Inverse Kinematics and Dexterous Workspace Formulation for 2-Segment Continuum Robots with Inextensible Segments

The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution has been obtained for continuum robots with variable segment lengths. Attempting to close the gap towards a complete solution, this paper presents an efficient solution for the IK problem of 2-segment continuum robots with one or two inextensible segments (a.k.a, constant segment lengths). Via representing the robot's shape as piecewise line segments, the configuration variables are separated from the IK formulation such that solving a one-variable nonlinear equation leads to the solution of the entire IK problem. Furthermore, an in-depth investigation of the boundaries of the dexterous workspace of the end effector caused by the configuration variables limits as well as the angular velocity singularities of the continuum robots was established. This dexterous workspace formulation, which is derived for the first time to the best of the authors' knowledge, is particularly useful to find the closest orientation to a target pose when the target orientation is out of the dexterous workspace. In the comparative simulation studies between the proposed method and the Jacobian-based IK method involving 500,000 cases, the proposed variable separation method solved 100% of the IK problems with much higher computational efficiency.

A Two-stream End-to-End Deep Learning Network for Recognizing Atypical Visual Attention in Autism Spectrum Disorder

Eye movements have been widely investigated to study the atypical visual attention in Autism Spectrum Disorder (ASD). The majority of these studies have been focused on limited eye movement features by statistical comparisons between ASD and Typically Developing (TD) groups, which make it difficult to accurately separate ASD from TD at the individual level. The deep learning technology has been highly successful in overcoming this issue by automatically extracting features important for classification through a data-driven learning process. However, there is still a lack of end-to-end deep learning framework for recognition of abnormal attention in ASD. In this study, we developed a novel two-stream deep learning network for this recognition based on 700 images and corresponding eye movement patterns of ASD and TD, and obtained an accuracy of 0.95, which was higher than the previous state-of-the-art. We next characterized contributions to the classification at the single image level and non-linearly integration of this single image level information during the classification. Moreover, we identified a group of pixel-level visual features within these images with greater impacts on the classification. Together, this two-stream deep learning network provides us a novel and powerful tool to recognize and understand abnormal visual attention in ASD.

Solving a New 3D Bin Packing Problem with Deep Reinforcement Learning Method

In this paper, a new type of 3D bin packing problem (BPP) is proposed, in which a number of cuboid-shaped items must be put into a bin one by one orthogonally. The objective is to find a way to place these items that can minimize the surface area of the bin. This problem is based on the fact that there is no fixed-sized bin in many real business scenarios and the cost of a bin is proportional to its surface area. Our research shows that this problem is NP-hard. Based on previous research on 3D BPP, the surface area is determined by the sequence, spatial locations and orientations of items. Among these factors, the sequence of items plays a key role in minimizing the surface area. Inspired by recent achievements of deep reinforcement learning (DRL) techniques, especially Pointer Network, on combinatorial optimization problems such as TSP, a DRL-based method is applied to optimize the sequence of items to be packed into the bin. Numerical results show that the method proposed in this paper achieve about 5% improvement than heuristic method.