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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Amr Afifi Gianluca Corsini Quentin Sable Youssef Aboudorra Daniel Sidobre Antonio Franchi Robotics and Mechatronics lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands LAAS-CNRS UPS Université de Toulouse Toulouse France Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In this work, we present, a first of its kind, physical human-aerial robot interaction (pHARI) experiment, with an articulated aerial manipulator (AM). The robotic platform is a fully-actuated multi-rotor aerial vehicle (MRAV) with fixedly-tilted propellers endowed with a 3degree of freedom (DoF) robotic arm. We implemented a state-of-the-art control architecture composed of a feedback linearization motion controller, an admittance filter and a hybrid wrench observer. The experiments prove the viability of a new use case in aerial robotics, namely pHARI. The experimental results also shed light on the limitations of the current state-of-the-art and provide insights into possible research directions. The video of the experiments, which is available at https://***/LrQxXbQ5IHc, shows an experiment simulating work at height, where a human manually guides an AM and then attaches a tool to its end effector (EE).

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LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation

arXiv

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arXiv 2024年

作者： Jiao, Jianhao He, Jinhao Liu, Changkun Aegidius, Sebastian Hu, Xiangcheng Braud, Tristan Kanoulas, Dimitrios The Robot Perception and Learning Lab Intelligent Robotics Department of Computer Science University College London Gower Street LondonWC1E 6BT United Kingdom Nansha District Guangzhou China The Department of Computer Science and Engineering HKUST Hong Kong The Department of Electronic an Computer Engineering HKUST Hong Kong The AI Centre Department of Computer Science University College London Gower Street LondonWC1E 6BT United Kingdom Archimedes/Athena RC Greece

This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequential modules that estimate camera poses in a coarse-to-fine manner. Unlike mainstream approaches relying on detailed 3D representations, LiteVLoc reduces storage overhead by leveraging learning-based feature matching and geometric solvers for metric pose estimation. A novel dataset for the map-free relocalization task is also introduced. Extensive experiments including localization and navigation in both simulated and real-world scenarios have validate the system's performance and demonstrated its precision and efficiency for large-scale deployment. Code and data will be made publicly available at https://***/LiteVLoc. Copyright © 2024, The Authors. All rights reserved.

关键词： Visualization

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AirShot: Efficient Few-Shot Detection for Autonomous Exploration

arXiv

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arXiv 2024年

作者： Wang, Zihan Li, Bowen Wang, Chen Scherer, Sebastian Institute for Imaging Data and Communications School of Engineering The University of Edinburgh United Kingdom AirLab Robotics Institute Carnegie Mellon University PittsburghPA15213 United States Lab Institute for Artificial Intelligence and Data Science Department of Computer Science and Engineering University at Buffalo NY14260 United States

Few-shot object detection has drawn increasing attention in the field of robotic exploration, where robots are required to find unseen objects with a few online provided examples. Despite recent efforts have been made to yield online processing capabilities, slow inference speeds of low-powered robots fail to meet the demands of real-time detection-making them impractical for autonomous exploration. Existing methods still face performance and efficiency challenges, mainly due to unreliable features and exhaustive class loops. In this work, we propose a new paradigm AirShot, and discover that, by fully exploiting the valuable correlation map, AirShot can result in a more robust and faster few-shot object detection system, which is more applicable to robotics community. The core module Top Prediction Filter (TPF) can operate on multi-scale correlation maps in both the training and inference stages. During training, TPF supervises the generation of a more representative correlation map, while during inference, it reduces looping iterations by selecting top-ranked classes, thus cutting down on computational costs with better performance. Surprisingly, this dual functionality exhibits general effectiveness and efficiency on various off-the-shelf models. Exhaustive experiments on COCO2017, VOC2014, and SubT datasets demonstrate that TPF can significantly boost the efficacy and efficiency of most off-the-shelf models, achieving up to 36.4% precision improvements along with 56.3% faster inference speed. Code and Data are at: https://***/ImNotPrepared/AirShot. Copyright © 2024, The Authors. All rights reserved.

关键词： Efficiency

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Surgical neural radiance fields from one image

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International journal of computer assisted radiology and surgery 2025年 1-5页

作者： Alberto Neri Maximilan Fehrentz Veronica Penza Leonardo S Mattos Nazim Haouchine Biomedical Robotics Lab Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy. alberto.neri@iit.it. Department of Computer Science Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genova Italy. alberto.neri@iit.it. Harvard Medical School Brigham and Women's Hospital Boston USA. alberto.neri@iit.it. Technical University of Munich Munich Germany. Harvard Medical School Brigham and Women's Hospital Boston USA. Biomedical Robotics Lab Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy.

