Multi-Task Foreground-Aware Network with Depth Completion for Enhanced RGB-D Fusion Object Detection Based on Transformer.

Fusing multiple sensor perceptions, specifically LiDAR and camera, is a prevalent method for target recognition in autonomous driving systems. Traditional object detection algorithms are limited by the sparse nature of LiDAR point clouds, resulting in poor fusion performance, especially for detecting small and distant targets. In this paper, a multi-task parallel neural network based on the Transformer is constructed to simultaneously perform depth completion and object detection. The loss functions are redesigned to reduce environmental noise in depth completion, and a new fusion module is designed to enhance the network's perception of the foreground and background. The network leverages the correlation between RGB pixels for depth completion, completing the LiDAR point cloud and addressing the mismatch between sparse LiDAR features and dense pixel features. Subsequently, we extract depth map features and effectively fuse them with RGB features, fully utilizing the depth feature differences between foreground and background to enhance object detection performance, especially for challenging targets. Compared to the baseline network, improvements of 4.78%, 8.93%, and 15.54% are achieved in the difficult indicators for cars, pedestrians, and cyclists, respectively. Experimental results also demonstrate that the network achieves a speed of 38 fps, validating the efficiency and feasibility of the proposed method.

Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles.

To ensure the mission implementation of Autonomous Underwater Vehicles (AUVs), faults occurring on actuators should be detected and located promptly; therefore, reliable control strategies and inputs can be effectively provided. In this paper, faults occurring on the propulsion and attitude control systems of a torpedo-shaped AUV are analyzed and located while fault features may induce confusions for conventional fault localization (FL). Selective features of defined fault parameters are assorted as necessary conditions against different faulty actuators and synthesized in a fault tree subsequently to state the sufficiency towards possible abnormal parts. By matching fault features with those of estimated fault parameters, suspected faulty sections are located. Thereafter, active FL strategies that analyze the related fault parameters after executing purposive actuator control are proposed to provide precise fault location. Moreover, the generality of the proposed methods is analyzed to support extensive implementations. Simulations based on finite element analysis against a torpedo-shaped AUV with actuator faults are carried out to illustrate the effectiveness of the proposed methods.

An Attitude Prediction Method for Autonomous Recovery Operation of Unmanned Surface Vehicle.

The development of launch and recovery technology is key for the application to the unmanned surface vehicle (USV). Also, a launch and recovery system (L&RS) based on a pneumatic ejection mechanism has been developed in our previous study. To improve the launch accuracy and reduce the influence of the sea waves, we propose a stacking model of one-dimensional convolutional neural network and long short-term memory neural network predicting the attitude of the USV. The data from experiments by "Jinghai VII" USV developed by Shanghai University, China, under levels 1-4 sea conditions are used to train and test the network. The results show that the stabilized platform with the proposed prediction method can keep the launching angle of the launching mechanism constant by regulating the pitching joint and rotation joint under the random influence from the wave. Finally, the efficiency and effectiveness of the L&RS are demonstrated by the successful application in actual environments.

Strain sensor on a chip for quantifying the magnitudes of tensile stress on cells.

During cardiac development, mechanotransduction from the in vivo microenvironment modulates cardiomyocyte growth in terms of the number, area, and arrangement heterogeneity. However, the response of cells to different degrees of mechanical stimuli is unclear. Organ-on-a-chip, as a platform for investigating mechanical stress stimuli in cellular mimicry of the in vivo microenvironment, is limited by the lack of ability to accurately quantify externally induced stimuli. However, previous technology lacks the integration of external stimuli and feedback sensors in microfluidic platforms to obtain and apply precise amounts of external stimuli. Here, we designed a cell stretching platform with an in-situ sensor. The in-situ liquid metal sensors can accurately measure the mechanical stimulation caused by the deformation of the vacuum cavity exerted on cells. The platform was applied to human cardiomyocytes (AC16) under cyclic strain (5%, 10%, 15%, 20 and 25%), and we found that cyclic strain promoted cell growth induced the arrangement of cells on the membrane to gradually unify, and stabilized the cells at 15% amplitude, which was even more effective after 3 days of culture. The platform's precise control and measurement of mechanical forces can be used to establish more accurate in vitro microenvironmental models for disease modeling and therapeutic research.

A Pneumatic Flexible Linear Actuator Inspired by Snake Swallowing.

Soft robots spark a revolution in human-machine interaction. However, developing high-performance soft actuators remains challenging due to trade-offs among output force, driving distance, control precision, safety, and compliance. Here, addressing the lack of long-distance, high-precision flexible linear actuators, an innovative pneumatic flexible linear actuator (PFLA) is introduced, inspired by the smooth and controlled process observed in snakes ingesting sizable food, such as eggs. This PFLA combines a soft tube, emulating the snake's body cavity, with a pneumatically driven piston. Through the joint modulation of moving resistance and driving force by pneumatic pressure, the PFLA exhibits exceptional motion control capabilities, including self-holding without pressure supply, smooth low-speed motion (down to 0.004 m s-1), high-speed motion (up to 5.6 m s-1) with low air pressure demand, and a self-protection mechanism. Highlighting its adaptability and versatility, the PFLA finds applications in various settings, including a wearable assistive devices, a manipulator capable of precise path tracking and positioning, and rapid transportation in diverse environments for pipeline inspection and firefighting. This PFLA combines biomimetic principles with sophisticated fluidic actuation to achieve long-distance, flexible, precise, and safe actuation, offering a more adaptive solution for force/motion transmission, particularly in challenging environments.

A Novel Biodegradable Multilayered Bioengineered Vascular Construct with a Curved Structure and Multi-Branches.

Constructing tissue engineered vascular grafts (TEVG) is of great significance for cardiovascular research. However, most of the fabrication techniques are unable to construct TEVG with a bifurcated and curved structure. This paper presents multilayered biodegradable TEVGs with a curved structure and multi-branches. The technique combined 3D printed molds and casting hydrogel and sacrificial material to create vessel-mimicking constructs with customizable structural parameters. Compared with other fabrication methods, the proposed technique can create more native-like 3D geometries. The diameter and wall thickness of the fabricated constructs can be independently controlled, providing a feasible approach for TEVG construction. Enzymatically-crosslinked gelatin was used as the material of the constructs. The mechanical properties and thermostability of the constructs were evaluated. Fluid-structure interaction simulations were conducted to examine the displacement of the construct's wall when blood flows through it. Human umbilical vein endothelial cells (HUVECs) were seeded on the inner channel of the constructs and cultured for 72 h. The cell morphology was assessed. The results showed that the proposed technique had good application potentials, and will hopefully provide a novel technological approach for constructing integrated vasculature for tissue engineering.