Autonomous Operation Research Articles

Safe Guidance Scheme for Proximity Operations Forced Motion

Autonomous spacecraft proximity operations represent a key enabler for future mission architectures such as in-orbit servicing, active debris removal, object inspection, and in-orbit assembly. This work addresses safety concepts for the relative trajectory guidance design applicable to challenging proximity operations in the close-range domain. The relative orbital element framework is used to formulate safety checks that improve the trajectory’s robustness in case of chaser’s malfunctions or loss of control. Particularly, concepts of passive abort safety and active collision safety are applied to the trajectory design to maintain the chaser outside keep-out zones. These definitions are included within a guidance algorithm that exploits sequential convex programming to efficiently solve the fixed final time safety-constrained close-range rendezvous problem. Test cases of reconfiguration between stable relative orbits and synchronization to a rotating hold point are presented, highlighting the advantages in using these new safety concepts in terms of safety, trajectory insight, and formulation efficiency.

Drone Regulation and AI Law: Assessing the Intersection of the EU Legal Frameworks for Unmanned Aircraft and Artificial Intelligence

Drones are becoming a more familiar sight in the skies. This growth has potential implications for all aspects of society. To ensure safe, secure and sustainable drone activities, regulatory authorities have been revoking, amending or introducing laws. The primary focus has been on aviation safety rules for the design, manufacture and operation of these unmanned aircraft. These rules do not directly address other domains. This paper assesses how the EU’s drone-specific safety-based rules interact with the EU’s AI legal framework that is currently being developed. While drone rules do not address AI directly, they do indirectly as, for example, autonomous drone operations are permitted in the single European sky. The general AI legal framework also applies to drone activities, despite such not being mentioned. This paper brings together the sector-specific EU drone rules and the EU’s generalAI legal framework to understand what the term ‘AI’ means within the context of drone operations, and assesses whether there are any inconsistencies, contradictions, overlaps or lacunae. This will determine the applicability and suitability of applying the general AI legal framework to a specific technology (drones) and sector (aviation), and whether the drone rules can contribute to the regulation of AI more generally.

Electro-Optical Relative Navigation for Inspection and Rendezvous in the SpEye Mission

The execution of autonomous in-orbit servicing operations is expected to play a crucial role to preserve and enhance satellites’ performance, as well as to ensure a sustainable use of outer space. In this respect, several research efforts are dedicated to addressing the technological challenges that characterize the development of an autonomous guidance, navigation, and control system. In this framework, the Space Eye (SpEye) mission, funded by the Italian Space Agency, aims to demonstrate safe and inexpensive on-orbit inspection of a target satellite using a CubeSat-based free-flying nanosatellite. This paper, which stems from the phase A mission study, describes the high-level architectural design of its electro-optical-based relative navigation subsystem, employing multisensor algorithmic approaches based on the combination of visual, laser, and Differential Global Navigation Satellite System measurements. A dedicated environment is developed for the simulation of measurements from the relative navigation suite (including a synthetic image generator), allowing a preliminary performance assessment of the proposed algorithmic approaches.

Research Progress on Autonomous Operation of Industrial Robots Based on Big Data and Machine Vision

Research Progress on Autonomous Operation of Industrial Robots Based on Big Data and Machine Vision

Single-layer MoS2/graphene-based stable on-chip Zn-ion microbattery for monolithically integrated electronics

Self-powered microelectronics are essential for the sustained and autonomous operations of wireless electronics and microrobots. However, they are challenged by integratable microenergy supplies. Herein, we report a single-layer (SL) MoS2/graphene heterostructure for stable Zn-ion microbatteries. The MoS2/graphene heterostructure not only provides high chemical affinity for Zn and generates perfect lattice matching for Zn (002) deposition, but also facilitates homogeneous current density distribution. As a result, Zn metal is reversibly epitaxially plating/stripping at/from the heterostructure, without the formation of dendrites. The MoS2/graphene-based Zn||MnO2 microbattery with a tiny footprint area sub-0.1 mm2 shows a stable high capacity of 0.16 mAh cm−2 at 0.5 mA cm−2 within 470 cycles. Using a single piece of crystalline MoS2/graphene film, on-chip microbatteries and transistors were simultaneously fabricated via a facile lithography process, achieving highly integrated self-powered field-effect transistors and photodetector. The SL MoS2/graphene-based self-powered monolithically integrated microsystem paves a new way for the multi-functionalization and miniaturization of next-generation electronics.