PURPOSE:Neural radiance fields (NeRF) offer exceptional capabilities for 3D reconstruction and view synthesis, yet their reliance on extensive multi-view data limits their application in surgical intraoperative settings where only limited data are available. This work addresses this challenge by leveraging a single intraoperative image and preoperative data to train NeRF efficiently for surgical scenarios. METHODS:We leverage preoperative MRI data to define the set of camera viewpoints and images needed for robust and unobstructed training. Intraoperatively, the appearance of the surgical image is transferred to the pre-constructed training set through neural style transfer, specifically combining WTC and STROTSS to prevent over-stylization. This process enables the creation of a dataset for instant and fast single-image NeRF training. RESULTS:The method is evaluated with four clinical neurosurgical cases. Quantitative comparisons to NeRF models trained on real surgical microscope images demonstrate strong synthesis agreement, with similarity metrics indicating high reconstruction fidelity and stylistic alignment. When compared with ground truth, our method demonstrates high structural similarity, confirming good reconstruction quality and texture preservation. CONCLUSION:Our approach demonstrates the feasibility of single-image NeRF training in surgical settings, overcoming the limitations of traditional multi-view methods. By eliminating the dependency on a large multi-view dataset, our method offers a faster, more adaptable solution for generating accurate 3D reconstructions in real-time surgical scenarios.

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Study of Helicopter Optimal Autorotation Landing Procedure in Tail Rotor Drive Failure

Study of Helicopter Optimal Autorotation Landing Procedure i...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Xufei Chen, Renliang Zhu, Shiqiang Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics College of Aeronautics Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

This paper investigates the optimal landing trajectory and control procedure when a helicopter undergoes autorotation due to tail rotor drive failure (TRDF), in which an optimal control methodology is proposed. First, a helicopter flight dynamics model with TRDF was developed. Then, the autorotation in TRDF was converted to be a nonlinear optimal control problem, solved by direct node collocation method and sequential quadratic programming algorithm. Finally, a model helicopter (Z11) with single main rotor and tail rotor was used to demonstrate the proposed approach. An optimal autorotation landing procedure in TRDF was determined accordingly. Results indicate that the airframe will immediately respond to the excess torque generated by the main rotor via yawing, sideslip and rolling when TRDF occurs. The pilot is recommended to shut down the engine and perform a series of critical operations to stabilize the violent yaw and roll movements. In addition, flight test data were used to validate the numerical simulations of autorotation landing. The proposed optimal control approach provides a useful tool to investigate helicopter TRDF autorotation landing procedure. © 2022 IEEE.

关键词： Helicopters

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Optimal Landing of Tilt-rotor Aircraft after Engine Failure Considering Pilot Inherent Limitations

Optimal Landing of Tilt-rotor Aircraft after Engine Failure ...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Xufei Chen, Renliang Zhu, Shiqiang Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China College of Aeronautics Nanjing University of Aeronautics and Astronautics National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics Jiangsu Nanjing China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

An augmented longitudinal rigid-body model is developed with a set of algebra equations describing the controls in the cockpit and the differential equations describing the pilot inherent limitations. The landing procedure after one engine failure is formulated into a nonlinear optimal control problem. XV-15 tilt-rotor aircraft is taken as the sample for the demonstration of landing in one engine failure during short takeoff. The results show that the total power required, thrust coefficient, longitudinal flapping angle and optimal controls are more relatively gentle than the solutions without considering the pilot inherent limitations. Compared with the basic longitudinal rigid-body model, the optimal solutions involve more control information. © 2022 IEEE.

关键词： Differential equations

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2mm Diameter Continuum Robot Tools for Suturing in Open Spina Bifida Repair

2mm Diameter Continuum Robot Tools for Suturing in Open Spin...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Arion Law Nillan Nimal Paul H. Kang Radian Gondokaryono James Drake Tim Van Mieghem Thomas Looi Department of Mechanical and Industrial Engineering University of Toronto Canada Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention Hospital for Sick Children Toronto Canada Institute of Biomedical Engineering University of Toronto Canada Department of Computer Science and the Medical Computer Vision and Robotics Lab University of Toronto Canada Mount Sinai Hospital Toronto Canada

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Open Spina Bifida (OSB) is a congenital neural tube defect where a major component of the procedure to repair the defect involves the closure of a lesion wound through suturing. For a minimally invasive approach, tools entering the uterus to access the fetus should be as thin as possible to minimize maternal risk. This work presents the design of a 3 degrees-of-freedom, 2mm diameter tool wrist with a bending range of motion from 0° to 90°. This wrist is capable of generating up to 2N of force measured from the end of the wrist and achieving a bending curvature of 107m -1 (9.35mm bending radius). A pseudo-rigid body kinematic model has been implemented for the control of this tool with a protocol for singularity mitigation and avoidance. Timed teleoperation studies explicitly demonstrate that the tool is able to reliably execute suturing with a fastest achieved time of under 3 minutes for a simple interrupted suturing technique.

