Image-based refined 3D reconstruction relies on high-resolution and multi-angle images of scenes. The assistance of multi-rotor drones and gimbal provides great convenience for image acquisition. However, capturing images with manual control generall...
We propose a new parametrization of motion primitives based on Bézier curves that suits perfectly path-planning applications (and environment exploration) of wheeled mobile robots. The individual motion primitives can simply be calculated taki...
We review the methodology, algorithmic implementation and performance characteristics of a hierarchical modeling scheme for the generation, equilibration and topological analysis of polymer systems at various levels of molecular description: from ato...
In order to deal with the threat of forest fire to the original forest resources, improve the efficiency of firefighting, and better protect the forest ecological resources in the original forest area. In this paper, the ant colony algorithm is used...
Collision avoidance (CA) using the artificial potential field (APF) usually faces several known issues such as local minima and dynamically infeasible problems, so unmanned aerial vehicles’ (UAVs) paths planned based on the APF are safe only in a cer...
Dynamical properties of branched polymer melts are determined by the polymer molecular weights and architectures containing junction points. Relaxation of entangled symmetric star polymers proceeds via arm-retraction and constraint release (CR). In t...
Dynamic movement primitives (DMPs) are a robust framework for movement generation from demonstrations. This framework can be extended by adding a perturbing term to achieve obstacle avoidance without sacrificing stability. The additional term is usua...
The mechanical and physical properties of polymeric materials originate from the interplay of phenomena at different spatial and temporal scales. As such, it is necessary to adopt multiscale techniques when modeling polymeric materials in order to ac...
This paper addresses the issue of how to endow robots with motion skills, flexibility, and adaptability similar to human arms. It innovatively proposes a hybrid-primitive-frame-based robot skill learning algorithm and utilizes the policy improvement...
Purcell’s three-link swimmers, characterised by segments connected through one-degree-of-freedom joints, exhibit a difficulty in following precise paths. This is attributed to their motion primitives, which do not inherently generate displaceme...
The harmonic potential field of an incompressible nonviscous fluid governed by the Laplace’s Equation has shown its potential for being beneficial to autonomous unmanned vehicles to generate smooth, natural-looking, and predictable paths for ob...
This paper proposes the creative idea that an unmanned fixed-wing aircraft should automatically adjust its 3D landing trajectory online to land on a given touchdown point, instead of following a pre-designed fixed glide slope angle or a landing path...
We simulated the crystallization and melting behavior of entangled polymer melts using molecular dynamics where each chain is subject to a force dipole acting on its ends. This mimics the deformation of chains in a flow field but represents a well-de...
This paper describes an authentication protocol using a Hardware-Embedded Delay PUF called HELP. HELP derives randomness from within-die path delay variations that occur along the paths within a hardware implementation of a cryptographic primitive, s...
Nanomaterials are promising alternatives for creating hardware security primitives that are considered more robust and less susceptible to physical attacks compared to standard CMOS-based approaches. Here, nanoscale electronic circuits composed of tu...
Generating 3D path models (with textures) from indoor paths is a good way to improve the visualization performance of 3D indoor path analysis. In this paper, a quaternion-based piecewise 3D modeling method is proposed to automatically generate highly...
To control unmanned aerial systems, we rarely have a perfect system model. Safe and aggressive planning is also challenging for nonlinear and under-actuated systems. Expert pilots, however, demonstrate maneuvers that are deemed at the edge of plane e...
Additive manufacturing has enabled the fabrication of complex, bioinspired lattice structures, such as Triply Periodic Minimal Surfaces (TPMSs), for use in lightweight structural applications. To assess their engineering viability, this study benchma...
High-definition vector maps, such as Lanelet2, are critical for autonomous driving systems, enabling precise localization, path planning, and regulatory compliance. However, creating and maintaining these maps traditionally demands labor-intensive ma...
End effectors like firearms, cameras and fire water guns can be classified as pointing end effectors. When installed on wearable manipulators, a new function can be given to the wearer. Different from gripper end effectors (GEEs), target pointing end...
This paper presents a kinematics-constrained grid-based path planning algorithm that generates real-time, safe, and executable trajectories, thereby enhancing the performance and reliability of autonomous vehicle parking systems. The grid resolution...
Robotised Non Destructive Testing (NDT) presents multifaceted advantages, saving time and reducing repetitive manual workloads for highly skilled Ultrasonic Testing (UT) operators. Due to the requisite accuracy and reliability of the field, robotic N...
Provably correct and computationally efficient path planning in the presence of various constraints is essential for autonomous driving and agile maneuvering of mobile robots. In this paper, we consider the planning of
Legged climbing unmanned ground vehicles (LC-UGVs) possess obstacle avoidance and wall transition capabilities, allowing them to move in 3D environments. Existing navigation methods for legged UGVs are only suitable for ground locomotion rather than...
Oyster aquaculture in the U.S. faces severe inefficiencies due to the absence of precise path planning tools, resulting in environmental degradation and resource waste. Current dredging techniques lack trajectory planning, often leading to redundant...
