Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our room traversal algorithm relies upon the approximate distance from the robot to the nearest obstacle in 360 degrees. We then choose the path with the furthest approximate distance. Since millimeter-precision is not required for our problem, we have opted to develop our own laser range finding solution, in lieu of using more common, but also expensive solutions like light detection and ranging (LIDAR). Rather, our solution uses a laser that casts a visible dot on the target and a common camera (an iPhone, for example). Based upon where in the camera frame the laser dot is detected, we may calculate an angle between our target and the laser aperture. Using this angle and the known distance between the camera eye and the laser aperture, we may solve all sides of a trigonometric model which provides the distance between the robot and the target.
St. Joseph Engineering College（圣约瑟夫工程学院）；New Horizon College of Engineering（新视野工程学院）；N.M.A.M.I.T, Nitte（N.M.A.M. 理工学院，尼特）
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality products. Computer-based systems, though feasible for improving quality and productivity, are inflexible to work with, and the cost of such systems is significantly high. This led to the swift adoption of automated systems to perform industrial tasks. One such task of industrial significance is of picking and placing objects from one place to another. The impl…
Carnegie Mellon University（卡内基梅隆大学）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
A vast literature shows that the learning-based visual perception model is sensitive to adversarial noises, but few works consider the robustness of robotic perception models under widely-existing camera motion perturbations. To this end, we study the robustness of the visual perception model under camera motion perturbations to investigate the influence of camera motion on robotic perception. Specifically, we propose a motion smoothing technique for arbitrary image classification models, whose robustness under camera motion perturbations could be certified. The proposed robustness certificati…
Localising under the drape: proprioception in the era of distributed surgical robotic system
School of Biomedical Engineering & Imaging Sciences, King’s College London（国王学院伦敦生物医学工程与成像科学学院）；Research in Orthopaedic Computer Science, Balgrist University Hospital（骨科计算机科学研究，巴尔格里斯特大学医院）；Faculty of Engineering Technology, KU Leuven（工程科技学院，鲁汶大学）；Noah’s Ark Lab, Huawei（华为诺亚实验室）；University Spine Center Zurich, Balgrist University Hospital, University of Zurich（苏黎世大学脊柱中心，巴尔格里斯特大学医院，苏黎世大学）；SpineGuard, Paris, France（脊柱守护，法国巴黎）；Institut Des Systèmes Intelligents et de Robotique, Sorbonne University（智能系统与机器人研究所，索邦大学）
NavCoT: Boosting LLM-Based Vision-and-Language Navigation via Learning Disentangled Reasoning
Sun Yat-sen University（中山大学）；Shanghai Jiao Tong University（上海交通大学）；Peng Cheng Laboratory（鹏城实验室）；University of Hong Kong（香港大学）；Dataa Robotics（达闼机器人公司）；University of Science and Technology of China（中国科学技术大学）；Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）
Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge about household objects and their locations of an average human. We introduce a novel method for leveraging common sense embedded within large language models for labelling rooms given the objects contained within. This algorithm has the added benefits of (i) requiring no task-specific pre-training (operating entirely in the zero-shot regime) and (ii) generalizi…
University College Dublin（都柏林大学学院）；Massachusetts Institute of Technology（麻省理工学院）；Buckinghamshire New University（白金汉郡新大学）
Acting, stand-up and dancing are creative, embodied performances that nonetheless follow a script. Unless experimental or improvised, the performers draw their movements from much the same stock of embodied schemas. A slavish following of the script leaves no room for creativity, but active interpretation of the script does. It is the choices one makes, of words and actions, that make a performance creative. In this theory and hypothesis article, we present a framework for performance and interpretation within robotic storytelling. The performance framework is built upon movement theory, and d…
Worcester Polytechnic Institute（伍斯特理工学院）；Harvard Medical School（哈佛医学院）
This letter reports the design, construction, and experimental validation of a novel hand-held robot for in-office laser surgery of the vocal folds. In-office endoscopic laser surgery is an emerging trend in Laryngology: It promises to deliver the same patient outcomes of traditional surgical treatment (i.e., in the operating room), at a fraction of the cost. Unfortunately, office procedures can be challenging to perform; the optical fibers used for laser delivery can only emit light forward in a line-of-sight fashion, which severely limits anatomical access. The robot we present in this lette…
Split Deep Q-Learning for Robust Object Singulation
Aristotle University of Thessaloniki（塞萨洛尼基亚里士多德大学）；Information Technologies Institute (ITI) Center of Research and Technology Hellas (CERTH)（希腊研究与技术中心信息技术研究所）
