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The manufacturing sector was recently affected by workforce shortages, a problem that automation and robotics can heavily minimize. Simultaneously, reinforcement learning (RL) offers a promising solution where robots can learn through interaction with the environment. In this work, we leveraged a simplistic robotic system to work with RL with "real" data without having to deploy large expensive robots in a manufacturing setting. A real-world tabletop arena was designed with robots that mimic the agents' behavior in the simulation. Despite the difference in dynamics and machine size, the robots were able to depict the same behavior as in the simulation. In addition, those experiments provided an initial understanding of the real deployment challenges., Comment: 3 pages, one figure, an extended abstract presented at the 7th edition of the Montreal AI symposium (MAIS) 2024

Airships, best recognized for their unique quality of payload/energy ratio, present a fascinating challenge for the field of engineering. Their construction and operation require a delicate balance of materials and rules, making them a compelling object of study. They embody a distinct intersection of physics, design, and innovation, offering a wide array of possibilities for future transportation and exploration. Thanks to their long-flight endurance, they are suited for long-term missions. To operate in complex environments such as indoor cluttered spaces, their membrane and mechatronics need to be protected from impacts. This paper presents a new indoor airship design inspired by origami and the Kresling pattern. The airship structure combines a carbon fiber exoskeleton and UV resin micro-lattices for shock absorption. Our design strengthens the robot while granting the ability to access narrow spaces by folding the structure - up to a volume expansion ratio of 19.8. To optimize the numerous parameters of the airship, we present a pipeline for design, manufacture, and assembly. It takes into account manufacturing constraints, dimensions of the target deployment area, and aerostatics, allowing for easy and quick testing of new configurations. We also present unique features made possible by combining origami with airship design, which reduces the chances of mission-compromising failures. We demonstrate the potential of the design with a complete simulation including an effective control strategy leveraging lightweight mechatronics to optimize flight autonomy in exploration missions of unstructured environments., Comment: 36 pages, 21 figures

The demand for cognitive load assessment with low-cost easy-to-use equipment is increasing, with applications ranging from safety-critical industries to entertainment. Though pupillometry is an attractive solution for cognitive load estimation in such applications, its sensitivity to light makes it less robust under varying lighting conditions. Multimodal data acquisition provides a viable alternative, where pupillometry is combined with electrocardiography (ECG) or electroencephalography (EEG). In this work, we study the sensitivity of pupillometry-based cognitive load estimation to light. By collecting heart rate variability (HRV) data during the same experimental sessions, we analyze how the multimodal data reduces this sensitivity and increases robustness to light conditions. In addition to this, we compared the performance in multimodal settings using the HRV data obtained from low-cost fitness-grade equipment to that from clinical-grade equipment by synchronously collecting data from both devices for all task conditions. Our results indicate that multimodal data improves the robustness of cognitive load estimation under changes in light conditions and improves the accuracy by more than 20% points over assessment based on pupillometry alone. In addition to that, the fitness grade device is observed to be a potential alternative to the clinical grade one, even in controlled laboratory settings., Comment: 9 pages

Robotics can help address the growing worker shortage challenge of the manufacturing industry. As such, machine tending is a task collaborative robots can tackle that can also highly boost productivity. Nevertheless, existing robotics systems deployed in that sector rely on a fixed single-arm setup, whereas mobile robots can provide more flexibility and scalability. In this work, we introduce a multi-agent multi-machine tending learning framework by mobile robots based on Multi-agent Reinforcement Learning (MARL) techniques with the design of a suitable observation and reward. Moreover, an attention-based encoding mechanism is developed and integrated into Multi-agent Proximal Policy Optimization (MAPPO) algorithm to boost its performance for machine tending scenarios. Our model (AB-MAPPO) outperformed MAPPO in this new challenging scenario in terms of task success, safety, and resources utilization. Furthermore, we provided an extensive ablation study to support our various design decisions., Comment: 7 pages, 4 figures

