Article
Engineering, Aerospace
Angel Antonio Rodriguez-Sevillano, Maria Jesus Casati-Calzada, Rafael Bardera-Mora, Javier Nieto-Centenero, Juan Carlos Matias-Garcia, Estela Barroso-Barderas
Summary: This paper presents a series of tools for the research of morphing micro air vehicles (MAVs). These tools aim to generate parametric CAD models of wings quickly for use in aerodynamic studies, either through direct CFD analysis or wind tunnel testing using 3D printers. The tools also allow for the analysis of morphing wings by enabling continuous parametric deformation of airfoils and wing geometry. One of the tools simplifies the experimental design by transferring experimental measurements to generate virtual models with the same deformation as the physical model. The software consists of two parts: the parameterization of airfoils using the CST (Class-Shape Transformation) method, and the generation of three-dimensional parametric models of wings using PythonOCC. The paper demonstrates the software's application in studying morphing aircraft and suggests potential improvements for MAV design and analysis.
Article
Automation & Control Systems
Haijie Zhang, Elisha Lerner, Bo Cheng, Jianguo Zhao
Summary: The article presents a novel perching mechanism design and experiment using a low-cost 3D-printed gripper with bistability. This gripper has two unique characteristics: it can passively switch between open and closed states using bistability, and it has two perching methods for objects of different sizes. The gripper design is analyzed theoretically and experimentally verified, and it is integrated into a palm-size quadcopter for successful perching and aerial grasping. The design strategy of the bistable gripper can be applied to both small and large-size MAVs for energy efficient perching and aerial grasping.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Chemistry, Analytical
Michael Fonder, Damien Ernst, Marc Van Droogenbroeck
Summary: This paper presents a depth estimation method suitable for autonomous vehicles using on-board RGB cameras. By establishing a relationship between depth and visual parallax, a pyramidal convolutional neural network is utilized to perform precise depth estimation. The method also incorporates customized cost volumes to improve the estimation results and ensure robustness in various scenes.
Article
Robotics
Yao Qi, Binbing He, Rendong Wang, Le Wang, Youchun Xu
Summary: This letter introduces a hierarchical motion planner that can generate smooth and feasible trajectories for autonomous vehicles in unstructured environments. The framework enables real-time computation by progressively shrinking the solution space. It proposes a graph searcher and a time interval-based algorithm for finding coarse trajectories and obstacle detection respectively, as well as a continuous optimizer for smoothing the trajectory. The approach has been validated in simulations and real-world off-road environments, showing improved success rate and travel efficiency while avoiding obstacles.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Automation & Control Systems
Shunbo Zhou, Zhiqiang Miao, Hongchao Zhao, Zhe Liu, Hesheng Wang, Yun-Hui Liu
Summary: This article introduces a novel VIE estimator and VIE control framework for industrial tractors, addressing the challenges of incomplete vehicle state availability and unstructured environments in industrial settings. The system is proven to be effective through extensive real-world experiments.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2022)
Article
Automation & Control Systems
Binbin Li, Kun Liu, Lei Ma, Deqing Huang, Yanan Li
Summary: A fast recovery strategy for MAVs is proposed in this article, inspired by the recovery manoeuvre of mosquitoes hit by raindrops. Using the strategy, a micro aerial robot called RobMos is designed to quickly recover to a stable attitude after being impacted by UMOs.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Review
Engineering, Multidisciplinary
Semih Beycimen, Dmitry Ignatyev, Argyrios Zolotas
Summary: This article provides a detailed analysis of unmanned ground vehicle terrain traversability assessment, including terrain classification, terrain mapping, and cost-based traversability. The study concludes that a mixed approach combining exteroceptive and proprioceptive sensors is more effective and reliable for traversability analysis. Additionally, the article discusses vehicle platforms and sensor technologies, serving as a valuable resource for researchers in the field.
ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH
(2023)
Article
Engineering, Electrical & Electronic
Zhiyuan Li, Pan Zhao, Chunmao Jiang, Weixin Huang, Huawei Liang
Summary: This paper presents a learning-based model predictive trajectory planning controller for automated driving in unstructured, dynamic environments with obstacle avoidance. The controller integrates trajectory planning and tracking control using model predictive control and improves model accuracy using Gaussian Process (GP) regression. The controller successfully avoids obstacles and generates collision-free and kinematically-feasible local trajectories in complex unstructured scenarios.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Robotics
Johan Sundin, Katherine Kokmanian, Matthew K. Fu, Shervin Bagheri, Marcus Hultmark
Summary: This article introduces a new concept of a soft material flow sensor based on elastic filament velocimetry, which meets the requirements for micro air vehicles. The sensor can be manufactured using common laboratory tools, operates with a simple circuit, and allows for sensitivity and bandwidth to be varied by modifying the ribbon's geometry and material properties.
Article
Education & Educational Research
Benjamin James Dyson, Ahad Asad
Summary: The study suggests that longer-form expressions of reinforcement learning, such as win-calmness and loss-restlessness, may manifest across tasks, but only when wins can be maximized.
NPJ SCIENCE OF LEARNING
(2021)
Article
Robotics
Jehong Lee, Jeonggeun Lim, Sangjin Pyo, Jongho Lee
Summary: In this study, an aerial online mapping system is proposed to generate efficient paths for unmanned ground vehicles (UGVs) on a two-dimensional map. The system utilizes aerial images taken by an unmanned aerial vehicle and an object detector based on a convolutional neural network. Experimental results show that this system is effective in path generation for autonomous UGVs in real environments.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Construction & Building Technology
Xue Tian, Yuchun Zhang, Yalin Lu, Zhang Lin
Summary: The idea of providing stratified micro-environments in a shared environment by utilizing a sidewall air supply is proposed and validated through experiments and computational fluid dynamics simulations. The results show that this strategy can satisfy individual thermal comfort and air quality needs, while minimizing local discomfort and lock-up effect.
BUILDING AND ENVIRONMENT
(2022)
Review
Environmental Sciences
Francesca Borghi, Andrea Spinazze, Simone Mandaglio, Giacomo Fanti, Davide Campagnolo, Sabrina Rovelli, Marta Keller, Andrea Cattaneo, Domenico Maria Cavallo
Summary: The systematic review of studies related to the estimation of inhaled dose of pollutants in different micro-environments highlighted the importance of exposure concentration, residence time, and pulmonary ventilation rate as key parameters influencing dose estimation. Future research should focus on other air pollutants, outdoor environments, and occupational settings to fill knowledge gaps in this field.
Article
Robotics
James Keane, Keith F. Joiner, Sanjeev Arulampalam, Russ Webber
Summary: This study expedites the process of AUV returning to the operator's vessel through a custom homing behavior. By using a directional acoustic transponder, the AUV achieves accurate homing with range and bearing data. The study analyzes the results from simulations and field trials through a modular and experimental Test & Evaluation framework. This research is of great importance in improving the operational and engineering trust of AUVs.
JOURNAL OF FIELD ROBOTICS
(2022)
Article
Automation & Control Systems
Yu Zhou, Shupeng Lai, Huimin Cheng, Abdul Hamid Mohamed Redhwan, Pengfei Wang, Junji Zhu, Zhi Gao, Zhengtian Ma, Yingcai Bi, Feng Lin, Ben M. Chen
Summary: This article introduces a comprehensive design and implementation for a micro aerial vehicle (MAV) capable of autonomous 3-D navigation and obstacle avoidance in unknown environments without relying on GPS or external sensors. The MAV utilizes modularized components including visual-inertial odometry, 3-D occupancy mapping, and motion planning. The system is shown to be robust in both simulation and real flight experiments.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Manufacturing
Capella Kerst, Srinivasan A. Suresh, Mark R. Cutkosky
JOURNAL OF MICRO AND NANO-MANUFACTURING
(2020)
Article
Robotics
Nicholas D. Naclerio, Capella F. Kerst, David A. Haggerty, Srinivasan A. Suresh, Sonali Singh, Kenichi Ogawa, Susumu Miyazaki, Mark R. Cutkosky, Elliot W. Hawkes
IEEE ROBOTICS AND AUTOMATION LETTERS
(2019)