相关论文: Radiation Surveys in Active Nuclear Facilities wit…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Because robots can directly perceive and affect the physical world, security issues take on particular importance. In this paper, we describe the results of our work on scanning the entire IPv4 address space of the Internet for instances of…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
Detailed and realistic 3D environment representations have been a long-standing goal in the fields of computer vision and robotics. The recent emergence of neural implicit representations has introduced significant advances to these…
Research reactors host a wide range of activities that make use of the intense neutron fluxes generated at these facilities. Recent interest in performing measurements with relatively low event rates, e.g. reactor antineutrino detection, at…
Sensors are vital for environmental monitoring, yet their effectiveness diminishes under spatial uncertainty. We propose a robust optimization framework for maximizing the coverage of aerial directional sensors under spatial uncertainty.…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
Canada, a Tier 1 nuclear nation involved in uranium mining and refining, operating nuclear power reactors, and with a Small Modular Reactor action plan, maintains a rigorous nuclear security infrastructure. The Nuclear Emergency Response…
The threat of smuggled nuclear/radiological weapons and material in commercial containerized cargo remains a significant threat to global security more than a decade after the enactment of laws in the United States and elsewhere mandating…
A system and testing rig were designed and built to simulate the use of an eversion robot equipped with a radiation sensor to characterise an irradiated pipe prior to decommissioning. The magnets were used as dummy radiation sources which…
Due to their ability to anchor into tall urban landforms, such as lampposts or street lights, robotic aerial base stations (RABSs) can create a hyper-flexible wireless multi-hop heterogeneous network to meet the forthcoming green,…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…
In this work, we present a hierarchical framework designed to support robotic inspection under environment uncertainty. By leveraging a known environment model, existing methods plan and safely track inspection routes to visit points of…
$\mathrm{\gamma}$-ray spectroscopy is a quantitative, non-destructive technique that may be utilized for the identification and quantitative isotopic estimation of radionuclides. Traditional methods of isotopic determination have various…
The inspection of infrastructure for corrosion remains a task that is typically performed manually by qualified engineers or inspectors. This task of inspection is laborious, slow, and often requires complex access. Recently, deep learning…
This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through…
Autonomous robots used in infrastructure inspection, space exploration and other critical missions operate in highly dynamic environments. As such, they must continually verify their ability to complete the tasks associated with these…
Reconfigurable intelligent surface (RIS) has been regarded as a promising tool to strengthen the quality of signal transmissions in non-orthogonal multiple access (NOMA) networks. This article introduces a heterogeneous network (HetNet)…