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检索条件"主题词=Field robotics"

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LineScout Technology: From Inspection to Robotic Maintenance on Live Transmission Power Lines

LineScout Technology: From Inspection to Robotic Maintenance...

引用

IEEE International Conference on robotics and Automation

作者： Pouliot, Nicolas Montambault, Serge Hydroquebec Montreal PQ Canada

ISBN: (纸本)9781424427888

Power line inspection and maintenance practices are evolving as changing market regulations, significantly increased line loading and system availability requirements put pressure on grid owners to innovate. robotics is thus making its debut in that field. Described in previous papers as an inspection tool, Hydro-Quebec Line Scout Technology is evolving into a teleoperated mobile robot capable of performing basic maintenance tasks. Programmable pan-and-tilt camera (PPTC) units were designed and implemented as the first step towards enhanced teleoperation control. Line Arm, a dual end effector robotic arm, was specifically designed for work on bundled conductors. Design specifications and kinematics of these two subsystems are presented. Implemented application modules to be mounted on Line Arm are also presented and their utilization is reported as a milestone in power line live maintenance. Lastly, future work and challenges in applying robotics to transmission line maintenance are briefly discussed.

关键词： Mechanical design field robotics telerobotics power line inspection robot

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AR-STAR: An Augmented Reality Tool for Online Modification of Robot Point Cloud Data 24

AR-STAR: An Augmented Reality Tool for Online Modification o...

引用

19th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Regal, Frank Swanbeck, Steven Gil, Fabian Parra Pryor, Mitch Univ Texas Austin Austin TX 78712 USA

ISBN: (纸本)9798400703232

Robotic solutions are being deployed in industry to perform increasingly challenging maintenance and inspection tasks. In many industrial applications, robots can encounter uncertainties that prevent task completion, potentially resulting in unexpected costs and unsafe working conditions. Supervised autonomy allows personnel to intervene and assist in negotiating these challenging situations. Augmented Reality (AR) allows for the visualization of complex robotic sensor data and provides an opportunity for non-expert users to interact with it in a natural and intuitive manner. We present a comprehensive AR application module-Augmented Reality-Situational Task Accept and Repair (AR-STAR)-that allows users to visualize LiDAR point cloud data along with sensor images and navigational goals. AR-STAR enables users to interact with LiDAR point clouds and modify them in real time. We developed and evaluated three interaction modalities that enable users to manipulate point cloud data in situ while observing the data superimposed on the physical environment. Demonstrated in a human-robot teaming scenario where tasked to identify and repair surface corrosion in a simulated industrial setting, we evaluate AR-STAR with pilot studies to determine the preferred interaction modality based on user workload, system usability, and task completion time to improve non-expert human-robot interactions in industrial settings.

关键词： Human-Robot Interaction Augmented Reality Mixed Reality Data Visualization Data Manipulation Applied robotics field robotics

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Development of Navigation System in field Robot for Forest Management 10

Development of Navigation System in Field Robot for Forest M...

引用

Joint 10th International Conference on Soft Computing and Intelligent Systems (SCIS) / 19th International Symposium on Advanced Intelligent Systems (ISIS)

作者： Tominaga, Ayumu Hayashi, Eiji Mowshowitz, Abbe Kyushu Inst Technol Grad Sch Informat Engn Fukuoka Fukuoka Japan CUNY City Coll Dept Comp Sci New York NY 10031 USA

ISBN: (纸本)9781538626337

This paper addresses the problem of using a mobile, autonomous robot to manage a forest whose trees are destined for eventual harvesting. This was accomplished by 1) computing a trajectory for the robot in advance of its entrance into the forest, and 2) developing a program and equipping the robot with the instruments needed to follow the trajectory. Computation of a trajectory in a forest is facilitated by treating the trees as vertices in a graph. Current, laser-based instruments make it possible to identify individual trees and compute distances between them. With this information, a forest can be represented as a weighted graph. This graph can then be modified systematically in a way that allows for computing a Hamiltonian circuit that passes between each pair of trees. Our robot "SOMA" built on an ATV platform, was able to follow a part of the trajectory computed for this small forest, thus demonstrating the feasibility of forest maintenance by an autonomous, labor-saving robot.

关键词： field robotics Forest Industry Navigation

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Hardware Design and Tests of Two-Wheeled Robot Platform for Searching Survivors in Debris Cones

Hardware Design and Tests of Two-Wheeled Robot Platform for ...