The uncrewed aerial systems industry is rapidly expanding due to advancements in smaller electronics, smarter sensors, advanced flight controllers, and embedded perception modules leveraging artificial intelligence. These technological progress have opened new indoor applications for UAS, including warehouse inventory management, security inspections of public spaces and facilities, and underground exploration. Despite the innovative designs from UAS manufacturers, there are no existing standards to ensure UAS and human safety in these environments. This study explores developing and evaluating micro-lattice structures for impact resistance in lightweight UAS. We examine patch designs using Face-Centered Cubic (FCC), Diamond (D), Kelvin (K), and Gyroid (GY) patterns and detail the processes for creating samples for impact and compression tests, including manufacturing and testing protocols. Our evaluation includes compression and impact tests to assess structural behavior, revealing the influence of geometry, compactness, and material properties. Diamond and Kelvin patterns were particularly effective in load distribution and energy absorption over the compression tests. Impact tests demonstrated significant differences in response between flexible and rigid materials, with flexible patches exhibiting superior energy dissipation and structural integrity under dynamic loading. The study provides a detailed analysis of specific energy absorption (SEA) and efficiency, offering insights into optimal micro-lattice structure designs for impact resistance in lightweight UAS applications., Comment: 23 page single column, 12 figures

Deploying mobile robots in construction sites to collaborate with workers or perform automated tasks such as surveillance and inspections carries the potential to greatly increase productivity, reduce human errors, and save costs. However ensuring human safety is a major concern, and the rough and dynamic construction environments pose multiple challenges for robot deployment. In this paper, we present the insights we obtained from our collaborations with construction companies in Canada and discuss our experiences deploying a semi-autonomous mobile robot in real construction scenarios., Comment: 5 pages, 5 figures, IEEE ICRA Workshop on Field Robotics 2024

Artistic performances involving robotic systems present unique technical challenges akin to those encountered in other field deployments. In this paper, we delve into the orchestration of robotic artistic performances, focusing on the complexities inherent in communication protocols and localization methods. Through our case studies and experimental insights, we demonstrate the breadth of technical requirements for this type of deployment, and, most importantly, the significant contributions of working closely with non-experts.

Epidemic models study the spread of an undesired agent through a population, be it infectious diseases through a country, misinformation in online social media, or pests infesting a region. In combating these epidemics, we rely neither on global top-down interventions, nor solely on individual adaptations. Instead, interventions most commonly come from local institutions such as public health departments, moderation teams on social media platforms, or other forms of group governance. Classic models, which are often individual or agent-based, are ill-suited to capture local adaptations. We leverage recent development of institutional dynamics based on cultural group selection to study how groups can attempt local control of an epidemic by taking inspiration from the successes and failures of other groups. Incorporating these institutional changes into the epidemic dynamics reveals paradoxes: a higher transmission rate can result in smaller outbreaks and decreasing the speed of institutional adaptation generally reduces outbreak size. When groups perceive a contagion as more worrisome, they can invest in improved policies and, if they maintain these policies long enough to have impact, lead to a reduction in endemicity. By looking at the interplay between the speed of institutions and the transmission rate of the contagions, we find rich co-evolutionary dynamics that reflect the complexity of known biological and social contagions.

Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc. In addition, a wide spectrum of control strategies has been proposed, ranging from traditional PID approaches to cutting-edge neural networks. Our systematic review aims to comprehensively identify and categorize locomotion systems and control schemes employed by spherical robots, spanning the years 1996 to 2023. A meticulous search across five databases yielded a dataset of 3189 records. As a result of our exhaustive analysis, we identified a collection of novel designs and control strategies. Leveraging the insights garnered, we provide valuable recommendations for optimizing the design and control aspects of spherical robots, supporting both novel design endeavors and the advancement of field deployments. Furthermore, we illuminate key research directions that hold the potential to unlock the full capabilities of spherical robots

This work presents BundleSeg, a reliable, reproducible, and fast method for extracting white matter pathways. The proposed method combines an iterative registration procedure with a recently developed precise streamline search algorithm that enables efficient segmentation of streamlines without the need for tractogram clustering or simplifying assumptions. We show that BundleSeg achieves improved repeatability and reproducibility than state-of-the-art segmentation methods, with significant speed improvements. The enhanced precision and reduced variability in extracting white matter connections offer a valuable tool for neuroinformatic studies, increasing the sensitivity and specificity of tractography-based studies of white matter pathways.

