检索结果-内蒙古大学图书馆

Automated robotic monitoring and inspection of steel structures and bridges

ROBOTICA 2019年第5期37卷 947-967页

作者： Hung Manh La Tran Hiep Dinh Nhan Huu Pham Quang Phuc Ha Anh Quyen Pham Univ Nevada Dept Comp Sci & Engn Adv Robot & Automat ARA Lab Reno NV 89557 USA Univ Technol Sydney Sch Elect Mech & Mechatron Syst Sydney NSW Australia

This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real-time for monitoring as well as further processing. Steel surface image stitching and 3D map building are conducted to provide a current condition of the structure. Also, a computer vision-based method is implemented to detect surface defects on stitched images. The effectiveness of the climbing robot's inspection is tested in multiple circumstances to ensure strong steel adhesion and successful data collection. The detection method was also successfully evaluated on various test images, where steel cracks could be automatically identified, without the requirement of some heuristic reasoning.

关键词： field robotics Climbing robots Steel bridge inspection Image stitching 3D map construction Steel crack Histogram thresholding Image segmentation

来源：评论

学校读者我要写书评

暂无评论

Parallel robots for autonomous climbing along tubular structures

引用

robotics AND AUTONOMOUS SYSTEMS 2003年第2期42卷 125-134页

作者： Aracil, R Saltarén, R Reinoso, O Univ Miguel Hernandez Dept Ingn E-03202 Elche Spain Univ Politecn Madrid DISAM E-28006 Madrid Spain

This paper proposes the application of the Gough-Stewart (G-S) platform as a climbing robot. The idea of using the parallel G-S platform as a climbing robot is a novel solution to carry out tasks that imply a high risk for workers who have to climb on tubular structures. Some mechanical adaptations allow to convert the G-S platform in an autonomous and teleoperated robot capable to move autonomously along tubular structures (posts, steel wires of bridges, trunks of palms, pipes, etc.) or inside of fluid conducting pipes. To show the capacity of using this G-S platform as climbing robot we propose several mechanical designs capable of climbing through these tubular structures. Taking into account these designs and their functionality, we study the dynamics of some different configurations of these robots. In the second part of the paper we present a first prototype used as a climbing robot, developed to climb on palm trunks. Technical specifications of the system are presented and the control scheme is analyzed. Finally several experiments show the capability of this parallel robot to climb on tubular structures. (C) 2002 Elsevier Science B.V. All rights reserved.

关键词： robotics climbing robots pneumatic control parallel robots field robotics

来源：评论

学校读者我要写书评

暂无评论

Semi-parametric learning for visual odometry

引用

INTERNATIONAL JOURNAL OF robotics RESEARCH 2013年第5期32卷 526-546页

作者： Guizilini, Vitor Ramos, Fabio Univ Sydney Australian Ctr Field Robot Sch Informat Technol Sydney NSW 2006 Australia

This paper addresses the visual odometry problem from a machine learning perspective. Optical flow information from a single camera is used as input for a multiple-output Gaussian process (MOGP) framework, that estimates linear and angular camera velocities. This approach has several benefits. (1) It substitutes the need for conventional camera calibration, by introducing a semi-parametric model that is able to capture nuances that a strictly parametric geometric model struggles with. (2) It is able to recover absolute scale if a range sensor (e.g. a laser scanner) is used for ground-truth, provided that training and testing data share a certain similarity. (3) It is naturally able to provide measurement uncertainties. We extend the standard MOGP framework to include the ability to infer joint estimates (full covariance matrices) for both translation and rotation, taking advantage of the fact that all estimates are correlated since they are derived from the same vehicle. We also modify the common zero mean assumption of a Gaussian process to accommodate a standard geometric model of the camera, thus providing an initial estimate that is then further refined by the non-parametric model. Both Gaussian process hyperparameters and camera parameters are trained simultaneously, so there is still no need for traditional camera calibration, although if these values are known they can be used to speed up training. This approach has been tested in a wide variety of situations, both 2D in urban and off-road environments (two degrees of freedom) and 3D with unmanned aerial vehicles (six degrees of freedom), with results that are comparable to standard state-of-the-art visual odometry algorithms and even more traditional methods, such as wheel encoders and laser-based Iterative Closest Point. We also test its limits to generalize over environment changes by varying training and testing conditions independently, and also by changing cameras between training and testing.

