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Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots

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arXiv 2023年

作者： Xia, Bingyi Luan, Hao Zhao, Ziqi Gao, Xuheng Xie, Peijia Xiao, Anxing Wang, Jiankun Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Department of Electrical and Computer Engineering The University of Alberta Canada School of Computing National University of Singapore Singapore

— Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments. (Video1) Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

Finding safe 3D robot grasps through efficient haptic exploration with unscented Bayesian optimization and collision penalty

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arXiv 2024年

作者： Castanheira, João Vicente, Pedro Martinez-Cantin, Ruben Jamone, Lorenzo Bernardino, Alexandre Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Centro Universitario de la Defensa Zaragoza Spain SigOpt Inc. San FranciscoCA United States School of Electronic Engineering and Computer Science Queen Mary University of London United Kingdom

Robust grasping is a major, and still unsolved, problem in robotics. Information about the 3D shape of an object can be obtained either from prior knowledge (e.g., accurate models of known objects or approximate models of familiar objects) or real-time sensing (e.g., partial point clouds of unknown objects) and can be used to identify good potential grasps. However, due to modeling and sensing inaccuracies, local exploration is often needed to refine such grasps and successfully apply them in the real world. The recently proposed unscented Bayesian optimization technique can make such exploration safer by selecting grasps that are robust to uncertainty in the input space (e.g., inaccuracies in the grasp execution). Extending our previous work on 2D optimization, in this paper we propose a 3D haptic exploration strategy that combines unscented Bayesian optimization with a novel collision penalty heuristic to find safe grasps in a very efficient way: while by augmenting the search-space to 3D we are able to find better grasps, the collision penalty heuristic allows us to do so without increasing the number of exploration steps. Copyright © 2024, The Authors. All rights reserved.

关键词： Optimization

Cell2Sentence: teaching large language models the language of biology 24

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Cell2Sentence: teaching large language models the language o...

Proceedings of the 41st International Conference on Machine Learning

作者： Daniel Levine Syed Asad Rizvi Sacha Lévy Nazreen Pallikkavaliyaveetil David Zhang Xingyu Chen Sina Ghadermarzi Ruiming Wu Zihe Zheng Ivan Vrkic Anna Zhong Daphne Raskin Insu Han Antonio Henrique De Oliveira Fonseca Josue Ortega Caro Amin Karbasi Rahul M. Dhodapkar David Van Dijk Department of Computer Science Yale University New Haven CT School of Engineering Applied Science University of Pennsylvania Philadelphia PA School of Computer and Communication Sciences Swiss Federal Institute of Technology Lausanne Lausanne Switzerland Department of Computer Science Yale University New Haven CT and Department of Neuroscience Yale School of Medicine New Haven CT Department of Computer Science Yale University New Haven CT and Department of Neuroscience Yale School of Medicine New Haven CT and Wu Tsai Institute Yale University New Haven CT Google and Yale Institute for Foundations of Data Science New Haven CT and Department of Computer Science Yale University New Haven CT and Yale School of Engineering and Applied Science New Haven CT Roski Eye Institute University of Southern California Los Angeles CA and Department of Internal Medicine (Cardiology) Yale School of Medicine New Haven CT Department of Computer Science Yale University New Haven CT and Yale Institute for Foundations of Data Science New Haven CT and Wu Tsai Institute Yale University New Haven CT and Cardiovascular Research Center Yale School of Medicine New Haven CT and Interdepartmental Program in Computational Biology & Bioinformatics Yale University New Haven CT and Department of Internal Medicine (Cardiology) Yale School of Medicine New Haven CT

We introduce Cell2Sentence (C2S), a novel method to directly adapt large language models to a biological context, specifically single-cell transcriptomics. By transforming gene expression data into "cell sentences," C2S bridges the gap between natural language processing and biology. We demonstrate cell sentences enable the fine-tuning of language models for diverse tasks in biology, including cell generation, complex cell-type annotation, and direct data-driven text generation. Our experiments reveal that GPT-2, when fine-tuned with C2S, can generate biologically valid cells based on cell type inputs, and accurately predict cell types from cell sentences. This illustrates that language models, through C2S fine-tuning, can acquire a significant understanding of single-cell biology while maintaining robust text generation capabilities. C2S offers a flexible, accessible framework to integrate natural language processing with transcriptomics, utilizing existing models and libraries for a wide range of biological applications.