People organize in groups and contagions spread across them. A simple process, but complex to model due to dynamical correlations within groups and between groups. Groups can also change as agents join and leave them to avoid infection. To study the characteristic levels of group activity required to best model dynamics and for agents to adapt, we develop master equations for adaptive hypergraphs, finding bistability and regimes of detrimental, beneficial, and optimal rewiring, at odds with adaptation on networks. Our study paves the way for higher-order adaptation and self-organized hypergraphs.

Current epidemics in the biological and social domains are challenging the standard assumptions of mathematical contagion models. Chief among them are the complex patterns of transmission caused by heterogeneous group sizes and infection risk varying by orders of magnitude in different settings, like indoor versus outdoor gatherings in the COVID-19 pandemic or different moderation practices in social media communities. However, quantifying these heterogeneous levels of risk is difficult and most models typically ignore them. Here, we include these novel features in an epidemic model on weighted hypergraphs to capture group-specific transmission rates. We study analytically the consequences of ignoring the heterogeneous transmissibility and find an induced superlinear infection rate during the emergence of a new outbreak, even though the underlying mechanism is a simple, linear contagion. The dynamics produced at the individual and group levels are therefore more similar to complex, nonlinear contagions, thus blurring the line between simple and complex contagions in realistic settings. We support this claim by introducing a Bayesian inference framework to quantify the nonlinearity of contagion processes. We show that simple contagions on real weighted hypergraphs are systematically biased toward the superlinear regime if the heterogeneity of the weights is ignored, greatly increasing the risk of erroneous classification as complex contagions. Our results provide an important cautionary tale for the challenging task of inferring transmission mechanisms from incidence data. Yet, it also paves the way for effective models that capture complex features of epidemics through nonlinear infection rates., Comment: 19 pages, 5 figures

Precision agriculture aims to use technological tools for the agro-food sector to increase productivity, cut labor costs, and reduce the use of resources. This work takes inspiration from bees vision to design a remote sensing system tailored to incorporate UV-reflectance into a flower detector. We demonstrate how this approach can provide feature-rich images for deep learning strawberry flower detection and we apply it to a scalable, yet cost effective aerial monitoring robotic system in the field. We also compare the performance of our UV-G-B image detector with a similar work that utilizes RGB images., Comment: The video reference is: https://www.youtube.com/watch?v=ZSasfgOsjAY. This paper has been submitted to ICRA 2023

The drone industry is diversifying and the number of pilots increases rapidly. In this context, flight schools need adapted tools to train pilots, most importantly with regard to their own awareness of their physiological and cognitive limits. In civil and military aviation, pilots can train themselves on realistic simulators to tune their reaction and reflexes, but also to gather data on their piloting behavior and physiological states. It helps them to improve their performances. Opposed to cockpit scenarios, drone teleoperation is conducted outdoor in the field, thus with only limited potential from desktop simulation training. This work aims to provide a solution to gather pilots behavior out in the field and help them increase their performance. We combined advance object detection from a frontal camera to gaze and heart-rate variability measurements. We observed pilots and analyze their behavior over three flight challenges. We believe this tool can support pilots both in their training and in their regular flight tasks. A demonstration video is available on https://www.youtube.com/watch?v=eePhjd2qNiI