Automation of agricultural machinery: Development and validation of a portable automation module for oil palm plantation machinery

The primary objective of this project is to create a portable automation module that should be suitable for various heavy machines in agriculture. To begin, the OREC Bull Mower machine was chosen as the initial pilot study. Five major machine components were identified through meticulous analysis, laying the groundwork for the automation process. Several functions, including gear shifting, clutch operation, and other critical tasks, were successfully automated. Extensive testing and measurements were performed to identify the best actuators for precise and efficient control. The actuators and controllers were thoughtfully integrated into the enclosure, resulting in a versatile automation module that can be programmed for remote or autonomous operation. Lab and on-site testing proved the module's efficacy in real-world scenarios, validating its successful implementation. While the project has produced promising results, future improvements are required, particularly in mechanical fitting, design for assembly, and the use of reliable electronic components.

Shedding light on pollination deficits: Cueing into plant spectral reflectance signatures to monitor pollination delivery across landscapes

AbstractPollination underlies plant yield, health and reproductive success in agricultural and natural systems worldwide. It is therefore concerning that declining animal pollinator populations compounded by growing demands for food are leading to rising pollination deficits, with globally significant economic and environmental implications.Despite this urgent issue, accurate and scalable tools to quantify and track pollination across useful spatiotemporal scales are lacking. Here, we propose to shed new light on pollination deficits, looking to remote sensing platforms as a transformative mapping and monitoring tool and a solution for pollinator conservation and crop management.Providing a synthesis of our current understanding of pollination‐triggered floral senescence and underlying ultrastructural and metabolic changes, we propose how spectral reflectance technologies could be applied to accurately detect pollination events in real‐time and at the landscape scale.Synthesis and applications: We highlight where research efforts can be targeted to produce scalable methods for identifying field‐relevant bioindicators of pollination. We provide guidance on how spectral imaging accompanied by machine learning and coupled with autonomous operation technologies will enable applications to detect pollination delivery across complex landscapes. Ultimately, such an ecological application will transform our quantitative understanding of pollination services and, by directly linking plant yields and health, will reveal pollination deficits at high resolution to help mitigate risks to food security and ecosystem functioning.

Joint Design of Transmit Waveform and Altitude for Unmanned Aerial Vehicle-Enabled Integrated Sensing and Wireless Power Transfer Systems

Recently, unmanned aerial vehicle (UAV)-enabled wireless power transfer (WPT) has received great attention as a promising technology for providing stable power to energy-constrained devices by navigating three-dimensional (3D) space, particularly in challenging environments such as maritime networks and smart cities. Additionally, UAV-enabled radar sensing has gained significant attention as a key technology for future 6G networks, as it enables high-accuracy sensing for various applications, such as target detection and tracking, surveillance, and environmental monitoring, as well as autonomous UAV operation. In this regard, we investigated UAV-enabled integrated sensing and wireless power transfer (ISWPT) systems that combine radar sensing and WPT operations on a unified hardware platform, sharing the same spectrum of resources. In order to accurately sense multiple targets and efficiently transfer power to multiple devices at the same time, we propose a method for jointly designing the transmit waveform and UAV altitude, taking into account the fundamental trade-off between radar sensing performance with the desired beam pattern and WPT performance with the desired harvested power of the devices. We first developed an effective method to obtain the optimal waveform and altitude by solving a challenging non-convex optimization problem. Based on this, we developed another efficient, low-complexity method by exploring a novel transmit waveform and optimizing its parameters to reduce computational complexity and thereby lower power consumption in UAVs. The numerical results verify that the proposed method significantly improves both radar sensing and WPT performance, as well as substantially reduces computational complexity.

On Autonomous Superposition Operators in Spaces of μ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mu $$\\end{document}–Almost Periodic Functions and Applications to Linear Differential Equations

In this article we focus mainly on the class of almost periodic functions in view of the Lebesgue measure (briefly: μ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mu $$\\end{document}-a.p. functions) and on some if its subclasses. We are going to deal with autonomous superposition operators acting in the space of μ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mu $$\\end{document}-a.p. functions. We will indicate necessary and sufficient conditions under which the autonomous superposition operator maps the space under consideration into itself as well as conditions under which it is continuous. As a corollary from these results we indicate when the autonomous superposition operator defined on that space is a bijection. Next, we will analyse in detail the situation when the composition of μ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mu $$\\end{document}-a.p. function with a continuous function or with a homeomorphism gives a Stepanov almost periodic function. As an application of our results we indicate a subclass of μ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mu $$\\end{document}-a.p. functions for which linear differential equations with a non-homogeneous term belonging to this subclass may not have μ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mu $$\\end{document}-a.p. solutions.

