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The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite communication delays. Control Barrier Functions (CBFs) are used to define the safety constraints that the system has to respect to avoid obstacles, while Model Predictive Control (MPC) provides the framework for adjusting the desired input, taking the constraints into account. The resulting input is sent to the remote system, where appropriate low-level velocity controllers translate it into system-specific commands. The main novelty of the paper is a method to make the CBFs robust against the uncertainties caused by the network delays affecting the system's state and do so in a less conservative manner. The results show how the proposed method successfully solves the safety-critical teleoperation problem, making the controlled systems avoid obstacles with different types of network delay. The controller has also been tested in simulation and on a real manipulator, demonstrating its general applicability when reliable low-level velocity controllers are available., Comment: Accepted for publication in the 2024 European Control Conference (ECC)

Cloud native technologies have been observed to expand into the realm of Internet of Things (IoT) and Cyber-physical Systems, of which an important application domain is robotics. In this paper, we review the cloudification practice in the robotics domain from both literature and industrial perspectives. We propose RoboKube, an adaptive framework that is based on the Kubernetes (K8s) ecosystem to set up a common platform across the device-cloud continuum for the deployment of cloudified Robotic Operating System (ROS) powered applications, to facilitate the cloud native evolution in robotics. We examine the process of modernizing ROS applications using cloud-native technologies, focusing on both the platform and application perspectives. In addition, we address the challenges of networking setups for heterogeneous environments. This paper intends to serves as a guide for developers and researchers, offering insights into containerization strategies, ROS node distribution and clustering, and deployment options. To demonstrate the feasibility of our approach, we present a case study involving the cloudification of a teleoperation testbed., Comment: Accepted for publication in the 10th International Conference on Automation, Robotics, and Applications (ICARA 2024)

The main respiratory muscle, the diaphragm, is an example of a thin structure. We aim to perform detailed numerical simulations of the muscle mechanics based on individual patient data. This requires a representation of the diaphragm geometry extracted from medical image data. We design an adaptive reconstruction method based on a least-squares radial basis function partition of unity method. The method is adapted to thin structures by subdividing the structure rather than the surrounding space, and by introducing an anisotropic scaling of local subproblems. The resulting representation is an infinitely smooth level set function, which is stabilized such that there are no spurious zero level sets. We show reconstruction results for 2D cross sections of the diaphragm geometry as well as for the full 3D geometry. We also show solutions to basic PDE test problems in the reconstructed geometries., Comment: 25 pages, 15 figures, preprint

Lubricated textured surfaces immersed in liquid flows offer tremendous potential for reducing fluid drag, enhancing heat and mass transfer, and preventing fouling. According to current design rules, the lubricant must chemically match the surface to remain robustly trapped within the texture. However, achieving such chemical compatibility poses a significant challenge for large-scale flow systems, as it demands advanced surface treatments or severely limits the range of viable lubricants. In addition, chemically tuned surfaces often degrade over time in harsh environments. Here, we demonstrate that a lubricant-infused surface (LIS) can resist drainage in the presence of external shear flow without requiring chemical compatibility. Surfaces featuring longitudinal grooves can retain up to 50% of partially wetting lubricants in fully developed turbulent flows. The retention relies on contact-angle hysteresis, where triple-phase contact lines are pinned to substrate heterogeneities, creating capillary resistance that prevents lubricant depletion. We develop an analytical model to predict the maximum length of pinned lubricant droplets in microgrooves. This model, validated through a combination of experiments and numerical simulations, can be used to design chemistry-free LISs for applications where the external environment is continuously flowing. Our findings open up new possibilities for using functional surfaces to control transport processes in large systems., Comment: 20 pages, 12 figures

In this paper, we address the lack of datasets for - and the issue of reproducibility in - collaborative SLAM pose graph optimizers by providing a novel pose graph generator. Our pose graph generator, kollagen, is based on a random walk in a planar grid world, similar to the popular M3500 dataset for single agent SLAM. It is simple to use and the user can set several parameters, e.g., the number of agents, the number of nodes, loop closure generation probabilities, and standard deviations of the measurement noise. Furthermore, a qualitative execution time analysis of our pose graph generator showcases the speed of the generator in the tunable parameters. In addition to the pose graph generator, our paper provides two example datasets that researchers can use out-of-the-box to evaluate their algorithms. One of the datasets has 8 agents, each with 3500 nodes, and 67645 constraints in the pose graphs, while the other has 5 agents, each with 10000 nodes, and 76134 constraints. In addition, we show that current state-of-the-art pose graph optimizers are able to process our generated datasets and perform pose graph optimization. The data generator can be found at https://github.com/EricssonResearch/kollagen., Comment: Accepted for publication in 2023 IEEE International Conference on Robotics and Automation (ICRA)

We review comprehensive observations of electromagnetic ion cyclotron (EMIC) wave-driven energetic electron precipitation using data from the energetic electron detector on the Electron Losses and Fields InvestigatioN (ELFIN) mission, two polar-orbiting low-altitude spinning CubeSats, measuring 50-5000 keV electrons with good pitch-angle and energy resolution. EMIC wave-driven precipitation exhibits a distinct signature in energy-spectrograms of the precipitating-to-trapped flux ratio: peaks at 0.5 MeV which are abrupt (bursty) with significant substructure (occasionally down to sub-second timescale). Multiple ELFIN passes over the same MLT sector allow us to study the spatial and temporal evolution of the EMIC wave - electron interaction region. Using two years of ELFIN data, we assemble a statistical database of 50 events of strong EMIC wave-driven precipitation. Most reside at L=5-7 at dusk, while a smaller subset exists at L=8-12 at post-midnight. The energies of the peak-precipitation ratio and of the half-peak precipitation ratio (our proxy for the minimum resonance energy) exhibit an L-shell dependence in good agreement with theoretical estimates based on prior statistical observations of EMIC wave power spectra. The precipitation ratio's spectral shape for the most intense events has an exponential falloff away from the peak (i.e., on either side of 1.45 MeV). It too agrees well with quasi-linear diffusion theory based on prior statistics of wave spectra. Sub-MeV electron precipitation observed concurrently with strong EMIC wave-driven 1MeV precipitation has a spectral shape that is consistent with efficient pitch-angle scattering down to 200-300 keV by much less intense higher frequency EMIC waves. These results confirm the critical role of EMIC waves in driving relativistic electron losses. Nonlinear effects may abound and require further investigation.

