This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.

Value chain data is crucial to navigate economic disruptions, such as those caused by the COVID-19 pandemic and the war in Ukraine. Yet, despite its importance, publicly available value chain datasets, such as the ``World Input-Output Database'', ``Inter-Country Input-Output Tables'', ``EXIOBASE'' or the ``EORA'', lack detailed information about products (e.g. Radio Receivers, Telephones, Electrical Capacitors, LCDs, etc.) and rely instead on more aggregate industrial sectors (e.g. Electrical Equipment, Telecommunications). Here, we introduce a method based on machine learning and trade theory to infer product-level value chain relationships from fine-grained international trade data. We apply our method to data summarizing the exports and imports of 300+ world regions (e.g. states in the U.S., prefectures in Japan, etc.) and 1200+ products to infer value chain information implicit in their trade patterns. Furthermore, we use proportional allocation to assign the trade flow between regions and countries. This work provides an approximate method to map value chain data at the product level with a relevant trade flow, that should be of interest to people working in logistics, trade, and sustainable development.

Battery endurance represents a key challenge for long-term autonomy and long-range operations, especially in the case of aerial robots. In this paper, we propose AutoCharge, an autonomous charging solution for quadrotors that combines a portable ground station with a flexible, lightweight charging tether and is capable of universal, highly efficient, and robust charging. We design and manufacture a pair of circular magnetic connectors to ensure a precise orientation-agnostic electrical connection between the ground station and the charging tether. Moreover, we supply the ground station with an electromagnet that largely increases the tolerance to localization and control errors during the docking maneuver, while still guaranteeing smooth un-docking once the charging process is completed. We demonstrate AutoCharge on a perpetual 10 hours quadrotor flight experiment and show that the docking and un-docking performance is solidly repeatable, enabling perpetual quadrotor flight missions.

Predicting the end-of-life or remaining useful life of batteries in electric vehicles is a critical and challenging problem, predominantly approached in recent years using machine learning to predict the evolution of the state-of-health during repeated cycling. To improve the accuracy of predictive estimates, especially early in the battery lifetime, a number of algorithms have incorporated features that are available from data collected by battery management systems. Unless multiple battery data sets are used for a direct prediction of the end-of-life, which is useful for ball-park estimates, such an approach is infeasible since the features are not known for future cycles. In this paper, we develop a highly-accurate method that can overcome this limitation, by using a modified Gaussian process dynamical model (GPDM). We introduce a kernelised version of GPDM for a more expressive covariance structure between both the observable and latent coordinates. We combine the approach with transfer learning to track the future state-of-health up to end-of-life. The method can incorporate features as different physical observables, without requiring their values beyond the time up to which data is available. Transfer learning is used to improve learning of the hyperparameters using data from similar batteries. The accuracy and superiority of the approach over modern benchmarks algorithms including a Gaussian process model and deep convolutional and recurrent networks are demonstrated on three data sets, particularly at the early stages of the battery lifetime.

Today ship hull inspection including the examination of the external coating, detection of defects, and other types of external degradation such as corrosion and marine growth is conducted underwater by means of Remotely Operated Vehicles (ROVs). The inspection process consists of a manual video analysis which is a time-consuming and labor-intensive process. To address this, we propose an automatic video analysis system using deep learning and computer vision to improve upon existing methods that only consider spatial information on individual frames in underwater ship hull video inspection. By exploring the benefits of adding temporal information and analyzing frame-based classifiers, we propose a multi-label video classification model that exploits the self-attention mechanism of transformers to capture spatiotemporal attention in consecutive video frames. Our proposed method has demonstrated promising results and can serve as a benchmark for future research and development in underwater video inspection applications.

Whether you're monitoring arriving packages or watching for nefarious activity, these days it's important to secure your home with a video doorbell. I own this specific doorbell myself and really love it, especially when I'm home alone. The 1080p video is clear and smooth, and it was relatively easy to install. I also like to scare my husband by randomly speaking to him through it. This joke never gets old (well, for me it doesn't).

The properties of lithium metal are key parameters in the design of lithium ion and lithium metal batteries. They are difficult to probe experimentally due to the high reactivity and low melting point of lithium as well as the microscopic scales at which lithium exists in batteries where it is found to have enhanced strength, with implications for dendrite suppression strategies. Computationally, there is a lack of empirical potentials that are consistently quantitatively accurate across all properties and ab-initio calculations are too costly. In this work, we train Machine Learning Interaction Potentials (MLIPs) on Density Functional Theory (DFT) data to state-of-the-art accuracy in reproducing experimental and ab-initio results across a wide range of simulations at large length and time scales. We accurately predict thermodynamic properties, phonon spectra, temperature dependence of elastic constants and various surface properties inaccessible using DFT. We establish that there exists a Bell-Evans-Polanyi relation correlating the self-adsorption energy and the minimum surface diffusion barrier for high Miller index facets.

This paper proposes an actor-critic algorithm for controlling the temperature of a battery pack using a cooling fluid. This is modeled by a coupled 1D partial differential equation (PDE) with a controlled advection term that determines the speed of the cooling fluid. The Hamilton-Jacobi-Bellman (HJB) equation is a PDE that evaluates the optimality of the value function and determines an optimal controller. We propose an algorithm that treats the value network as a Physics-Informed Neural Network (PINN) to solve for the continuous-time HJB equation rather than a discrete-time Bellman optimality equation, and we derive an optimal controller for the environment that we exploit to achieve optimal control. Our experiments show that a hybrid-policy method that updates the value network using the HJB equation and updates the policy network identically to PPO achieves the best results in the control of this PDE system.

Data-driven industrial health prognostics require rich training data to develop accurate and reliable predictive models. However, stringent data privacy laws and the abundance of edge industrial data necessitate decentralized data utilization. Thus, the industrial health prognostics field is well suited to significantly benefit from federated learning (FL), a decentralized and privacy-preserving learning technique. However, FL-based health prognostics tasks have hardly been investigated due to the complexities of meaningfully aggregating model parameters trained from heterogeneous data to form a high performing federated model. Specifically, data heterogeneity among edge devices, stemming from dissimilar degradation mechanisms and unequal dataset sizes, poses a critical statistical challenge for developing accurate federated models. We propose a pioneering FL-based health prognostic model with a feature similarity-matched parameter aggregation algorithm to discriminatingly learn from heterogeneous edge data. The algorithm searches across the heterogeneous locally trained models and matches neurons with probabilistically similar feature extraction functions first, before selectively averaging them to form the federated model parameters. As the algorithm only averages similar neurons, as opposed to conventional naive averaging of coordinate-wise neurons, the distinct feature extractors of local models are carried over with less dilution to the resultant federated model. Using both cyclic degradation data of Li-ion batteries and non-cyclic data of turbofan engines, we demonstrate that the proposed method yields accuracy improvements as high as 44.5\% and 39.3\% for state-of-health estimation and remaining useful life estimation, respectively.

An Amazon listing may have spilled the beans early, but today Beats is officially debuting its latest true wireless earbuds. That premature appearance was mostly accurate: the Studio Buds have a familiar design with loads of improvements on the inside. Those upgrades include better battery life, retooled call performance and updated noise cancellation. There's also a new transparent design option that offers a look at all of those internal components. However, they come with a slightly higher price tag at $170, which means the new version isn't quite as good of a deal as the original.