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Unclonable human-invisible machine vision markers leveraging the omnidirectional chiral Bragg diffraction of cholesteric spherical reflectors

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Light(Science & Applications) 2022年第11期11卷 2583-2601页

作者： Hakam Agha Yong Geng Xu Ma Deniz IsInsu Avsar Rijeesh Kizhakidathazhath Yan-Song Zhang Ali Tourani hriday bavle Jose-Luis Sanchez-Lopez Holger Voos Mathew Schwartzo Jan P.F.Lagerwall University of Luxembourg Department of Physics&Materials Science1511 LuxembourgLuxembourg University of Luxembourg Interdisciplinary Centre for SecurityReliability and Trust(SnT)1855 LuxembourgLuxembourg University of Luxembourg University of LuxembourgDepartment of EngineeringL-1359 LuxembourgLuxembourg New Jersey Institute of Technology College of Architecture and DesignUniversity HeightsNewarkNJUSA

The seemingly simple step of molding a cholesteric liquid crystal into spherical shape,yielding a Cholesteric Spherical Reflector(CSR),has profound optical consequences that open a range of opportunities for potentially transformative technologies.The chiral Bragg diffraction resulting from the helical self-assembly of cholesterics becomes omnidirectional in CSRs.This turns them into selective retroreflectors that are exceptionally easy to distinguish-regardless of background--by simple and low-cost machine vision,while at the same time they can be made largely imperceptible to human vision.This allows them to be distributed in human-populated environments,laid out in the form of QR-code-like markers that help robots and Augmented Reality(AR)devices to operate reliably,and to identify items in their surroundings.At the scale of individual CSRs,unpredictable features within each marker turn them into Physical Unclonable Functions(PUFs),of great value for secure authentication.Via the machines reading them,CSR markers can thus act as trustworthy yet unobtrusive links between the physical world(buildings,vehicles,packaging...).and its digital twin computer representation.This opens opportunities to address pressing challenges in logistics and supply chain management,recycling and the circular economy,sustainable construction of the built environment,and many other fields of individual,societal and commercial importance.

关键词： spherical steric chiral

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An execution control method for the Aerostack aerial robotics framework

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 60-75页

作者： Martin MOLINA Alberto CAMPORREDONDO hriday bavle AlejANDro RODRIGUEZ-RAMOS Pascual CAMPOY Department of Artificial Intelligence Universidad Politécnica de Madrid Centre for Automation and Robotics Universidad Politécnica de Madrid

Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part of the Aerostack software framework for aerial robotics, and present technical challenges for execution control and design decisions to develop the method. The proposed method has an original design combining a distributed approach for execution control of behaviors(such as situation checking and performance monitoring) and centralizes coordination to ensure consistency of the concurrent execution. We conduct experiments to evaluate the method. The experimental results show that the method is general and usable with acceptable development efforts to efficiently work on different types of aerial missions. The method is supported by standards based on a robot operating system(ROS) contributing to its general use, and an open-source project is integrated in the Aerostack framework. Therefore, its technical details are fully accessible to developers and freely available to be used in the development of new aerial robotic systems.

关键词： Aerial robotics Control architecture Behavior-based control Executive system

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