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25th IEEE International Symposium on Safety, Security, and Rescue robotics (IEEE SSRR)

作者： Watanabe, Masahiro Ozawa, Yu Takahashi, Kenichi Kimura, Tetsuya Tadakuma, Kenjiro Marafioti, Giancarlo Tadokoro, Satoshi Tohoku Univ Tough Cyberphys AI Res Ctr Sendai Miyagi Japan Tohoku Univ Grad Sch Informat Sci Sendai Miyagi Japan Nagaoka Univ Technol Dept Syst Safety Nagaoka Niigata Japan SINTEF Digital Dept Math & Cybernet Trondheim Norway

ISBN: (纸本)9781665456807

Response and recovery are critical soon after or during a large-scale disaster such as earthquakes, floods, landslides, strong winds, explosions, structure failures, and so on. In the project called CURSOR, we have been developing a search and rescue kit to grasp the situation and find trapped victims efficiently under the debris while securing the safety of the first responders. In this paper, hardware design and tests of a small two-wheeled robot platform SMURF are shown. SMURF aims to search for victims under the rubble efficiently by large-scale deployment using transport drones. While descending the rubble pile, they search for victims using cameras and gas sensors. To evaluate the performance and verify the effectiveness of the mobility system in actual conditions, ruggedization tests, mobility tests, and field tests were conducted. The reliability and mobility performance results show the potential of the developed two-wheeled robots to carry out large-scale disaster responses.

关键词： Rescue robotics field robotics Mobile robotics

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Maximum A Posteriori estimation for AUV localization with USBL measurements 13th

Maximum A Posteriori estimation for AUV localization with US...

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13th IFAC Conference on Control Applications in Marine Systems, robotics, and Vehicles (CAMS)

作者： Franchi, Matteo Bucci, Alessandro Zacchini, Leonardo Ridolfi, Alessandro Bresciani, Matteo Peralta, Giovanni Costanzi, Riccardo Univ Florence Dept Ind Engn Via Santa Marta 3 I-50139 Florence Italy Univ Pisa Dipartimento Ingn Informaz DII Largo Lucio Lazzarino 1 I-56122 Pisa Italy Interuniv Ctr Integrated Syst Marine Environm ISM Genoa Italy

Due to the limitations of electromagnetic signals, underwater scenarios increase the complexity of developing accurate navigation systems. In the last decades, Ultra-Short BaseLine (USBL) positioning systems have been widely and efficiently used for Autonomous Underwater Vehicles (AUVs) localization, endorsing to be a suitable solution to limit the navigation drift without requiring periodic surfacing for Global Positioning System (GPS) resets. Typically, in the localization context, USBL measurements are exploited as observations within the on-board navigation filter where, most of the time, Extended Kalman Filter (EKF) or Unscented Kalman Filter (UKF) solutions are employed. In a break-away from the above-mentioned approaches, in this study, the localization task is solved as a Maximum A Posteriori (MAP) estimation problem. The presented solution is validated through the use of data gathered in October 2020 during EUMarineRobots (EUMR) tests in La Spezia (Italy) within the activities of the SEALab, the joint research laboratory between the Naval Support and Experimentation Center (Centro di Supporto e Sperimentazione Navale, CSSN) of the Italian Navy and the Interuniversity Center of Integrated Systems for the Marine Environment (ISME). Copyright (C) 2021 The Authors.

关键词： Autonomous Underwater Vehicles marine system navigation data-fusion field robotics localization

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A Theatrical Mobile-Dexterous Robot Directed through Shared Autonomy 12

A Theatrical Mobile-Dexterous Robot Directed through Shared ...

引用

12th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Perez-D'Arpino, Claudia Agoos, Peter Zamore, Andrew Gammons, David R. Kyritsis, Evie Shah, Julie A. MIT Cambridge MA 02139 USA Agoos D Zines LLC Boston MA USA Andrew Zamore Worldwide LLC Somerville MA USA MIT Mus & Theater Arts Cambridge MA USA

ISBN: (纸本)9781450348850

We present the deployment of a 16-DoF dual-arm mobile manipulator as an on-stage actor in the MIT2016 Pageant, a 60 minute live play performed for the centennial celebration of the Massachusetts Institute of Technology campus move from Boston to Cambridge. The robot performed using expressive motions, navigated a 250ft-long thrust stage through a wireless connection, and was directed remotely by a human operator using a shared autonomy system. We report on the technical framework and human-robot interaction that enabled the performance, including motion planning, coordination of action with human actors, and the challenges in navigation, manipulation, perception and system reliability.

关键词： field robotics human-robot interaction mobile manipulator robotics shared autonomy theatrical robot

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Reinforced Safety-Related Condition Awareness in A Motion Planning System for Remote Manipulators in Nuclear Decommissioning 9

Reinforced Safety-Related Condition Awareness in A Motion Pl...

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9th International Conference on Control and robotics Engineering (ICCRE)

作者： Zhang, Kaigiang Pawar, Vijay M. Orr, Lachlan Rei, Ricardo J. Louro Sugawara, Yoshimasa Sakaue, Tomoki Fumiaki, Abe Cryer, Alice Caliskanelli, Ipek Skilton, Robert UK Atom Energy Author UKAEA Abingdon England UCL London England Imperial Coll London London England AtkinsRealis Co Epsom England Tokyo Elect Power Co Holdings TEPCO HD Fukushima Japan TEPCO HD Fukushima Japan UKAEA Abingdon England

ISBN: (纸本)9798350372694;9798350372700

Motion planning of remote manipulators is a challenging task in nuclear decommissioning practice. Operators have to consider different safety-related factors to plan safe motions in such critical applications. Novel motion planning systems assist operators in planning collision-free motions. However, there is no effective way to reinforce the operators' awareness of multiple safety-related conditions, which are beyond the considerations of standard motion planning requirements in other application fields. This paper presents a human-machine interaction approach that monitors safety-related conditions and reinforces operators' awareness, when potential risks likely emerge. Three functions, which reinforce the awareness of manipulator-environment clearance, radiation exposure, and system limits, are implemented to realize the proposed interaction approach and reduce operators' cognitive load. A pilot study was carried out using a motion planning system enhanced with the proposed approach. The effectiveness has been qualitatively verified through the pilot study.

