Friction-Scaled Vibrotactile Feedback for Real-Time Slip Detection in Manipulation using Robotic Sixth Finger

The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of human hands. Human hands can detect onset of slip through tactile feedback originating from tactile receptors during the grasping process, enabling precise and automatic regulation of grip force. The frictional information is perceived by humans depending upon slip happening between finger and object. Enhancing this capability in extra-robotic limbs or fingers used by humans is challenging. To address this challenge, this paper introduces novel approach to communicate frictional information to users through encoded vibrotactile cues. These cues are conveyed on onset of incipient slip thus allowing users to perceive friction and ultimately use this information to increase force to avoid dropping of object. In a 2-alternative forced-choice protocol, participants gripped and lifted a glass under three different frictional conditions, applying a normal force of 3.5 N. After reaching this force, glass was gradually released to induce slip. During this slipping phase, vibrations scaled according to static coefficient of friction were presented to users, reflecting frictional conditions. The results suggested an accuracy of 94.53 p/m 3.05 (mean p/mSD) in perceiving frictional information upon lifting objects with varying friction. The results indicate effectiveness of using vibrotactile feedback for sensory feedback, allowing users of extra-robotic limbs or fingers to perceive frictional information. This enables them to assess surface properties and adjust grip force according to frictional conditions, enhancing their ability to grasp, manipulate objects more effectively.

Maritime Mission Planning for Unmanned Surface Vessel using Large Language Model

Unmanned Surface Vessels (USVs) are essential for various maritime operations. USV mission planning approach offers autonomous solutions for monitoring, surveillance, and logistics. Existing approaches, which are based on static methods, struggle to adapt to dynamic environments, leading to suboptimal performance, higher costs, and increased risk of failure. This paper introduces a novel mission planning framework that uses Large Language Models (LLMs), such as GPT-4, to address these challenges. LLMs are proficient at understanding natural language commands, executing symbolic reasoning, and flexibly adjusting to changing situations. Our approach integrates LLMs into maritime mission planning to bridge the gap between high-level human instructions and executable plans, allowing real-time adaptation to environmental changes and unforeseen obstacles. In addition, feedback from low-level controllers is utilized to refine symbolic mission plans, ensuring robustness and adaptability. This framework improves the robustness and effectiveness of USV operations by integrating the power of symbolic planning with the reasoning abilities of LLMs. In addition, it simplifies the mission specification, allowing operators to focus on high-level objectives without requiring complex programming. The simulation results validate the proposed approach, demonstrating its ability to optimize mission execution while seamlessly adapting to dynamic maritime conditions.

Soft Vision-Based Tactile-Enabled SixthFinger: Advancing Daily Objects Manipulation for Stroke Survivors

The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the development of a soft, vision-based, tactile-enabled extra robotic finger. By incorporating vision-based tactile sensing, the system autonomously adjusts grip force in response to slippage detection. This synergy not only ensures mechanical stability but also enriches tactile feedback, mimicking the dynamics of human-object interactions. At the core of our approach is a transformer-based framework trained on a comprehensive tactile dataset encompassing objects with a wide range of morphological properties, including variations in shape, size, weight, texture, and hardness. Furthermore, we validated the system's robustness in real-world applications, where it successfully manipulated various everyday objects. The promising results highlight the potential of this approach to improve the quality of life for stroke survivors.

Benchmarking Vision-Based Object Tracking for USVs in Complex Maritime Environments

Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic camera movement, low visibility, and scale variation. Typically, object detection methods combined with filtering techniques are commonly used for tracking, but they often lack robustness, particularly in the presence of camera motion and missed detections. Although advanced tracking methods have been proposed recently, their application in maritime scenarios is limited. To address this gap, this study proposes a vision-guided object-tracking framework for USVs, integrating state-of-the-art tracking algorithms with low-level control systems to enable precise tracking in dynamic maritime environments. We benchmarked the performance of seven distinct trackers, developed using advanced deep learning techniques such as Siamese Networks and Transformers, by evaluating them on both simulated and real-world maritime datasets. In addition, we evaluated the robustness of various control algorithms in conjunction with these tracking systems. The proposed framework was validated through simulations and real-world sea experiments, demonstrating its effectiveness in handling dynamic maritime conditions. The results show that SeqTrack, a Transformer-based tracker, performed best in adverse conditions, such as dust storms. Among the control algorithms evaluated, the linear quadratic regulator controller (LQR) demonstrated the most robust and smooth control, allowing for stable tracking of the USV.

Ontology-driven Prompt Tuning for LLM-based Task and Motion Planning

Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches, which combine high-level symbolic plan with low-level motion planning. Advances in Large Language Models (LLMs), such as GPT-4, are transforming task planning by offering natural language as an intuitive and flexible way to describe tasks, generate symbolic plans, and reason. However, the effectiveness of LLM-based TAMP approaches is limited due to static and template-based prompting, which struggles in adapting to dynamic environments and complex task contexts. To address these limitations, this work proposes a novel ontology-driven prompt-tuning framework that employs knowledge-based reasoning to refine and expand user prompts with task contextual reasoning and knowledge-based environment state descriptions. Integrating domain-specific knowledge into the prompt ensures semantically accurate and context-aware task plans. The proposed framework demonstrates its effectiveness by resolving semantic errors in symbolic plan generation, such as maintaining logical temporal goal ordering in scenarios involving hierarchical object placement. The proposed framework is validated through both simulation and real-world scenarios, demonstrating significant improvements over the baseline approach in terms of adaptability to dynamic environments, and the generation of semantically correct task plans.