An Approach to Realize Generalized Optimal Motion Primitives Using Physics Informed Neural Networks

Abstract Autonomous manipulation is a challenging problem in field robotics due to uncertainty in object properties, constraints, and coupling phenomenon with robot control systems. Humans learn motion primitives over time to effectively interact with the environment. We postulate that autonomous manipulation can be enabled by basic sets of motion primitives as well, but do not necessitate mimicking human motion primitives. This work presents an approach to generalized optimal motion primitives using physics-informed neural networks. Our simulated and experimental results demonstrate that optimality is notionally maintained where the mean maximum observed final position percent error was 0.564% and the average mean error for all the trajectories was 1.53%. These results indicate that notional generalization is attained using a physics-informed neural network approach that enables near optimal real-time adaptation of primitive motion profiles.

Development of 6DOF Hardware-in-the-Loop Ground Testbed for Autonomous Robotic Space Debris Removal

This paper presents the development of a hardware-in-the-loop ground testbed featuring active gravity compensation via software-in-the-loop integration, specially designed to support research in autonomous robotic removal of space debris. The testbed is designed to replicate six degrees of freedom (6DOF) motion maneuvering to accurately simulate the dynamic behaviors of free-floating robotic manipulators and free-tumbling space debris under microgravity conditions. The testbed incorporates two industrial 6DOF robotic manipulators, a three-finger robotic gripper, and a suite of sensors, including cameras, force/torque sensors, and tactile tensors. Such a setup provides a robust platform for testing and validating technologies related to autonomous tracking, capture, and post-capture stabilization within the context of active space debris removal missions. Preliminary experimental results have demonstrated advancements in motion control, computer vision, and sensor fusion. This facility is positioned to become an essential resource for the development and validation of robotic manipulators in space, offering substantial improvements to the effectiveness and reliability of autonomous capture operations in space missions.

Advancements in amphibious robot navigation through wheeled odometer uncertainty extension and distributed information fusion

The advancement and safeguarding of the water-land interface region is of paramount importance, and amphibious robots with the capacity for autonomous operation can play a pivotal role in this domain. However, the inability of the majority of reliable navigation sensors to adapt to the water-land interface environment presents a significant challenge for amphibious robots, as obtaining positional information is crucial for autonomous operation. To address this issue, we have proposed a positioning and navigation framework, designated as NAWR (Navigation Algorithm for Amphibious Wheeled Robots), with the objective of enhancing the navigation capabilities of amphibious robots. Firstly, a method for representing the odometer's confidence based on a simplified wheel-terrain interaction model has been developed. This method quantitatively assesses the reliability of each odometer by estimating the slip rate. Secondly, we have introduced an improved split covariance intersection filter (I-SCIF), which maximizes the utilization of navigation information sources to enhance the accuracy of positional estimation. Finally, we will integrate these two methods to form the NAWR framework and validate the effectiveness of the proposed methods through multiple robot field trials. The results from both field trials and ablation tests collectively demonstrate that the modules and overall approach within the NAWR framework effectively enhance the navigation capabilities of amphibious robots.

Semantic Segmentation Model-Based Boundary Line Recognition Method for Wheat Harvesting

The wheat harvesting boundary line is vital reference information for the path tracking of an autonomously driving combine harvester. However, unfavorable factors, such as a complex light environment, tree shade, weeds, and wheat stubble color interference in the field, make it challenging to identify the wheat harvest boundary line accurately and quickly. Therefore, this paper proposes a harvest boundary line recognition model for wheat harvesting based on the MV3_DeepLabV3+ network framework, which can quickly and accurately complete the identification in complex environments. The model uses the lightweight MobileNetV3_Large as the backbone network and the LeakyReLU activation function to avoid the neural death problem. Depth-separable convolution is introduced into Atrous Spatial Pyramid Pooling (ASPP) to reduce the complexity of network parameters. The cubic B-spline curve-fitting method extracts the wheat harvesting boundary line. A prototype harvester for wheat harvesting boundary recognition was built, and field tests were conducted. The test results show that the wheat harvest boundary line recognition model proposed in this paper achieves a segmentation accuracy of 98.04% for unharvested wheat regions in complex environments, with an IoU of 95.02%. When the combine harvester travels at 0~1.5 m/s, the normal speed for operation, the average processing time and pixel error for a single image are 0.15 s and 7.3 pixels, respectively. This method could achieve high recognition accuracy and fast recognition speed. This paper provides a practical reference for the autonomous harvesting operation of a combine harvester.

