In the process of materials discovery, chemists currently need to perform many laborious, time-consuming, and often dangerous lab experiments. To accelerate this process, we propose a framework for robots to assist chemists by performing lab experiments autonomously. The solution allows a general-purpose robot to perform diverse chemistry experiments and efficiently make use of available lab tools. Our system can load high-level descriptions of chemistry experiments, perceive a dynamic workspace, and autonomously plan the required actions and motions to perform the given chemistry experiments with common tools found in the existing lab environment. Our architecture uses a modified PDDLStream solver for integrated task and constrained motion planning, which generates plans and motions that are guaranteed to be safe by preventing collisions and spillage. We present a modular framework that can scale to many different experiments, actions, and lab tools. In this work, we demonstrate the utility of our framework on three pouring skills and two foundational chemical experiments for materials synthesis: solubility and recrystallization. More experiments and updated evaluations can be found at https://ac-rad.github.io/arc-icra2023.

Solute transport in porous media is relevant to a wide range of applications in hydrogeology, geothermal energy, underground CO2 storage, and a variety of chemical engineering systems. Due to the complexity of solute transport in heterogeneous porous media, traditional solvers require high resolution meshing and are therefore expensive computationally. This study explores the application of a mesh-free method based on deep learning to accelerate the simulation of solute transport. We employ Physics-informed Neural Networks (PiNN) to solve solute transport problems in homogeneous and heterogeneous porous media governed by the advection-dispersion equation. Unlike traditional neural networks that learn from large training datasets, PiNNs only leverage the strong form mathematical models to simultaneously solve for multiple dependent or independent field variables (e.g., pressure and solute concentration fields). In this study, we construct PiNN using a periodic activation function to better represent the complex physical signals (i.e., pressure) and their derivatives (i.e., velocity). Several case studies are designed with the intention of investigating the proposed PiNN's capability to handle different degrees of complexity. A manual hyperparameter tuning method is used to find the best PiNN architecture for each test case. Point-wise error and mean square error (MSE) measures are employed to assess the performance of PiNNs' predictions against the ground truth solutions obtained analytically or numerically using the finite element method. Our findings show that the predictions of PiNN are in good agreement with the ground truth solutions while reducing computational complexity and cost by, at least, three orders of magnitude.

Snakes and their bio-inspired robot counterparts have demonstrated locomotion on a wide range of terrains. However, dynamic vertical climbing is one locomotion strategy that has received little attention in the existing snake robotics literature. We demonstrate a new scansorial gait and robot inspired by the locomotion of the Pacific Lamprey. This new gait allows a robot to steer while climbing on flat, near-vertical surfaces. A reduced-order model is developed and used to explore the relationship between body actuation and vertical and lateral motions of the robot. Trident, the new wall climbing lamprey-inspired robot, demonstrates dynamic climbing on flat vertical surfaces with a peak net vertical stride displacement of 4.1 cm per step. Actuating at 1.3 Hz, Trident attains a vertical climbing speed of 4.8 cm/s (0.09 Bl/s) at specific resistance of 8.3. Trident can also traverse laterally at 9 cm/s (0.17 Bl/s). Moreover, Trident is able to make 14\% longer strides than the Pacific Lamprey when climbing vertically. The computational and experimental results demonstrate that a lamprey-inspired climbing gait coupled with appropriate attachment is a useful climbing strategy for snake robots climbing near vertical surfaces with limited push points.

Gathering properly labelled, adequately rich, and case-specific data for successfully training a data-driven or hybrid model for structural health monitoring (SHM) applications is a challenging task. We posit that a Transfer Learning (TL) method that utilizes available data in any relevant source domain and directly applies to the target domain through domain adaptation can provide substantial remedies to address this issue. Accordingly, we present a novel TL method that differentiates between the source's no-damage and damage cases and utilizes a domain adaptation (DA) technique. The DA module transfers the accumulated knowledge in contrasting no-damage and damage cases in the source domain to the target domain, given only the target's no-damage case. High-dimensional features allow employing signal processing domain knowledge to devise a generalizable DA approach. The Generative Adversarial Network (GAN) architecture is adopted for learning since its optimization process accommodates high-dimensional inputs in a zero-shot setting. At the same time, its training objective conforms seamlessly with the case of no-damage and damage data in SHM since its discriminator network differentiates between real (no damage) and fake (possibly unseen damage) data. An extensive set of experimental results demonstrates the method's success in transferring knowledge on differences between no-damage and damage cases across three strongly heterogeneous independent target structures. The area under the Receiver Operating Characteristics curves (Area Under the Curve - AUC) is used to evaluate the differentiation between no-damage and damage cases in the target domain, reaching values as high as 0.95. With no-damage and damage cases discerned from each other, zero-shot structural damage detection is carried out. The mean F1 scores for all damages in the three independent datasets are 0.978, 0.992, and 0.975.