关键词： Wrist Protocols Prevention and mitigation Uterus Force Bending Maintenance engineering Wounds Reliability engineering Motion control

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Physics Representation Learning for Dexterous Manipulation Planning

Physics Representation Learning for Dexterous Manipulation P...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Yi Wu Mengsha Hu Runxiang Jin Rui Liu Informatique et Sciences du Numérique (Computer Research Laboratory) CentraléSupelec Paris-Saclay University Gif-Sur-Yvette France Cognitive Robotics and AI Lab (CRAI) College of Aeronautics and Engineering Department of Computer Science Kent State University Kent OH USA

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Dexterous manipulation in robotics, particularly with high degrees of freedom (DoF) devices like the 24-joint Shadow Hand, confronts complexities in search space and execution precision. Humans, however, manipulate objects effortlessly, thanks to their innate grasp of physics. Inspired by this, we introduce the Physics Representation Learning (PRL) framework for robotic hand manipulation. PRL uses physics principles for action conceptualization, such as aligning axes at specific angles (Figure 1). It is a natural language that describes the physics laws, thus bridging the gap between high-level semantics planning and joint-level execution through inverse kinematics (IK). Built on top of the physics-informed action space, PRL deploys a Reinforcement Learning (RL) network with expert demonstrations. Its effectiveness was validated in Nvidia Isaac Sim on four tasks: hammering, unscrewing, sweeping, and pinching. Results show that PRL significantly outperforms conventional joint-control algorithms and RL without demonstrations, underscoring the benefits of physics-based action representations for complex tasks.

关键词： Representation learning Semantics Natural languages Reinforcement learning Kinematics Planning Complexity theory Physics Robots

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Flexible Tactile Sensing Using PDMS/TiO2 Based Capacitor with MOSFET Structure

Flexible Tactile Sensing Using PDMS/TiO2 Based Capacitor wit...

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IEEE SENSORS

作者： Kamalesh Tripathy Dhanranjan Kumar Karthick Thiyagarajan Mitradip Bhattacharjee Department of Electrical Engineeringand Computer Science i-Lab Indian Institute of Science Education and Research Bhopal 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 this paper, we present a flexible capacitive tactile sensor based on a polydimethylsiloxane (PDMS) elastomer, which is well-suited for a wide range of applications. The sensor incorporates an n-channel depletion-mode MOSFET to achieve an extended gate architecture. To enhance the sensing performance, TiO 2 nanoparticles are incorporated as nanofillers, resulting in an improved dielectric material ideal for highly sensitive capacitive pressure and tactile sensors. The 99PDMS-01TiO 2 nanocomposite (comprising 99 wt % PDMS and 1 wt % TiO 2 ) is utilized for promising flexible tactile sensor applications due to the synergistic effects between the PDMS matrix and TiO 2 nanoparticles, which enhance both the mechanical and sensing properties of the composite. The fabricated sensor exhibits a sensitivity of $\mathbf{30} \boldsymbol{\mu}\mathbf{A}/\mathbf{kPa}$ within the range of 0-10.5 kPa and a sensitivity of $\mathbf{9} \boldsymbol{\mu}\mathbf{A}/\mathbf{kPa}$ in the range of 10.5-30 kPa.

关键词： Nanoparticles MOSFET Sensitivity Nanocomposites Capacitors Tactile sensors Logic gates Robustness Sensors Titanium dioxide

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A Miniaturised Camera-based Multi-Modal Tactile Sensor

arXiv

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arXiv 2023年

作者： Althoefer, Kaspar Ling, Yonggen Li, Wanlin Qian, Xinyuan Lee, Wang Wei Qi, Peng Queen Mary University of London London United Kingdom Tencent Robotics X Lab Shenzhen China Beijing China The Department of Computer and Communication Engineering University of Science and Technology Beijing Beijing China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China

In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive, capacitive or magnetic based), they offer super-high-resolution, while suffering from fewer wiring problems. The human tactile system is composed of various types of mechanoreceptors, each able to perceive and process distinct information such as force, pressure, texture, etc. Camera-based tactile sensors such as GelSight mainly focus on high-resolution geometric sensing on a flat surface, and their force measurement capabilities are limited by the hysteresis and non-linearity of the silicone material. In this paper, we present a miniaturised dome-shaped camera-based tactile sensor that allows accurate force and tactile sensing in a single coherent system. The key novelty of the sensor design is as follows. First, we demonstrate how to build a smooth silicone hemispheric sensing medium with uniform markers on its curved surface. Second, we enhance the illumination of the rounded silicone with diffused LEDs. Third, we construct a force-sensitive mechanical structure in a compact form factor with usage of springs to accurately perceive forces. Our multi-modal sensor is able to acquire tactile information from multi-axis forces, local force distribution, and contact geometry, all in real-time. We apply an end-to-end deep learning method to process all the information. © 2023, CC BY.

关键词： Silicones

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