Qi Jianbo Yue State Key Laboratory for Animal Disease Control and Prevention South China Agricultural UniversityGuangzhou510642China Key Laboratory of Zoonoses Ministry of Agriculture and Rural AffairsSouth China Agricultural UniversityGuangzhou510642China National and Regional Joint Engineering Laboratory for Medicament of Zoonoses Prevention and Control Guangzhou510642China Key Laboratory of Zoonoses Prevention and Control of Guangdong Province GuangzhouChina Department of Computer Science City University of Hong KongHong Kong999077China Department of Biomedical Sciences City University of Hong KongHong Kong999077China Guangdong Workstation for Emerging Infectious Disease Control and Prevention Guangdong Provincial Key Laboratory of Pathogen Detection for Emerging Infectious Disease ResponseGuangdong Provincial Center for Disease Control and PreventionGuangzhou511430China Laboratory of Immunology and Inflammation Institute of Basic Medical Sciences and Department of BiotechnologySchool of Life Sciences and BiopharmaceuticsGuangdong Pharmaceutical UniversityGuangzhou510006China State Key Laboratory of Bioactive Substance and Function of Natural Medicines Institute of Materia MedicaChinese Academy of Medical Sciences&Peking Union Medical CollegeBeijing100730China Beijing Key Laboratory of Active Substances Discovery and Druggability Evaluation Institute of Materia MedicaChinese Academy of Medical Sciences&Peking Union Medical CollegeBeijing100730China City University of Hong Kong Shenzhen Research Institute Shenzhen518057China Division of Natural and Applied Sciences Synear Molecular Biology LabGlobal Health Research CenterDuke Kunshan UniversityKunshan215316China College of Life Sciences Wuhan UniversityWuhan430072China

Flaviviruses,such as dengue virus(DENV),Zika virus(ZIKV),and Japanese encephalitis virus(JEV),represent a substantial public health challenge as there are currently no approved treatments ***,we investigated the antiviral effects of bis-benzylisoquinoline alkaloids(BBAs)on flavivirus *** evaluated five specific BBAs—berbamine,tetrandrine,iso-tetrandrine,fangchinoline,and cepharanthine—and found that they effectively inhibited infections by ZIKV,DENV,or JEV by blocking virus entry and genome replication stages in the flavivirus life ***,we synthesized a fluorophore-conjugated BBA and showed that BBAs targeted endolysosomes,causing lysosomal pH *** studies on inhibiting ZIKV infection by BBAs revealed that these compounds blocked TRPML channels,leading to lysosomal dysfunction and reducing the expression of NCAM1,a key receptor for the entry of ZIKV into cells,thereby decreasing cells susceptibility to ZIKV ***,BBAs inhibited the fusion of autophagosomes and lysosomes,significantly reducing viral RNA ***,our results suggest that BBAs inhibit flavivirus entry and replication by compromising endolysosomal trafficking and autophagy,respectively,underscoring the potential of BBAs as therapeutic agents against flavivirus infections.

关键词： Bis-benzylisoquinoline alkaloids(BBAs) Flavivirus Zika virus(ZIKV) Endolysosomes TRPML channels Autophagy

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Relevance of the Rayleigh-Bénard model in studying optical turbulence

Relevance of the Rayleigh-Bénard model in studying optical ...

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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

The Rayleigh-Bénard physical model generates well-defined optical turbulence. We demonstrate its characterization and use in various experimental studies, including phase retrieval, structured light, and optical ...

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Performance Evaluation of Beams Carrying Orbital Angular Momentum in Optical Turbulence in Rayleigh-Bénard Underwater Convection

Performance Evaluation of Beams Carrying Orbital Angular Mom...

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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. O’Malley, Owen Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We compare the propagation of a Gaussian beam to the beams that carry OAM in moderate and strong underwater optical turbulence created by Rayleigh Bénard convection. Analysis focuses on scintillation index and fr... 详细信息

关键词： Gaussian beams

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Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gaussian Beams that Carry OAM

Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gau...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2024 - Part of Optica Imaging Congress

作者： O’Malley, Owen Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We estimate the phase of laser beams using the Gerchberg-Saxton algorithm after propagation through experimental and simulated optical turbulence. Synchronous pupil-plane and focal-plane intensities of Gaussian and La... 详细信息

关键词： Laser beams

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ELSA: Europa Lander Lidar Sensor Assembly – Field Testing and Performance Analysis

ELSA: Europa Lander Lidar Sensor Assembly – Field Testing a...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Katake, Anup B. Chen, Po-Ting Konefat, Edward Zapien, Xavier Clouse, Daniel Ryan, Daniel Bolduc, Andrew Gebara, Christine Berger, Lindsey Alexander, James Miguel San Martin, A. Bakalski, Ivelin Portier, Joel Machan, Roman Reed, Daniel Group Supervisor Guidance and Control Section Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Field Test Planner Guidance and Control Section Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Guidance and Control Section Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Robotics Section Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Instruments Division Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Mechanical Engineering Division Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Environmental Requirements Engineering Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States 4600 Forbes Boulevard LanhamMD20706 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