关键词： localization Gaussian Processes visual odometry field robotics

来源：评论

学校读者我要写书评

暂无评论

The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments

引用

INTERNATIONAL JOURNAL OF SOCIAL robotics 2009年第2期1卷 127-140页

作者： Bauer, Andrea Klasing, Klaas Lidoris, Georgios Muehlbauer, Quirin Rohrmueller, Florian Sosnowski, Stefan Xu, Tingting Kuehnlenz, Kolja Wollherr, Dirk Buss, Martin Tech Univ Munich Inst Automat Control Engn LSR D-80290 Munich Germany

The Autonomous City Explorer (ACE) project combines research from autonomous outdoor navigation and human-robot interaction. The ACE robot is capable of navigating unknown urban environments without the use of GPS data or prior map knowledge. It finds its way by interacting with pedestrians in a natural and intuitive way and building a topological representation of its surroundings. In a recent experiment the robot managed to successfully travel a 1.5 km distance from the campus of the Technische Universitat Munchen to Marienplatz, the central square of Munich. This article describes the principles and system components for navigation in urban environments, information retrieval through natural human-robot interaction, the construction of a suitable semantic representation as well as results from the field experiment.

关键词： Human-robot interaction Knowledge representation Social robotics field robotics Autonomous outdoor navigation

来源：评论

学校读者我要写书评

暂无评论

Recovery policies for safe exploration of lunar permanently shadowed regions by a solar-powered rover

引用

ACTA ASTRONAUTICA 2023年 213卷 708-724页

作者： Lamarre, Olivier Malhotra, Shantanu Kelly, Jonathan Univ Toronto Inst Aerosp Studies Space & Terr Autonomous Robot Syst STARS Lab 4925 Dufferin St Toronto ON M3H 5T6 Canada CALTECH Jet Prop Lab 4800 Oak Grove Dr Pasadena CA 91109 USA

The success of a multi-kilometre drive by a solar-powered rover at the lunar south pole depends upon careful planning in space and time due to highly dynamic solar illumination conditions. An additional challenge is that the rover may be subject to random faults that can temporarily delay long-range traverses. The majority of existing global spatiotemporal planners assume a deterministic rover-environment model and do not account for random faults. In this paper, we consider a random fault profile with a known, average spatial fault rate. We introduce a methodology to compute recovery policies that maximize the probability of survival of a solar-powered rover from different start states. A recovery policy defines a set of recourse actions to reach a safe location with sufficient battery energy remaining, given the local solar illumination conditions. We solve a stochastic reach-avoid problem using dynamic programming to find an optimal recovery policy. Our focus, in part, is on the implications of state space discretization, which is required in practical implementations. We propose a modified dynamic programming algorithm that conservatively accounts for approximation errors. To demonstrate the benefits of our approach, we compare against existing methods in scenarios where a solar-powered rover seeks to safely exit from permanently shadowed regions in the Cabeus area at the lunar south pole. We also highlight the relevance of our methodology for mission formulation and trade safety analysis by comparing different rover mobility models in simulated recovery drives from the LCROSS impact region.