Social media platforms often assume that users can self-correct against misinformation. However, social media users are not equally susceptible to all misinformation as their biases influence what types of misinformation might thrive and who might be at risk. We call "diverse misinformation" the complex relationships between human biases and demographics represented in misinformation. To investigate how users' biases impact their susceptibility and their ability to correct each other, we analyze classification of deepfakes as a type of diverse misinformation. We chose deepfakes as a case study for three reasons: 1) their classification as misinformation is more objective; 2) we can control the demographics of the personas presented; 3) deepfakes are a real-world concern with associated harms that must be better understood. Our paper presents an observational survey (N=2,016) where participants are exposed to videos and asked questions about their attributes, not knowing some might be deepfakes. Our analysis investigates the extent to which different users are duped and which perceived demographics of deepfake personas tend to mislead. We find that accuracy varies by demographics, and participants are generally better at classifying videos that match them. We extrapolate from these results to understand the potential population-level impacts of these biases using a mathematical model of the interplay between diverse misinformation and crowd correction. Our model suggests that diverse contacts might provide "herd correction" where friends can protect each other. Altogether, human biases and the attributes of misinformation matter greatly, but having a diverse social group may help reduce susceptibility to misinformation., Comment: Supplementary appendix available upon request for the time being

In magnetic confinement fusion devices, the ratio of the plasma pressure to the magnetic field energy, $\beta$, can become sufficiently large that electromagnetic microinstabilities become unstable, driving turbulence that distorts or reconnects the equilibrium magnetic field. In this paper, a theory is proposed for electromagnetic, electron-driven linear instabilities that have current layers localised to mode-rational surfaces and binormal wavelengths comparable to the ion gyroradius. The model retains axisymmetric toroidal geometry with arbitrary shaping, and consists of orbit-averaged equations for the mode-rational surface layer, with a ballooning space kinetic matching condition for passing electrons. The matching condition connects the current layer to the large scale electromagnetic fluctuations, and is derived in the limit that $\beta$ is comparable to the square root of the electron-to-ion-mass ratio. Electromagnetic fluctuations only enter through the matching condition, allowing for the identification of an effective $\beta$ that includes the effects of equilibrium flux surface shaping. The scaling predictions made by the asymptotic theory are tested with comparisons to results from linear simulations of micro-tearing and electrostatic microinstabilities in MAST discharge #6252, showing excellent agreement. In particular, it is demonstrated that the effective $\beta$ can explain the dependence of the local micro-tearing mode (MTM) growth rate on the ballooning parameter $\theta_0$ -- possibly providing a route to optimise local flux surfaces for reduced MTM-driven transport., Comment: 29 pages, 14 figures

We formulate a generalized periodic boundary condition as a limit of the standard twist-and-shift parallel boundary condition that is suitable for simulations of plasmas with low magnetic shear. This is done by applying a phase shift in the binormal direction when crossing the parallel boundary. While this phase shift can be set to zero without loss of generality in the local flux-tube limit when employing the twist-and-shift boundary condition, we show that this is not the most general case when employing periodic parallel boundaries, and may not even be the most desirable. A non-zero phase shift can be used to avoid the convective cells that plague simulations of the three-dimensional Hasegawa-Wakatani system, and is shown to have measurable effects in periodic low-magnetic-shear gyrokinetic simulations. We propose a numerical program where a sampling of periodic simulations at random pseudo-irrational flux surfaces are used to determine physical observables in a statistical sense. This approach can serve as an alternative to applying the twist-and-shift boundary condition to low-magnetic-shear scenarios which, while more straightforward, can be computationally demanding., Comment: 5 figures, 1 table

Nonlinear multiscale gyrokinetic simulations of a Joint European Torus edge pedestal are used to show that electron-temperature-gradient (ETG) turbulence has a rich three-dimensional structure, varying strongly according to the local magnetic-field configuration. In the plane normal to the magnetic field, the steep pedestal electron temperature gradient gives rise to anisotropic turbulence with a radial (normal) wavelength much shorter than in the binormal direction. In the parallel direction, the location and parallel extent of the turbulence are determined by the variation in the magnetic drifts and finite-Larmor-radius (FLR) effects. The magnetic drift and FLR topographies have a perpendicular-wavelength dependence, which permits turbulence intensity maxima near the flux-surface top and bottom at longer binormal scales, but constrains turbulence to the outboard midplane at shorter electron-gyroradius binormal scales. Our simulations show that long-wavelength ETG turbulence does not transport heat efficiently, and significantly decreases overall ETG transport -- in our case by $\sim$40 \% -- through multiscale interactions., Comment: 17 pages, 14 figures

