Development of a PPO-Reinforcement Learned Walking Tripedal Soft-Legged Robot using SOFA

Rigid robots were extensively researched, whereas soft robotics remains an underexplored field. Utilizing soft-legged robots in performing tasks as a replacement for human beings is an important stride to take, especially under harsh and hazardous conditions over rough terrain environments. For the demand to teach any robot how to behave in different scenarios, a real-time physical and visual simulation is essential. When it comes to soft robots specifically, a simulation framework is still an arduous problem that needs to be disclosed. Using the simulation open framework architecture (SOFA) is an advantageous step. However, neither SOFA's manual nor prior public SOFA projects show its maximum capabilities the users can reach. So, we resolved this by establishing customized settings and handling the framework components appropriately. Settling on perfect, fine-tuned SOFA parameters has stimulated our motivation towards implementing the state-of-the-art (SOTA) reinforcement learning (RL) method of proximal policy optimization (PPO). The final representation is a well-defined, ready-to-deploy walking, tripedal, soft-legged robot based on PPO-RL in a SOFA environment. Robot navigation performance is a key metric to be considered for measuring the success resolution. Although in the simulated soft robots case, an 82\% success rate in reaching a single goal is a groundbreaking output, we pushed the boundaries to further steps by evaluating the progress under assigning a sequence of goals. While trailing the platform steps, outperforming discovery has been observed with an accumulative squared error deviation of 19 mm. The full code is publicly available at \href{https://github.com/tarekshohdy/PPO_SOFA_Soft_Legged_Robot.git}{github.com/tarekshohdy/PPO$\textunderscore$SOFA$\textunderscore$Soft$\textunderscore$Legged$\textunderscore$ Robot.git}

Automated Pavement Cracks Detection and Classification Using Deep Learning

Monitoring asset conditions is a crucial factor in building efficient transportation asset management. Because of substantial advances in image processing, traditional manual classification has been largely replaced by semi-automatic/automatic techniques. As a result, automated asset detection and classification techniques are required. This paper proposes a methodology to detect and classify roadway pavement cracks using the well-known You Only Look Once (YOLO) version five (YOLOv5) and version 8 (YOLOv8) algorithms. Experimental results indicated that the precision of pavement crack detection reaches up to 67.3% under different illumination conditions and image sizes. The findings of this study can assist highway agencies in accurately detecting and classifying asset conditions under different illumination conditions. This will reduce the cost and time that are associated with manual inspection, which can greatly reduce the cost of highway asset maintenance.

Advancing Roadway Sign Detection with YOLO Models and Transfer Learning

Roadway signs detection and recognition is an essential element in the Advanced Driving Assistant Systems (ADAS). Several artificial intelligence methods have been used widely among of them YOLOv5 and YOLOv8. In this paper, we used a modified YOLOv5 and YOLOv8 to detect and classify different roadway signs under different illumination conditions. Experimental results indicated that for the YOLOv8 model, varying the number of epochs and batch size yields consistent MAP50 scores, ranging from 94.6% to 97.1% on the testing set. The YOLOv5 model demonstrates competitive performance, with MAP50 scores ranging from 92.4% to 96.9%. These results suggest that both models perform well across different training setups, with YOLOv8 generally achieving slightly higher MAP50 scores. These findings suggest that both models can perform well under different training setups, offering valuable insights for practitioners seeking reliable and adaptable solutions in object detection applications.