Using numerical simulations, we investigate the effects of Marangoni stresses induced by surfactants on the effective slip length of liquid-infused surfaces (LIS) with transverse grooves. The surfactants are assumed soluble in the external liquid shearing the surface and can adsorb onto the interfaces. Two different adsorption models are used: a classical Frumkin model and a more advanced model that better describes the decrease of surface tension for minuscule concentrations. The simulations show that LIS may face even more severe effects of surfactants than previously investigated superhydrophobic surfaces. Constructing an analytical model for the effective slip length, we can predict the critical surfactant concentration for which the slip length decreases significantly. This analytical model describes both adsorption models of LIS on a unified framework if properly adjusted. We also advance the understanding of when surfactant advection gives rise to highly skewed interfacial concentrations - the so-called partial stagnant cap regime. To a good approximation, this regime can only exist below a specific surfactant concentration given by the Marangoni number and the strength of the surfactants., Comment: 34 pages, 13 figures

The motion of the three-phase contact line between two immiscible fluids and a solid surface arises in a variety of wetting phenomena and technological applications. One challenge in continuum theory is the effective representation of molecular phenomena close to the contact line. Here, we characterize the molecular processes of the moving contact line to assess the accuracy of two different continuum two-phase models. Specifically, molecular dynamics (MD) simulations of a two-dimensional droplet between two moving plates are used to create reference data for different capillary numbers and contact angles. We use a simple-point-charge/extended (SPC/E) water model with particle-mesh Ewald electrostatics treatment. This model provides a very small slip and a more realistic representation of the molecular physics than Lennards-Jones models. The Cahn-Hilliard phase-field model and the Volume-of-Fluid model are calibrated against the drop displacement from MD reference data. It is demonstrated that the calibrated continuum models can accurately capture droplet displacement and droplet breakup for different capillary numbers and contact angles. However, we also observe differences between continuum and atomistic simulations in describing the transient and unsteady droplet behavior, in particular, close to dynamical wetting transitions. The molecular dynamics of the sheared droplet provide insight of the line friction experienced by the advancing and receding contact lines and evidence of large-scale temporal "stick-slip" like oscillations. The presented results will serve as a stepping stone towards developing accurate continuum models for nanoscale hydrodynamics., Comment: 45 pages, 23 figures, 4 tables, 1 supplementary PDF, 2 supplementary movies, 1 supplementary archive, accepted for publication in "Journal of Fluid Mechanics"

Liquid-infused surfaces (LIS) can reduce friction drag in both laminar and turbulent flows. However, the heat transfer properties of such multi-phase surfaces have still not been investigated to a large extent. We use numerical simulations to study conjugate heat transfer of liquid-filled grooves. It is shown that heat transfer can increase for both laminar and turbulent liquid flows due to recirculation in the surface texture. For the increase to be substantial, the thermal conductivity of the solid must be similar to the thermal conductivity of the fluids, and the recirculation in the grooves must be sufficiently strong (P\'eclet number larger than 1). The ratio of the surface cavity to the system height is an upper limit of the direct contribution from the recirculation. While this ratio can be significant for laminar flows in microchannels, it is limited for turbulent flows, where the system scale (e.g. channel height) usually is much larger than the texture height. However, heat transfer enhancement on the order of $10\%$ is observed (with a net drag reduction) in a turbulent channel flow at a friction Reynolds number $Re_\tau \approx 180$. It is shown that the turbulent convection in the bulk can be enhanced indirectly from the recirculation in the grooves., Comment: 23 pages, 14 figures

Active learning is usually applied to acquire labels of informative data points in supervised learning, to maximize accuracy in a sample-efficient way. However, maximizing the accuracy is not the end goal when the results are used for decision-making, for example in personalized medicine or economics. We argue that when acquiring samples sequentially, separating learning and decision-making is sub-optimal, and we introduce an active learning strategy which takes the down-the-line decision problem into account. Specifically, we introduce a novel active learning criterion which maximizes the expected information gain on the posterior distribution of the optimal decision. We compare our targeted active learning strategy to existing alternatives on both simulated and real data, and show improved performance in decision-making accuracy.

Liquid-infused surfaces (LIS) are a promising technique for reducing friction, fouling and icing in both laminar and turbulent flows. Previous work has demonstrated that these surfaces are susceptible to shear-driven drainage. Here, we report a different failure mode using direct numerical simulations of a turbulent channel flow with liquid-infused longitudinal grooves. When the liquid-liquid surface tension is small and/or grooves are wide, we observe traveling-wave perturbations on the interface with amplitudes larger than the viscous sublayer of the turbulent flow. These capillary waves induce a roughness effect that increases drag. The generation mechanism of these waves is explained using the theory developed by Miles for gravity waves. Energy is transferred from the turbulent flow to the LIS provided that there is a negative curvature of the mean flow at the critical layer. Given the groove width, the Weber number and an estimate of the friction Reynolds number, we provide relations to determine whether a LIS behaves as a smooth or rough surface in a turbulent flow.