V-stability Based Control for Energy-saving Towards Long Range Sailing
Q. Sun, W. Qi, X. Ji and H. A. Qian
Ensuring an adequate supply of energy is a challenge in the development of autonomous sailboats for long-range sailing capability, as the continuous high-frequency execution of control commands leads ...
Dynamic Modeling of Magnetic Helical Microrobots
X. Wang, C. Hu, S. Pane and B. J. Nelson
Magnetic helical microrobots that can be driven by low-strength rotating magnetic fields have found wide applications, particularly in biomedical research. The motion dynamics of magnetic helical micr...
A Two-stage Unsupervised Approach for Low light Image Enhancement
J. Hu, X. Guo, J. Chen, G. Liang, F. Deng and T. L. Lam
As vision based perception methods are usually built on the normal light assumption, there will be a serious safety issue when deploying them into low light environments. Recently, deep learning based...
RigidFusion: Robot Localisation and Mapping in Environments With Large Dynamic Rigid Objects
R. Long, C. Rauch, T. Zhang, V. Ivan and S. Vijayakumar
This work presents a novel RGB-D SLAM approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portions of the camera view...
Towards Fully Autonomous Ultrasound Scanning Robot With Imitation Learning Based on Clinical Protocols
Y. Huang, W. Xiao, C. Wang, H. Liu, R. Huang and Z. Sun
Ultrasound scanning plays an important role in modern clinical examinations. Thanks to its small footprint, low cost, and popularity, it has been widely used in annual physical examinations and many o...
UniFuse: Unidirectional Fusion for 360° Panorama Depth Estimation
H. Jiang, Z. Sheng, S. Zhu, Z. Dong and R. Huang
Learning depth from spherical panoramas is becoming a popular research topic because a panorama has a full field-of-view of the environment and provides a relatively complete description of a scene. H...
Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment
X. Guo, J. Hu, J. Chen, F. Deng and T. L. Lam
The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fo...
Decentralized Ability-Aware Adaptive Control for Multi-Robot Collaborative Manipulation
L. Yan, T. Stouraitis and S. Vijayakumar
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to ...
Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks
J. Luo et al.
Overhead manipulation tasks often require collaborations between two operators, which becomes challenging in confined spaces such as in a compartment. Supernumerary Robotic Limb (SuperLimb), as a prom...
Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling
Y. Hu et al.
The outbreak of novel coronavirus pneumonia (COVID-19) has caused mortality and morbidity worldwide. Oropharyngeal-swabs (OP-swab) sampling is widely used for the diagnosis of COVID-19 in the world. T...
FreeBOT: A Freeform Modular Self-reconfigurable Robot with Arbitrary Connection Point - Design and Implementation
Guanqi Liang1,2, Haobo Luo1,2, Ming Li1,2, Huihuan Qian1,2, and Tin Lun Lam1,2,†
This paper proposes a novel modular self-reconfigurable robot (MSRR) "FreeBOT", which can be connected freely at any point on other robots. FreeBOT is mainly composed of two parts: a spherical ferroma...
An Obstacle-crossing Strategy Based on the Fast Self-reconfiguration for Modular Sphere Robots
Haobo Luo1,2, Ming Li1,2, Guangqi Liang1,2, Huihuan Qian1,2, and Tin Lun Lam1,2,†
This paper introduces an obstacle-crossing strategy , and the self-reconfiguration algorithm for a new class of modular robots called the rolling sphere, which can fit obstacles represented by cubes o...