Knowledge silos emerge when structural properties of organizational interaction networks limit the diffusion of information. These structural barriers are known to take many forms at different scales - hubs in otherwise sparse organisations, large dense teams, or global core-periphery structure - but we lack an understanding of how these different structures interact. Here we bridge the gap between the mathematical literature on localization of spreading dynamics and the more applied literature on knowledge silos in organizational interaction networks. To do so, we introduce a new model that considers a layered structure of teams to unveil a new form of hierarchical localization (i.e., the localization of information at the top or center of an organization) and study its interplay with known phenomena of mesoscopic localization (i.e., the localization of information in large groups), $k$-core localization (i.e., around denser $k$-cores) and hub localization (i.e., around high degree stars). We also include a complex contagion mechanism by considering a general infection kernel which can depend on hierarchical level (influence), degree (popularity), infectious neighbors (social reinforcement) or team size (importance). This general model allows us to study the multifaceted phenomenon of information siloing in complex organizational interaction networks and opens the door to new optimization problems to promote or hinder the emergence of different localization regimes.

A novel approach to global gyrokinetic simulation is implemented in the flux-tube code $\texttt{stella}$. This is done by using a subsidiary expansion of the gyrokinetic equation in the perpendicular scale length of the turbulence, originally derived by Parra and Barnes [Plasma Phys. Controlled Fusion, $\textbf{57}$ 054003, 2015], which allows the use of Fourier basis functions while enabling the effect of radial profile variation to be included in a perturbative way. Radial variation of the magnetic geometry is included by utilizing a global extension of the Grad-Shafranov equation and the Miller equilibrium equations which is obtained through Taylor expansion. Radial boundary conditions that employ multiple flux-tube simulations are also developed, serving as a more physically motivated replacement to the conventional Dirichlet radial boundary conditions that are used in global simulation. It is shown that these new boundary conditions eliminate much of the numerical artefacts generated near the radial boundary when expressing a non-periodic function using a spectral basis. We then benchmark the new approach both linearly and nonlinearly using a number of standard test cases., Comment: 10 figures, 1 table

Interaction networks are generally much less homophilic than affiliation networks, accommodating for many more cross-cutting links. By statistically assigning a political valence to users from their network-level affiliation patterns, and by further contrasting interaction and affiliation (quotes and retweets) within specific discursive events, namely quote trees, we describe a variety of cross-cutting patterns which significantly nuance the traditional "echo chamber" narrative., Comment: Proc. Complex Networks'21, 10th International Conference on Complex Networks and their Applications

Societies change through time, entailing changes in behaviors and institutions. We ask how social change occurs when behaviors and institutions are interdependent. We model a group-structured society in which the transmission of individual behavior occurs in parallel with the selection of group-level institutions. We consider a cooperative behavior that generates collective benefits for groups but does not spread between individuals on its own. Groups exhibit institutions that increase the diffusion of the behavior within the group, but also incur a group cost. Groups adopt institutions in proportion to their fitness. Finally, cooperative behavior may also spread globally. As expected, we find that cooperation and institutions are mutually reinforcing. But the model also generates behavioral source-sink dynamics when cooperation generated in institutional groups spreads to non-institutional groups, boosting their fitness. Consequently, the global diffusion of cooperation creates a pattern of institutional free-riding that limits the evolution of group-beneficial institutions. Our model suggests that, in a group-structured society, large-scale change in behavior and institutions (i.e. social change) can be best achieved when the two remain correlated, such as through the spread successful pilot programs.