Development of a software platform for automatic train operation: Integrating meso- and microscopic layers

This article presents a comprehensive study on the development and integration of the mesoscopic and microscopic layers within the control architecture of railway systems, enabling autonomous operation. A key outcome of this research is developing a software platform that provides the foundation for improving autonomous train control algorithms. The mesoscopic layer, defined as the high-level component of the automatic train operation (ATO) subsystem, focuses on generating setpoints to control the traction system, which are subsequently transmitted to the low-level component of the ATO subsystem. A simplified model is employed in the mesoscopic layer to enhance planning capabilities and facilitate efficient decision-making processes, while a detailed model represents the physical system. Simulations evaluate the effectiveness of this integrated system, considering various disturbances to thoroughly assess the performance of the mesoscopic layer algorithm and the microscopic layer control system. The results confirm that by successfully integrating these layers, precise and efficient control of train motion is achieved while considering all constraints imposed by the macroscopic layer. Furthermore, this software platform is set for future development, including implementing intelligent control techniques to enhance autonomous train control.

Efficient micro-mobility path planning without using high-definition maps

Efficient path planning is crucial for the safe autonomous operation of micro-mobility vehicles in unknown environments. When planning paths for micro-mobility, factors, such as the changes in the user's intended destination and user comfort, must be considered. Moreover, for driving in unknown areas, the path planner should not rely on predetermined detailed information like High-Definition maps (HD maps). In this paper, we propose an innovative path planning algorithm for automated driving that solely uses basic perception data from RGB camera, IMU and GPS, thereby eliminating the dependency on HD maps. We initially convert perception data into an occupancy grid map. Subsequently, a global path planner, based on a modified A* algorithm, computes an efficient trajectory, particularly adept to navigation in unknown environments and to scenarios where goal position moves. Additionally, we developed a local planner that optimize multi-clothoid curves using designed constraints to predict the best trajectory. Our experiments, conducted in both simulated and real-world environments, validate the effectiveness of our approach for micro-mobility path planning using only perception data.

Energy management system for multi interconnected microgrids during grid connected and autonomous operation modes considering load management

This study focuses on improving power system grid performance and efficiency through the integration of distributed energy resources (DERs). The study proposes an artificial intelligence (AI) based effective approach for economic dispatch and load management for three linked microgrids (MGs) that operate in both grid-connected and autonomous modes. A day-ahead scheduling method is suggested to calculate the optimal set points for various energy sources in MGs considering various system constraints for safe operation. In addition, a load management approach that shifts the controllable loads from one interval to another is applied to reduce the operating cost of MG. To handle the optimization challenges of energy scheduling and load shifting such complexity and non-linearity, an advanced meta-heuristic method known as the one-to-one based optimizer (OOBO) is used. Overall, the paper proposes a viable and efficient methodology for economical distribution in linked microgrids, which takes advantage of renewable energy resources and incorporates scheduling optimization via the OOBO algorithm. The proposed energy management strategy enhances the system performance, increases energy efficiency, and reduces the daily operational cost by 1.6% for grid connected mode and by 0.47% for islanded operation mode.

Extremum Seeking-Based Radio Signal Strength Optimization Algorithm for Hoverable UAV Path Planning

For the safe autonomous operations of unmanned aerial vehicles (UAVs) and ground control stations (GCS), including autonomous battery replacement, wireless power transfer, and more, the precise landing of UAVs on GCS is essential. Accurate landing is only possible when the link capacity strength exceeds a certain threshold, but this is often disturbed due to complex terrain. To address this, we developed an extremum seeking (ES)-based radio signal strength optimization (RSSO) algorithm, ES-RSSO, designed to find the optimal positions of the UAV using radio communication signals. This ensures energy-efficient path planning while guaranteeing the minimum received signal strength indication (RSSI) capacity. This algorithm is particularly useful in obstacle-rich environments, where UAVs are limited in power resources. Simulation results demonstrate a 2.37% decrease in the mean, a 62.08% improvement in variance, and a 3.72% decrease in the integration strength of the link capacity when ES-RSSO is applied. These results confirm that the RADIO.rssi maintenance ability remains above a critical boundary level, supporting robust communication links and energy-efficient path planning. Throughout the study, we showed how, in many cases, simply moving the UAV a few meters can significantly improve the communication link.

