To help small aerial robots navigate in the dark and other low-visibility environments, my colleagues and I developed an ultrasound-based perception system inspired by bat echolocation. Current robots rely heavily on cameras or light detection and ranging, known as lidar, or both. But these sensors fail in visually challenging conditions, such as smoke, fog, dust, snow or complete darkness. I'm a scientific engineer who develops bio-inspired microrobots. To solve this challenge, my research team looked at nature's experts at navigating in poor visibility: bats.

We provide an introduction to the topic of path signatures as means of feature extraction for machine learning from data streams. The article stresses the mathematical theory underlying the signature methodology, highlighting the conceptual character without plunging into the technical details of rigorous proofs. These notes are based on an introductory presentation given to students of the Research Experience for Undergraduates in Industrial Mathematics and Statistics at Worcester Polytechnic Institute in June 2024.

Conventional freehand ultrasound (US) imaging is highly dependent on the skill of the operator, often leading to inconsistent results and increased physical demand on sonographers. Robotic Ultrasound Systems (RUSS) aim to address these limitations by providing standardized and automated imaging solutions, especially in environments with limited access to skilled operators. This paper presents the development of a novel RUSS system that employs dual RGB-D depth cameras to maintain the US probe normal to the skin surface, a critical factor for optimal image quality. Our RUSS integrates RGB-D camera data with robotic control algorithms to maintain orthogonal probe alignment on uneven surfaces without preoperative data. Validation tests using a phantom model demonstrate that the system achieves robust normal positioning accuracy while delivering ultrasound images comparable to those obtained through manual scanning. A-SEE2.0 demonstrates 2.47 ${\pm}$ 1.25 degrees error for flat surface normal-positioning and 12.19 ${\pm}$ 5.81 degrees normal estimation error on mannequin surface. This work highlights the potential of A-SEE2.0 to be used in clinical practice by testing its performance during in-vivo forearm ultrasound examinations.

Navigating the ultrasound (US) probe to the standardized imaging plane (SIP) for image acquisition is a critical but operator-dependent task in conventional freehand diagnostic US. Robotic US systems (RUSS) offer the potential to enhance imaging consistency by leveraging real-time US image feedback to optimize the probe pose, thereby reducing reliance on operator expertise. However, determining the proper approach to extracting generalizable features from the US images for probe pose adjustment remain challenging. In this work, we propose a SIP navigation framework for RUSS, exemplified in the context of robotic lung ultrasound (LUS). This framework facilitates automatic probe adjustment when in proximity to the SIP. This is achieved by explicitly extracting multiple anatomical features presented in real-time LUS images and performing non-patient-specific template matching to generate probe motion towards the SIP using image-based visual servoing (IBVS). This framework is further integrated with the active-sensing end-effector (A-SEE), a customized robot end-effector that leverages patient external body geometry to maintain optimal probe alignment with the contact surface, thus preserving US signal quality throughout the navigation. The proposed approach ensures procedural interpretability and inter-patient adaptability. Validation is conducted through anatomy-mimicking phantom and in-vivo evaluations involving five human subjects. The results show the framework's high navigation precision with the probe correctly located at the SIP for all cases, exhibiting positioning error of under 2 mm in translation and under 2 degree in rotation. These results demonstrate the navigation process's capability to accomondate anatomical variations among patients.

With the advancement in computing and robotics, it is necessary to develop fluent and intuitive methods for interacting with digital systems, augmented/virtual reality (AR/VR) interfaces, and physical robotic systems. Hand motion recognition is widely used to enable these interactions. Hand configuration classification and MCP joint angle detection is important for a comprehensive reconstruction of hand motion. sEMG and other technologies have been used for the detection of hand motions. Forearm ultrasound images provide a musculoskeletal visualization that can be used to understand hand motion. Recent work has shown that these ultrasound images can be classified using machine learning to estimate discrete hand configurations. Estimating both hand configuration and MCP joint angles based on forearm ultrasound has not been addressed in the literature. In this paper, we propose a CNN based deep learning pipeline for predicting the MCP joint angles. The results for the hand configuration classification were compared by using different machine learning algorithms. SVC with different kernels, MLP, and the proposed CNN have been used to classify the ultrasound images into 11 hand configurations based on activities of daily living. Forearm ultrasound images were acquired from 6 subjects instructed to move their hands according to predefined hand configurations. Motion capture data was acquired to get the finger angles corresponding to the hand movements at different speeds. Average classification accuracy of 82.7% for the proposed CNN and over 80% for SVC for different kernels was observed on a subset of the dataset. An average RMSE of 7.35 degrees was obtained between the predicted and the true MCP joint angles. A low latency (6.25 - 9.1 Hz) pipeline has been proposed for estimating both MCP joint angles and hand configuration aimed at real-time control of human-machine interfaces.

We identify and develop three separate critical components. This includes a Unity simulation and reinforcement learning model training pipeline, a malleable computer vision pipeline, and a data transfer pipeline to offload large computations from the VEX V5 Brain/micro-controller to an external computer. We give the community access to all of these components in hopes they can reuse and improve upon them in the future, and that it'll spark new ideas for autonomy as well as the necessary infrastructure and programs for AI in educational robotics.

Space may be the final frontier, but it continues to pose myriad technical challenges as commercial and government-driven space investment continues. One of those challenges is developing more effective space-based communication systems for the increasing number of satellites and spacecrafts that need to interact with one another in the void. A team of researchers has developed an algorithm to enable cognitive radio functions on satellite communications systems to adapt themselves autonomously. Current space communication systems deploy radio-resource selection algorithms, but they are rudimentary and work with a pre-programmed look-up table. Furthermore, they have little flexibility regarding the various parameters for the performance goals the system needs to achieve.

IMAGE: Andrew Trapp, an associate professor in the Foisie Business School at Worcester Polytechnic Institute (WPI), and PhD student Narges Ahani are working on an NSF-funded grant to develop software to... view more Built upon ongoing work with an international team of computer scientists and economists, the tool integrates machine learning and optimization algorithms, along with complex computation of data, to match refugees to communities where they will find appropriate resources, including employment opportunities. "There is a great deal of information to consider when helping a refugee begin a new life in the United States," said Trapp, associate professor in the Foisie School and lead investigator for the project. "It is a labor-intensive process whose ultimate goal is to help a refugee land in a place where he or she has as many opportunities as possible to successfully integrate and contribute to the community. Technological solutions can have a profound societal impact." Each year, tens of thousands of refugees--many fleeing war, violence, and persecution--are resettled in dozens of host countries around the world.

A pre-employment criminal records check is required. To learn more, visit: http://apptrkr.com/1220178

Cochairs and Program Committee for the AAAI 2010 Symposium on Dialog with Robots.