这项研究旨在提出一个基于K-neart邻居的新型分类器，该分类器使用Power Muirhead平均操作员来计算每个类别的本地平均值。我们称我们的新方法电源muirhead Mean K-Nearest邻居（PMM-KNN）分类器。PMM-KNN分类器具有多个参数，可以针对每个问题确定和微调，这些参数与其他最近的邻居方法相比是一个优势。我们使用五个知名数据集评估PMM-KNN性能。研究结果表明，PMM-KNN优于其他一些分类方法。

如今，基于CNN的架构在学习和提取功能方面的图像分类成功使它们如此受欢迎，但是当我们使用最先进的模型对嘈杂和低质量的图像进行分类时，图像分类的任务变得更加具有挑战性。为了解决这个问题，我们提出了一种新颖的图像分类体系结构，该体系结构以模糊和嘈杂的低分辨率图像学习细节。为了构建我们的新块，我们使用了RES连接和Inception模块想法的想法。使用MNIST数据集，我们进行了广泛的实验，表明引入的体系结构比其他最先进的卷积神经网络更准确，更快。由于我们的模型的特殊特征，它可以通过更少的参数获得更好的结果。

在过去的几十年中，研究人员对连续的手势识别（CHGR）进行了广泛的研究。最近，已经提出了一种模型来应对连续的手势视频中孤立手势的边界检测的挑战[17]。为了增强模型性能，还可以在[17]中提出的模型中替换手工制作的特征提取器，我们提出了GCN模型，并将其与堆叠的BI-LSTM和注意力模块结合使用，以在视频流中推动时间信息。考虑到骨架模式的GCN模型的突破，我们提出了一种两层GCN模型，以增强3D手骨架功能。最后，从[17]借用的每个隔离手势的类概率被馈送到后处理模块中。此外，我们用一些非解剖图结构代替了解剖图结构。由于缺乏大型数据集，包括连续手势序列和相应的孤立手势，三个动态手势识别（DHGR）中的公共数据集，RKS-Persiansign和Aslvid用于评估。实验结果表明，在处理连续的手势序列中处理孤立的手势边界检测方面所提出的模型的优越性

手语是聋人和听力受损社区中使用的沟通语言的主要形式。在听力障碍和听力社区之间进行简单互相的沟通，建立一个能够将口语翻译成手语的强大系统，反之亦然是基本的。为此，标志语言识别和生产是制作这种双向系统的两个必要零件。手语识别和生产需要应对一些关键挑战。在这项调查中，我们审查了使用深度学习的手语制作（SLP）和相关领域的最近进展。为了有更现实的观点来签署语言，我们介绍了聋人文化，聋人中心，手语的心理视角，口语和手语之间的主要差异。此外，我们介绍了双向手语翻译系统的基本组成部分，讨论了该领域的主要挑战。此外，简要介绍了SLP中的骨干架构和方法，并提出了拟议的SLP分类物。最后，介绍了SLP和绩效评估的一般框架，也讨论了SLP最近的发展，优势和限制，评论可能的未来研究的可能线条。

基于传感器的相机识别（SCI）方法的性能严重依赖于估计光响应非均匀性（PRNU）的去噪滤波器。鉴于各种对提高提取的PRNU质量的尝试，它仍然存在于低分辨率图像和高计算需求中的不令人满意的性能。利用PRNU估计和图像去噪的相似性，利用了基于PRNU提取的卷积神经网络（CNN）的最新成就。本文在公共“德累斯顿图像数据库”上对SCI性能进行了对比较评估。我们的研究结果是两倍。从一个方面，来自图像内容的PRNU提取和图像去噪分开噪声。因此，如果仔细培训，SCI可以从最近的CNN Denoisers受益。从另一方面，PRNU提取和图像去噪的目标和场景是不同的，因为一个优化噪声质量和另一个优化图像质量。当CNN Denoisers用于PRNU估计时，需要精心定制的培训。理论上和实际评估培训数据准备和损失功能设计的替代策略。我们指出，用图像 - PRNU对喂养CNN，并以基于相关的损耗函数训练它们导致最好的PRNU估计性能。为了便于对SCI的进一步研究，我们还提出了一种最小损失相机指纹量化方案，我们使用该量化方案将指纹保存为PNG格式的图像文件。此外，我们从“德累斯顿图像数据库”公开可用的相机的量化指纹。

诸如社交网络，事物互联网或医疗保健系统等人为的系统系统越来越成为现代生活的主要方面。在这种系统中的人类行为的现实模型在准确的建模和预测中起着重要作用。然而，在不确定性下的人类行为通常违反传统概率模型的预测。最近，量子类似的决策理论已经示出了通过应用量子概率来解释人类行为中的矛盾的相当大的潜力。但是提供了可以预测的量子决策理论，而不是描述当前的人类行为状态仍然是未解决的挑战之一。我们的方法的主要新颖性正在推出一个受到量子信息理论中纠缠概念的纠缠贝叶斯网络，其中每个人都是整个社会的一部分。因此，社会对决策过程的动态演变的影响，这些过程较不经常考虑在决策理论中，是由纠缠措施建模的。在22项实验任务中评估了所提出的预测纠缠量子样量子贝叶斯网络（PEQBN）。结果证实，PEQBN在与经典贝叶斯网络和最近的量子类似的方法相比，在不确定性下提供了更现实的人类决策预测。