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3D semantic mapping from arthroscopy using out-of-distribution pose and depth and in-distribution segmentation training

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arXiv 2021年

作者： Jonmohamadi, Yaqub Ali, Shahnewaz Liu, Fengbei Roberts, Jonathan Crawford, Ross Carneiro, Gustavo Pandey, Ajay K. School of Electrical Engineering and Robotics Science and Engineering Faculty Queensland University of Technology United Kingdom Australian Institute for Machine Learning School of Computer Science University of Adelaide

Minimally invasive surgery (MIS) has many documented advantages, but the surgeon's limited visual contact with the scene can be problematic. Hence, systems that can help surgeons navigate, such as a method that can produce a 3D semantic map, can compensate for the limitation above. In theory, we can borrow 3D semantic mapping techniques developed for robotics, but this requires finding solutions to the following challenges in MIS: 1) semantic segmentation, 2) depth estimation, and 3) pose estimation. In this paper, we propose the first 3D semantic mapping system from knee arthroscopy that solves the three challenges above. Using out-of-distribution non-human datasets, where pose could be labeled, we jointly train depth+pose estimators using self-supervised and supervised losses. Using an in-distribution human knee dataset, we train a fully-supervised semantic segmentation system to label arthroscopic image pixels into femur, ACL, and meniscus. Taking testing images from human knees, we combine the results from these two systems to automatically create 3D semantic maps of the human knee. The result of this work opens the pathway to the generation of intra-operative 3D semantic mapping, registration with pre-operative data, and robotic-assisted arthroscopy. Copyright © 2021, The Authors. All rights reserved.

关键词： Endoscopy

MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis

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arXiv 2024年

作者： Liu, Shuhong Deng, Tianchen Zhou, Heng Li, Liuzhuozheng Wang, Hongyu Wang, Danwei Li, Mingrui Department of Information Science and Technology Department of Complexity Science and Engineering The University of Tokyo Tokyo113-8654 Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Mechanical Engineering Columbia University New York10027 United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Computer Science Dalian University of Technology Dalian116024 China

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments, characterized by substantial holes due to unobserved geometry caused by obstacles or limited view angles. To address this challenge, we present Manhattan Gaussian SLAM, an RGB-D system that leverages the Manhattan World hypothesis to enhance geometric accuracy and completeness. By seamlessly integrating fused line segments derived from structured scenes, our method ensures robust tracking in textureless indoor areas. Moreover, The extracted lines and planar surface assumption allow strategic interpolation of new Gaussians in regions of missing geometry, enabling efficient scene completion. Extensive experiments conducted on both synthetic and real-world scenes demonstrate that these advancements enable our method to achieve state-of-the-art performance, marking a substantial improvement in the capabilities of Gaussian SLAM systems. © 2024, CC BY.

关键词： Gaussian distribution

Solution for Agri Disaster Using Climate Changes Adaptation by Ml

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Solution for Agri Disaster Using Climate Changes Adaptation ...

International Conference on Contemporary Computing and Informatics (IC3I)

作者： L. Ganesh R. Prasanna Venkatesh Kaushal Kumar Khushboo Kumari Sangeeta Borkakoty A. Raju Robotics and Automation Dept. Rajalakshmi Engineering College Chennai Tamilnadu India Department of Mechanical Engineering SACS MAVMM Engineering College Madurai Tamilnadu India Department of Botany School of Life Sciences Mahatma Gandhi Central University Bihar India Department of Computer Science & Electronic University of Science & Technology Meghalaya Department of Commerce KLEF Vaddeswaram Green Field Vijayawada

This paper proposes using good sized getting to know fashions to recognize lesions of cotton leaves in the context of pictures of the reaping within the subject. Cotton is among the maximum economically essential plant harvests, as it's far grown all over the international. Its spread in tropical areas has made it the goal of a wide variety of farming irritations and illnesses, necessitating succesful plans. moreover, the consequences of commonplace disturbances and disorders are difficult to isolate inside the early stages, and the author may additionally battle to locate the suitable visible verification of a scientific difficulty. To help in resolving the difficulty, it contemporary inquiry proposes a solution that takes into consideration substantial training within the filtering of cotton leaves, making it possible to reveal the cotton yield's health and make higher judgments approximately its management. The studying models GoogleNet like Resnet50, which use convolutional cerebrum associations, performed an accuracy of 86.6 percentage and 89.2 percentage, respectively. assist vector machines, Closest k-pals, faux creativeness associations, and neuro-tender are some of the extraordinary as well as everyday tactics again for treatment of photographs. The convolutional cerebellum networks ended up being 25% extra unique, implying that this method can upload to a more strong and short investigation of the flora looking to fill inside the field.

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Bipartite Flocking Control for Multi-Agent Systems with Switching Topologies and Time Delays Under Coopetition Interactions

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Bipartite Flocking Control for Multi-Agent Systems with Swit...