关键词： motion planning human-centred systems nuclear decommissioning remote operation field robotics

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Geometric Design of an Inspection Robot for 110kV Power Transmission Lines 4

Geometric Design of an Inspection Robot for 110kV Power Tran...

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4th International Conference on Applied robotics for the Power Industry (CARPI)

作者： Yue, Xiang Wang, Hongguang Yang, Yingchun Jiang, Yong Chinese Acad Sci Shenyang Inst Automat Shenyang Peoples R China Univ Chinese Acad Sci Beijing Peoples R China Elect Power Res Inst Co Ltd Yunnan Power Grid Kunming Peoples R China

ISBN: (纸本)9781509032280

According to the requirements of inspection tasks and characteristics of obstacles on 110kV power transmission lines, a novel inspection robot mechanism which adopts unfolding mechanism and the gantry structure is presented. Through altering the unfolding mechanism, the robot can navigate the obstacle quickly. The gantry structure can raise the stiffness of the mechanism. Based on the constraints of the specific features of the electric power transmission and the context of power utility operation, the geometric parameters are customized. The navigation of suspension clamp is simulated, and the structure analysis is studied. A prototype has been developed, and the field experiments has been carried out. The simulation results and field experimental results demonstrate that the mechanism has such characteristics as good motion stability, strong loading capacity and excellent obstacle negotiation capability.

关键词： Mechanism design field robotics power transmission line geometric design

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Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density

Autonomous Aerial Swarming in GNSS-denied Environments with ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Ahmad, Afzal Walter, Viktor Petracek, Pavel Petrlik, Matej Baca, Tomas Zaitlik, David Saska, Martin Czech Tech Univ Fac Elect Engn Tech 2 Prague 6 Czech Republic

ISBN: (纸本)9781728190778

The compact flocking of relatively localized Unmanned Aerial Vehicles (UAVs) in high obstacle density areas is discussed in this paper. The presented work tackles realistic scenarios in which the environment map is not known apriori and the use of a global localization system and communication infrastructure is difficult due to the presence of obstacles. To achieve flocking in such a constrained environment, we propose a fully decentralized, bio-inspired control law that uses only onboard sensor data for safe flocking through the environment without any communication with other agents. In the proposed approach, each UAV agent uses onboard sensors to self-localize and estimate the relative position of other agents in its local reference frame. The usability and performance of the proposed approach were verified and evaluated using various experiments in a realistic robotic simulator and a natural forest. The presented experiments also validate the utility of onboard relative localization for autonomous multi-UAV applications in the absence of global localization information and communication.

关键词： Multi-Robot Systems Aerial Systems: Perception and Autonomy field robotics

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Energy-aware Planning and Control of Off-road Wheeled Mobile Robots

Energy-aware Planning and Control of Off-road Wheeled Mobile...

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作者： Wallace, Nathan Daniel University of Sydney

学位级别：博士

In modern agriculture, many of the tasks necessary for the smooth operation of a farm can be categorised as dull, dirty, or dangerous. This makes such operations a prime candidate for automation. However, most agricultural properties are vast, often encompassing large areas of undulating off-road terrain with varying traction conditions, making them difficult to traverse for wheeled platforms. Furthermore, the large scale of these properties necessitates careful consideration and management of resources-especially energy or fuel-in the planning of missions, to traverse these large distances and successfully achieve objectives without the risk of stranding the platform out in the field. These challenges need to be addressed before autonomous wheeled mobile robots are ready for deployment in agricultural contexts. This thesis seeks to address some of the key issues that impact the feasibility of deploying wheeled mobile robots in the field, focusing on off-road mobility and the generation of energy-efficient plans for these platforms. In the case of agricultural applications, where the robot may be required to operate near crops and livestock, accurate navigation is of utmost importance, and achieving this in the presence of difficult off-road conditions is a major challenge. The solution proposed in this work is an optimisation-based estimation and control strategy for accurate trajectory tracking in the presence of slip. A novel structured parameter blocking extension to this strategy is developed and tested, and shown to improve state estimation and path tracking performance for traversal over rapidly varying terrain conditions. To address the problem of efficiency, a data-driven energy cost of motion model for an omnidirectional wheeled mobile robot is then developed, and asymptotically optimal sampling-based planners exploiting this model, along with consideration of various terrain features and the configuration of the platform itself, are presented.

关键词： field robotics estimation mobile robots motion control path planning energy-efficient planning

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