To enable safe landing on unknown terrain, such as Europa, JPL has been developing next- generation dual-mode lidars that can provide long range altimetry as well as dense 3D mapping in real-time during landing. In this paper, we discuss the design, integration, and performance of one of the lidars built in partnership with industry. A form, fit, function and performance equivalent lidar model was field-tested on a fully instrumented helicopter platform over natural terrains and man-made targets. We present some of the highlights from the various flight tests. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Flight testing

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Spatial and Temporal Study of controlled Underwater Optical Turbulence from Synchronous Measurements

Spatial and Temporal Study of Controlled Underwater Optical ...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2024 - Part of Optica Imaging Congress

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Kelly, Thomas O’Malley, Owen Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We experimentally record intensity of laser light at the pupil and focal planes after propagation through underwater optical turbulence. We study the temporal and spatial properties of intensity correlations and angle...

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Continuous-Time Ultra-Wideband-Inertial Fusion

arXiv

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arXiv 2023年

作者： Li, Kailai Cao, Ziyu Hanebeck, Uwe D. The Division of Automatic Control Department of Electrical Engineering Linköping University Sweden The Intelligent Sensor-Actuator-Systems Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spatial differentiations are further provided. Based thereon, a new sliding-window spline fitting scheme is established for asynchronous multi-sensor fusion and online calibration. We conduct a dedicated validation of the quaternion spline fitting method, and evaluate the proposed system, SFUISE (spline fusion-based ultra-wideband-inertial state estimation), in real-world scenarios using public data set and experiments. The proposed sensor fusion system is real-time capable and delivers superior performance over state-of-the-art discrete-time schemes. We release the source code and own experimental data at https://***/KIT-ISAS/SFUISE . Copyright © 2023, The Authors. All rights reserved.

关键词： Motion estimation

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Augmenting Efficient Real-time Surgical Instrument Segmentation in Video with Point Tracking and Segment Anything

arXiv

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arXiv 2024年

作者： Wu, Zijian Schmidt, Adam Kazanzides, Peter Salcudean, Septimiu E. Robotics and Control Laboratory Department of Electrical and Computer Engineering The University of British Columbia VancouverBCV6T 1Z4 Canada Department of Computer Science Johns Hopkins University BaltimoreMD21218 United States

The Segment Anything Model (SAM) is a powerful vision foundation model that is revolutionizing the traditional paradigm of segmentation. Despite this, a reliance on prompting each frame and large computational cost limit its usage in robotically assisted surgery. Applications, such as augmented reality guidance, require little user intervention along with efficient inference to be usable clinically. In this study, we address these limitations by adopting lightweight SAM variants to meet the efficiency requirement and employing fine-tuning techniques to enhance their generalization in surgical scenes. Recent advancements in Tracking Any Point (TAP) have shown promising results in both accuracy and efficiency, particularly when points are occluded or leave the field of view. Inspired by this progress, we present a novel framework that combines an online point tracker with a lightweight SAM model that is fine-tuned for surgical instrument segmentation. Sparse points within the region of interest are tracked and used to prompt SAM throughout the video sequence, providing temporal consistency. The quantitative results surpass the state-of-the-art semi-supervised video object segmentation method XMem on the EndoVis 2015 dataset with 84.8 IoU and 91.0 Dice. Our method achieves promising performance that is comparable to XMem and transformer-based fully supervised segmentation methods on ex vivo UCL dVRK and in vivo CholecSeg8k datasets. In addition, the proposed method shows promising zero-shot generalization ability on the label-free STIR dataset. In terms of efficiency, we tested our method on a single GeForce RTX 4060/4090 GPU respectively, achieving an over 25/90 FPS inference speed. Code is available at: https://***/wuzijian1997/SIS-PT-SAM © 2024, CC BY.

关键词： Surgical equipment

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Contextual Multi-Armed Bandit-Based Dynamic Cooperative Link Configuration for AUV in UWASNs With Energy Harvesting

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Dai, Jun Li, Xinbin Han, Song Yu, Junzhi Liu, Zhixin Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Yanshan University Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Qinhuangdao066004 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China

This paper investigates the cooperative link configuration problem for Autonomous Underwater Vehicle (AUV) in Underwater Acoustic (UWA) sensor networks with Energy Harvesting (EH), which aims to maximize long-term cumulative capacity by jointly optimizing cooperation relay, AUV transmission power, and relay transmission power. Subject to unknown time-varying Channel State Information (CSI), unpredictable stochastic EH, and variable communication topology caused by AUV mobility, the proposed problem is an unknown dynamic combination decision optimization problem. To resist the change of the dynamic UWA communication topology with unknown time-varying CSI and EH, a novel collaborative contextual multi-armed bandit learning framework is proposed, which allows relay nodes to learn cooperatively and enriches the learning information of relays. Consequently, the proposed learning framework can resist the change of the dynamic UWA communication topology efficiently, thereby achieving the superior link configuration quickly. Besides, a learning-rate adjustment rule for the dynamic UWA communication topology is proposed to adaptively balance the exploration-exploitation, thereby avoiding missing the real superior joint relay-power configuration. Finally, simulation results show the significantly superiority of the proposed scheme. © 2015 IEEE.

关键词： Cooperative communication

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