This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations.

Desulfovibrio alaskensis G20 (DA-G20) is utilized as a model for sulfate-reducing bacteria (SRB) that are associated with corrosion issues caused by microorganisms. SRB-based biofilms are thought to be responsible for the billion-dollar-per-year bio-corrosion of metal infrastructure. Understanding the extraction of the bacterial cells' shape and size properties in the SRB-biofilm at different growth stages will assist with the design of anti-corrosion techniques. However, numerous issues affect current approaches, including time-consuming geometric property extraction, low efficiency, and high error rates. This paper proposes BiofilScanner, a Yolact-based deep learning method integrated with invariant moments to address these problems. Our approach efficiently detects and segments bacterial cells in an SRB image while simultaneously invariant moments measure the geometric characteristics of the segmented cells with low errors. The numerical experiments of the proposed method demonstrate that the BiofilmScanner is 2.1x and 6.8x faster than our earlier Mask-RCNN and DLv3+ methods for detecting, segmenting, and measuring the geometric properties of the cell. Furthermore, the BiofilmScanner achieved an F1-score of 85.28% while Mask-RCNN and DLv3+ obtained F1-scores of 77.67% and 75.18%, respectively.

Affordance detection is a challenging problem with a wide variety of robotic applications. Traditional affordance detection methods are limited to a predefined set of affordance labels, hence potentially restricting the adaptability of intelligent robots in complex and dynamic environments. In this paper, we present the Open-Vocabulary Affordance Detection (OpenAD) method, which is capable of detecting an unbounded number of affordances in 3D point clouds. By simultaneously learning the affordance text and the point feature, OpenAD successfully exploits the semantic relationships between affordances. Therefore, our proposed method enables zero-shot detection and can be able to detect previously unseen affordances without a single annotation example. Intensive experimental results show that OpenAD works effectively on a wide range of affordance detection setups and outperforms other baselines by a large margin. Additionally, we demonstrate the practicality of the proposed OpenAD in real-world robotic applications with a fast inference speed (~100ms). Our project is available at https://openad2023.github.io.

However, despite its potential, metal AM has not yet reached its expected level of usage in industries, in part due to a lack of accurate prediction of the properties of printed components. For example, in laser powder bed fusion (LPBF), the layer of metal powder is scanned by a laser heat source which converts the metal powder to liquid, which eventually solidifies and converts to the final product. Accurate thermal history prediction is crucial for LPBF, as all other phenomena, including thermal residual stress and microstructure, depend on it. The melt pool dynamics play a very important role in the development of the thermal map for LPBF. Many factors influence the melt pool dynamics in LPBF such as the unique thermal cycle of rapid heating and solidification, steep temperature gradient and high cooling rate, evaporation, surface tension, natural convection, Marangoni convection, vapor recoil pressure, and Argon flow over the melt pool. Several researchers have developed computational models to better understand melt pool dynamics, incorporating these complex phenomena [1-5]. Physics-based simulation such as computational fluid dynamics (CFD) is the key method to model melt pool dynamics (Figure 1). Li et al. [6] utilized a 2D model to examine the melting and

Inspired by the relation between deep neural network (DNN) and partial differential equations (PDEs), we study the general form of the PDE models of deep neural networks. To achieve this goal, we formulate DNN as an evolution operator from a simple base model. Based on several reasonable assumptions, we prove that the evolution operator is actually determined by convection-diffusion equation. This convection-diffusion equation model gives mathematical explanation for several effective networks. Moreover, we show that the convection-diffusion model improves the robustness and reduces the Rademacher complexity. Based on the convection-diffusion equation, we design a new training method for ResNets. Experiments validate the performance of the proposed method.