Conceptual design of an autonomous single-container vessel

The growth of maritime shipping is leading to the creation of larger vessels. However, this expansion in size brings with it several challenges, including the development of maritime infrastructure, the potential for growth in third-world countries, and the emission of greenhouse gases. In response to these challenges, this research explores the feasibility of designing an autonomous ship capable of transporting a single standardized 40 ft. container overseas using mainly passive propulsion methods. Using advanced design tools, including CAD software and CFD simulations, as well as conducting a comprehensive analysis of relevant literature, the designs for a hull and sails were developed, and an overview of the potential active control systems required for autonomous operation was provided. The study also performed an initial analysis of strength, stability, and velocity to validate the design choices. The ship proves to adhere to the basic strength and stability requirements while reaching its maximum hull velocity at certain wind speeds. The results of the study indicate that it is possible to design and manufacture a mainly passively propelled ship capable of transporting a 40 ft. standardized container overseas and rethink the logistics at scale.

A Modular Smart Ocean Observatory for Development of Sensors, Underwater Communication and Surveillance of Environmental Parameters

The rapid growth of marine industries has emphasized the focus on environmental impacts for all industries, as well as the influence of key environmental parameters on, for instance, offshore wind or aquaculture performance, animal welfare and structural integrity of different constructions. Development of automatized sensors together with efficient communication and information systems will enhance surveillance and monitoring of environmental processes and impact. We have developed a modular Smart Ocean observatory, in this case connected to a large-scale marine aquaculture research facility. The first sensor rigs have been operational since May 2022, transmitting environmental data in near real-time. Key components are Acoustic Doppler Current Profilers (ADCPs) for measuring directional wave and current parameters, and CTDs for redundant measurement of depth, temperature, conductivity and oxygen. Communication is through 4G network or cable. However, a key purpose of the observatory is also to facilitate experiments with acoustic wireless underwater communication, which are ongoing. The aim is to expand the system(s) with demersal independent sensor nodes communicating through an “Internet of Underwater Things (IoUT)”, covering larger areas in the coastal zone, as well as open waters, of benefit to all ocean industries. The observatory also hosts experiments for sensor development, biofouling control and strategies for sensor self-validation and diagnostics. The close interactions between the experiments and the infrastructure development allow a holistic approach towards environmental monitoring across sectors and industries, plus to reduce the carbon footprint of ocean observation. This work is intended to lay a basis for sophisticated use of smart sensors with communication systems in long-term autonomous operation in remote as well as nearshore locations.

Autonomous Scanning Tunneling Microscopy Imaging via Deep Learning.

Scanning tunneling microscopy (STM) is a powerful technique that provides the ability to manipulate and characterize individual atoms and molecules with atomic-level precision. However, the processes of scanning samples, operating the probe, and analyzing data are typically labor-intensive and subjective. Deep learning (DL) techniques have shown immense potential in automating complex tasks and solving high-dimensional problems. In this study, we developed an autonomous STM framework powered by DL to enable autonomous operations of the STM without human interventions. Our framework employs a convolutional neural network (CNN) for real-time evaluation of STM image quality, a U-net model for identifying bare surfaces, and a deep Q-learning network (DQN) agent for autonomous probe conditioning. Additionally, we integrated an object recognition model for the automated recognition of different adsorbates. This autonomous framework enables the acquisition of space-averaging information using STM techniques without compromising the high-resolution molecular imaging. We achieved measuring an area of approximately 1.9 μm2 within 48 h of continuous measurement and automatedly generated the statistics on the molecular species present within the mesoscopic area. We demonstrate the high robustness of the framework by conducting measurements at the liquid nitrogen temperature (∼78 K). We envision that the integration of DL techniques and high-resolution microscopy will not only extend the functionality and capability of scanning probe microscopes but also accelerate the understanding and discovery of new materials.