An Aerial Transport System in Marine GNSS-Denied Environment

This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS-denied environments, aimed at transporting small cargo from a target vessel. In these environments, characterized by weakly textured sea surfaces with few feature points, chaotic deck oscillations due to waves, and significant wind gusts, conventional navigation methods often prove inadequate. Leveraging the DJI M300 platform, our system is designed to autonomously navigate and transport cargo while overcoming these environmental challenges. In particular, this paper proposes an anchor-based localization method using ultrawideband (UWB) and QR codes facilities, which decouples the UAV's attitude from that of the moving landing platform, thus reducing control oscillations caused by platform movement. Additionally, a motor-driven attachment mechanism for cargo is designed, which enhances the UAV's field of view during descent and ensures a reliable attachment to the cargo upon landing. The system's reliability and effectiveness were progressively enhanced through multiple outdoor experimental iterations and were validated by the successful cargo transport during the 2024 Mohamed BinZayed International Robotics Challenge (MBZIRC2024) competition. Crucially, the system addresses uncertainties and interferences inherent in maritime transportation missions without prior knowledge of cargo locations on the deck and with strict limitations on intervention throughout the transportation.

A Comprehensive Review of Current Robot- Based Pollinators in Greenhouse Farming

The decline of bee and wind-based pollination systems in greenhouses due to controlled environments and limited access has boost the importance of finding alternative pollination methods. Robotic based pollination systems have emerged as a promising solution, ensuring adequate crop yield even in challenging pollination scenarios. This paper presents a comprehensive review of the current robotic-based pollinators employed in greenhouses. The review categorizes pollinator technologies into major categories such as air-jet, water-jet, linear actuator, ultrasonic wave, and air-liquid spray, each suitable for specific crop pollination requirements. However, these technologies are often tailored to particular crops, limiting their versatility. The advancement of science and technology has led to the integration of automated pollination technology, encompassing information technology, automatic perception, detection, control, and operation. This integration not only reduces labor costs but also fosters the ongoing progress of modern agriculture by refining technology, enhancing automation, and promoting intelligence in agricultural practices. Finally, the challenges encountered in design of pollinator are addressed, and a forward-looking perspective is taken towards future developments, aiming to contribute to the sustainable advancement of this technology.

Integrating Features for Recognizing Human Activities through Optimized Parameters in Graph Convolutional Networks and Transformer Architectures

Human activity recognition is a major field of study that employs computer vision, machine vision, and deep learning techniques to categorize human actions. The field of deep learning has made significant progress, with architectures that are extremely effective at capturing human dynamics. This study emphasizes the influence of feature fusion on the accuracy of activity recognition. This technique addresses the limitation of conventional models, which face difficulties in identifying activities because of their limited capacity to understand spatial and temporal features. The technique employs sensory data obtained from four publicly available datasets: HuGaDB, PKU-MMD, LARa, and TUG. The accuracy and F1-score of two deep learning models, specifically a Transformer model and a Parameter-Optimized Graph Convolutional Network (PO-GCN), were evaluated using these datasets. The feature fusion technique integrated the final layer features from both models and inputted them into a classifier. Empirical evidence demonstrates that PO-GCN outperforms standard models in activity recognition. HuGaDB demonstrated a 2.3% improvement in accuracy and a 2.2% increase in F1-score. TUG showed a 5% increase in accuracy and a 0.5% rise in F1-score. On the other hand, LARa and PKU-MMD achieved lower accuracies of 64% and 69% respectively. This indicates that the integration of features enhanced the performance of both the Transformer model and PO-GCN.

Long-Range Vision-Based UAV-assisted Localization for Unmanned Surface Vehicles

The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable to natural interference and malicious jamming attacks. Thus, an alternative navigation system is required when the use of GPS is restricted or prohibited. To this end, we present a novel method that utilizes an Unmanned Aerial Vehicle (UAV) to assist in localizing USVs in GNSS-restricted marine environments. In our approach, the UAV flies along the shoreline at a consistent altitude, continuously tracking and detecting the USV using a deep learning-based approach on camera images. Subsequently, triangulation techniques are applied to estimate the USV's position relative to the UAV, utilizing geometric information and datalink range from the UAV. We propose adjusting the UAV's camera angle based on the pixel error between the USV and the image center throughout the localization process to enhance accuracy. Additionally, visual measurements are integrated into an Extended Kalman Filter (EKF) for robust state estimation. To validate our proposed method, we utilize a USV equipped with onboard sensors and a UAV equipped with a camera. A heterogeneous robotic interface is established to facilitate communication between the USV and UAV. We demonstrate the efficacy of our approach through a series of experiments conducted during the ``Muhammad Bin Zayed International Robotic Challenge (MBZIRC-2024)'' in real marine environments, incorporating noisy measurements and ocean disturbances. The successful outcomes indicate the potential of our method to complement GPS for USV navigation.

Feature Fusion for Human Activity Recognition using Parameter-Optimized Multi-Stage Graph Convolutional Network and Transformer Models

Human activity recognition (HAR) is a crucial area of research that involves understanding human movements using computer and machine vision technology. Deep learning has emerged as a powerful tool for this task, with models such as Convolutional Neural Networks (CNNs) and Transformers being employed to capture various aspects of human motion. One of the key contributions of this work is the demonstration of the effectiveness of feature fusion in improving HAR accuracy by capturing spatial and temporal features, which has important implications for the development of more accurate and robust activity recognition systems. The study uses sensory data from HuGaDB, PKU-MMD, LARa, and TUG datasets. Two model, the PO-MS-GCN and a Transformer were trained and evaluated, with PO-MS-GCN outperforming state-of-the-art models. HuGaDB and TUG achieved high accuracies and f1-scores, while LARa and PKU-MMD had lower scores. Feature fusion improved results across datasets.