Explicit model-predictive control (MPC) is a widely used control design method that employs optimization tools to find control policies offline; commonly it is posed as a semi-definite program (SDP) or as a mixed-integer SDP in the case of hybrid systems. However, mixed-integer SDPs are computationally expensive, motivating alternative formulations, such as zonotope-based MPC (zonotopes are a special type of symmetric polytopes). In this paper, we propose a robust explicit MPC method applicable to hybrid systems. More precisely, we extend existing zonotope-based MPC methods to account for multiplicative parametric uncertainty. Additionally, we propose a convex zonotope order reduction method that takes advantage of the iterative structure of the zonotope propagation problem to promote diagonal blocks in the zonotope generators and lower the number of decision variables. Finally, we developed a quasi-time-free policy choice algorithm, allowing the system to start from any point on the trajectory and avoid chattering associated with discrete switching of linear control policies based on the current state's membership in state-space regions. Last but not least, we verify the validity of the proposed methods on two experimental setups, varying physical parameters between experiments.

Garbage disposal is a challenging problem throughout the developed world. In Cyprus, as elsewhere, illegal ``fly-tipping" is a significant issue, especially in rural areas where few legal garbage disposal options exist. However, there is a lack of studies that attempt to measure the scale of this problem, and few resources available to address it. A method of automating the process of identifying garbage dumps would help counter this and provide information to the relevant authorities. The aim of this study was to investigate the degree to which artificial intelligence techniques, together with satellite imagery, can be used to identify illegal garbage dumps in the rural areas of Cyprus. This involved collecting a novel dataset of images that could be categorised as either containing, or not containing, garbage. The collection of such datasets in sufficient raw quantities is time consuming and costly. Therefore a relatively modest baseline set of images was collected, then data augmentation techniques used to increase the size of this dataset to a point where useful machine learning could occur. From this set of images an artificial neural network was trained to recognise the presence or absence of garbage in new images. A type of neural network especially suited to this task known as ``convolutional neural networks" was used. The efficacy of the resulting model was evaluated using an independently collected dataset of test images. The result was a deep learning model that could correctly identify images containing garbage in approximately 90\% of cases. It is envisaged that this model could form the basis of a future system that could systematically analyse the entire landscape of Cyprus to build a comprehensive ``garbage" map of the island.

Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world scenarios, they must be able to autonomously and robustly navigate irregular terrains. In many cases, robots that are sold on the market do not provide such abilities, being able to perform only blind locomotion. Furthermore, their controller cannot be easily modified by the end-user, requiring a new and time-consuming control synthesis. In this work, we present a fast local motion planning pipeline that extends the capabilities of a black-box walking controller that is only able to track high-level reference velocities. More precisely, we learn a set of motion models for such a controller that maps high-level velocity commands to Center of Mass (CoM) and footstep motions. We then integrate these models with a variant of the A star algorithm to plan the CoM trajectory, footstep sequences, and corresponding high-level velocity commands based on visual information, allowing the quadruped to safely traverse irregular terrains at demand.

Buildings are the basic carrier of social production and human life; roads are the links that interconnect social networks. Building and road information has important application value in the frontier fields of regional coordinated development, disaster prevention, auto-driving, etc. Mapping buildings and roads from very high-resolution (VHR) remote sensing images have become a hot research topic. However, the existing methods often ignore the strong spatial correlation between roads and buildings and extract them in isolation. To fully utilize the complementary advantages between buildings and roads, we propose a building-road collaborative extraction method based on multi-task and cross-scale feature interaction to improve the accuracy of both tasks in a complementary way. A multi-task interaction module is proposed to interact information across tasks and preserve the unique information of each task, which tackle the seesaw phenomenon in multitask learning. By considering the variation in appearance and structure between buildings and roads, a cross-scale interaction module is designed to automatically learn the optimal reception field for different tasks. Compared with many existing methods that train each task individually, the proposed collaborative extraction method can utilize the complementary advantages between buildings and roads by the proposed inter-task and inter-scale feature interactions, and automatically select the optimal reception field for different tasks. Experiments on a wide range of urban and rural scenarios show that the proposed algorithm can achieve building-road extraction with outstanding performance and efficiency.

Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.