IEEE Conference on Decision and Control

作者： Zhuangzhuang Ma Bowen Li Jinliang Shao Yuhua Cheng Wei Xing Zheng School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing China School of Computer Data and Mathematical Sciences Western Sydney University Sydney NSW Australia

This paper investigates the bipartite flocking behavior of multi-agent systems with coopetition interactions, where communications between agents are described by signed digraphs. The scenario with switching topologies due to the movement of agents, and time delays caused by the limited data transmission capability, is considered comprehensively. Nonlinear weight functions are designed to describe the relationship between the communication distance of agents and the coopetition degree in real biological networks. A distributed update rule based on the neighbors' information and the designed weight functions is proposed. By the aid of the graph theory and sub-stochastic matrix properties, the effectiveness of the proposed update rule is proved theoretically, and the algebraic conditions for achieving the bipartite flocking behavior are obtained. Finally, the theoretical results are verified by numerical simulations.

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Chat-UniVi: Unified Visual Representation Empowers Large Language Models with Image and Video Understanding

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Chat-UniVi: Unified Visual Representation Empowers Large Lan...

Conference on computer Vision and Pattern Recognition (CVPR)

作者： Peng Jin Ryuichi Takanobu Wancai Zhang Xiaochun Cao Li Yuan School of Electronic and Computer Engineering Peking University Shenzhen China Peng Cheng Laboratory Shenzhen China AI for Science (AI4S)-Preferred Program Peking University Shenzhen Graduate School Shenzhen China Nari Technology Co. Ltd. China School of Cyber Science and Tech. Shenzhen Campus of Sun Yat-sen University Shenzhen China

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Large language models have demonstrated impressive universal capabilities across a wide range of open-ended tasks and have extended their utility to encompass multi-modal conversations. However, existing methods encounter challenges in effectively handling both image and video understanding, particularly with limited visual tokens. In this work, we introduce Chat-UniVi, a Unified Vision-language model capable of comprehending and engaging in conver-sations involving images and videos through a unified visual representation. Specifically, we employ a set of dynamic visual tokens to uniformly represent images and videos. This representation framework empowers the model to ef-ficiently utilize a limited number of visual tokens to simul-taneously capture the spatial details necessary for images and the comprehensive temporal relationship required for videos. Moreover, we leverage a multi-scale representation, enabling the model to perceive both high-level seman-tic concepts and low-level visual details. Notably, Chat-UniVi is trained on a mixed dataset containing both images and videos, allowing direct application to tasks involving both mediums without requiring any modifications. Exten-sive experimental results demonstrate that Chat- UniVi con-sistently outperforms even existing methods exclusively de-signed for either images or videos. Code is available at https://***/PKu-Yuan Group/Chat-UniVi.

关键词： Bridges Visualization computer vision Codes Large language models Computational modeling Oral communication

Construction Process Quality Control Assisted Mobile Application 8

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Construction Process Quality Control Assisted Mobile Applica...

8th IEEE International Conference on Industrial engineering and Applications, ICIEA 2021

作者： Kruachottikul, Pravee Cooharojananone, Nagul Phanomchoeng, Gridsada Wongsanao, Keetapat Thabsuwan, Sirada Suwannatrai, Kuptipong Pongsuttisatta, Watcharapong Ganyaporngul, Sirapavee Kovitanggoon, Kittikul Vajarodaya, Napatsapa Graduate School Chulalongkorn University Technopreneurship and Innovation Management Program Bangkok Thailand Chulalongkorn University Faculty of Science Department of Mathematics and Computer Science Bangkok Thailand Chulalongkorn University Faculty of Engineering Department of Mechanical Engineering Bangkok Thailand Chulalongkorn University Faculty of Science Department of Mathematics and Computer Science Bangkok Thailand Solitech Innovations and Technologies Co. Ltd. Bangkok Thailand

ISBN: (纸本)9781665428958

Digital transformation plays a big role in many industries, including construction. One of the obstacles to manage large-scale and complex construction projects is inefficient communication between involving personnel. Most problems are such as misunderstanding contexts, incomplete information, ignorance, missing multimedia files, etc. In Thailand, organizations adopt digital transformation by utilizing a variety of applications and software to complete their projects, such as LINE, G-Suite, Asana, etc. Users have to spend a lot of time to learn each application and software to be able to achieve maximum performance. Construction process quality control assisted application is the new tool developed for uniting all needs and solving communication problems. Requirements are gathered by five interviews with three major organizations, the Thailand Department of Highway, Team Built Co., Ltd., and one major construction company. Requirements were analyzed to extract the most useful features that are beneficial to all users. React Native and the Expo framework were used to develop the frontend part of the application. For the backend part, the application used microservice architecture with various cloud services, like Amazon AWS, Expo Server, and Firebase Cloud Messaging. In the end, the application was put through hand-on tests by 13 on-site personnel. The final results showed the average scores of the user interface, hands-on experience, and benefits for the users were 4, 4.16, and 3.92 (out of 5), respectively, in which the total satisfaction score is 4.03(out of 5). © 2021 IEEE.

关键词： Construction