Physical unclonable functions (PUFs) are gaining traction as an attractive alternative to generating and storing device keying material over traditional secure non-volatile memory (NVM) technologies. In this paper, we propose an engineered delay-base...
FPGAs are gaining favor among researchers in fields including artificial intelligence and big data due to their configurability and high level of parallelism. As the packing methods indisputably affect the implementation performance of FPGA chips, pa...
In complex environments, three-dimensional path planning for agricultural UAVs involves the comprehensive consideration of multiple factors, including obstacle avoidance, path optimization, and computational efficiency, which significantly complicate...
In recent years, new programming techniques have been developed in the human-robot collaboration (HRC) field. For example, walk-through programming allows to program the robot in an easy and intuitive way. In this context, a modification of a portion...
This paper introduces a representation of subnetworks of a network
Proof of sequential work (PoSW), as an emerging cryptographic primitive, is designed to provide a verifiable method for proving that a computational process has incurred a real and continuous expenditure of time. This characteristic demonstrates its...
Robotic manipulators in warehousing and logistics often face complex tasks that involve multiple steps, frequent task switching, and long-term dependencies. Inspired by the hierarchical structure of human motor control, this paper proposes a Hierarch...
This work is axiomatic and structural in nature and is not intended as a phenomenological physical theory, but as a framework clarifying minimal informational primitives from which geometric and dynamical descriptions may emerge. We present a backgro...
In order to offer simple and convenient assistance for the elderly and disabled to take care of themselves, we propose a general learning and generalization approach for a service robot to accomplish specified tasks autonomously in an unstructured ho...
This paper describes the optimal path planning of a redundant finishing mechanism developed for joint space-based additive-finishing integrated manufacturing (AFM). The research motivation results from an inevitable one-sided layout of a finishing st...
Dynamic systems which underlie controlled systems are expected to increase in complexity as robots, devices, and connected networks become more intelligent. While classical stable systems converge to a stable point (a sink), another type of stability...
Forests in Southeast Asia are experiencing some of the highest rates of deforestation and degradation in the world, with natural forest species being replaced by cropland and plantation monoculture. In this work, we have developed an innovative metho...
Korean forests are highly vulnerable to forest fires, which can severely damage property and human life. This necessitates the establishment of a rapid response system and the construction of firebreaks to prevent the spread of fires and protect key...
Traditional unmanned aerial vehicle (UAV) path planning methods for image-based 3D reconstruction often rely solely on geometric information from initial models, resulting in redundant data acquisition in non-architectural areas. This paper proposes...
Multi-agent pathfinding has been extensively studied by the robotics and artificial intelligence communities. The classical algorithm, conflict-based search (CBS), is widely used in various real-world applications due to its ability to solve large-sc...
With active research being conducted on maritime autonomous surface ships, it is becoming increasingly necessary to ensure the safety of unmanned surface vehicles (USVs). In this context, a key task is to correct their paths to avoid obstacles. This...
Street trees are vital components of urban ecosystems, contributing to air purification, microclimate regulation, and visual landscape enhancement. Thus, accurate segmentation of individual trees from point clouds is an essential task for effective u...
We describe nearly complete skeletons of basal Anseriformes from the Latest Paleocene to the early Eocene of North America and Europe. Collectively, these birds appear to be representative of anseriforms near the divergence of Anhimae and Anseres, bu...
The concentration of data from multiple links to a single output is an essential task performed by High-Energy Physics (HEP) Data Acquisition Systems (DAQs). At high and varying data rates combined with the large width of the concentrator’s out...
Recent studies support that hematopoietic stem cell (HSC)-derived myeloid dendritic cells, monocytes/macrophages (Mo/Mϕ), and osteoclast precursors (OCps) share common progenitor(s) during development. This occurs mainly through receptor activat...
The lopolithic Pados-Tundra layered complex, the largest member of the Serpentinite belt–Tulppio belt (SB–TB) megastructure in the Fennoscandian Shield, is characterized by (1) highly magnesian compositions of comagmatic dunite–harz...
In this study, we concisely investigate two phases in the hybrid A-star algorithm for non-holonomic robots: the forward search phase and analytic expansion phase. The forward search phase considers the kinematics of the robot model in order to plan c...
Secure booting within a field-programmable gate array (FPGA) environment is traditionally implemented using hardwired embedded cryptographic primitives and non-volatile memory (NVM)-based keys, whereby an encrypted bitstream is decrypted as it is loa...
This study documents the compositional variations of phenocrysts from a basaltic trachyandesitic sill emplaced in the Valle del Bove at Mt. Etna volcano (Sicily, Italy). The physicochemical conditions driving the crystallization and emplacement of th...
The corneal epithelium (CE) is spread between two domains, the outer vascularized limbus and the avascular cornea proper. Epithelial cells undergo constant migration from the limbus to the vision-critical central cornea. Coordinated with this migrati...
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