关键词： Energy-aware planning Reachability analysis Extraterrestrial mobility field robotics

来源：评论

学校读者我要写书评

暂无评论

Control framework of the ROBILAUT soil sampling robot: system overview and experimental results

引用

ROBOTICA 2024年第12期42卷 4120-4135页

作者： Di Vito, Daniele Di Lillo, Paolo Arrichiello, Filippo Ferone, Cesare Amico, Raffaele Antonelli, Gianluca Univ Cassino & Southern Lazio Dept Elect & Informat Engn Cassino Italy Natura Srl Casoria Italy OCIMA Srl Caivano Italy

The paper presents the control architecture of a crawler mobile robot designed and developed to sample potentially contaminated lands. The robot, developed in the framework of an Italian national project named ROBILAUT, carries a driller with a customized sampling mechanism to implement on-site the required quartering, and it is controlled to move the drilling device on specific points acquired in real time before the mission starts. The paper describes the software architecture for the navigation and control, focusing on the control framework of the robotic platform. Specifically, the robot exhibits a differential drive kinematics with actuators' constraints, and two different control strategies have been experimentally tested for comparison both in a structured environment and in the real site in May 2023.

关键词： mobile robotics field robotics nonlinear control model predictive control environmental soil sampling

来源：评论

学校读者我要写书评

暂无评论

Tracking a Sea Turtle by an AUV with a Multibeam Imaging Sonar: Toward Robotic Observation of Marine Life

引用

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2020年第3期18卷 597-604页

作者： Maki, Toshihiro Horimoto, Hiroumi Ishihara, Takashi Kofuji, Kazuya Univ Tokyo Inst Ind Sci Meguro Ku 4-6-1 Komaba Tokyo 1538505 Japan Suma Aqualife Pk Hyogo Japan Ibaraki Prefectural Oarai Aquarium Ibaraki Japan

This paper proposes a method for autonomous underwater vehicles to chase sea turtles without attaching any tag to them, toward efficient and long-term observation of marine life. The method uses a multibeam imaging sonar as the main sensor to detect sea turtles. The method utilizes convolutional neural network (CNN) for detecting a sea turtle in sonar imagery. Surge and yaw movements of the vehicle are controlled to maintain the relative distance and direction to the detected target. The proposed method was implemented in the AUV HATTORI. The AUV succeeded in tracking a sea turtle in natural condition for 270 seconds in shallow sea.

关键词： Autonomous underwater vehicles CNN field robotics imaging sonar sea turtle

来源：评论

学校读者我要写书评

暂无评论

Visual mapping for natural gas pipe inspection

引用

INTERNATIONAL JOURNAL OF robotics RESEARCH 2015年第4-5期34卷 532-558页

作者： Hansen, Peter Alismail, Hatem Rander, Peter Browning, Brett Carnegie Mellon Univ Qatar Doha Qatar Carnegie Mellon Univ Inst Robot Natl Robot Engn Ctr Pittsburgh PA 15213 USA

Validating the integrity of pipes is an important task for safe natural gas production and many other operations (e.g. refineries, sewers, etc.). Indeed, there is a growing industry of actuated, actively driven mobile robots that are used to inspect pipes. Many rely on a remote operator to inspect data from a fisheye camera to perform manual inspection and provide no localization or mapping capability. In this work, we introduce a visual odometry-based system using calibrated fisheye imagery and sparse structured lighting to produce high-resolution 3D textured surface models of the inner pipe wall. Our work extends state-of-the-art visual odometry and mapping for fisheye systems to incorporate weak geometric constraints based on prior knowledge of the pipe components into a sparse bundle adjustment framework. These constraints prove essential for obtaining high-accuracy solutions given the limited spatial resolution of the fisheye system and challenging raw imagery. We show that sub-millimeter resolution modeling is viable even in pipes which are 400mm (16) in diameter, and that sparse range measurements from a structured lighting solution can be used to avoid the inevitable monocular scale drift. Our results show that practical, high-accuracy pipe mapping from a single fisheye camera is within reach.

关键词： Visual mapping visual odometry pipe inspection natural gas field robotics fisheye camera

来源：评论

学校读者我要写书评

暂无评论

Sampling-based robotic information gathering algorithms

引用

INTERNATIONAL JOURNAL OF robotics RESEARCH 2014年第9期33卷 1271-1287页

作者： Hollinger, Geoffrey A. Sukhatme, Gaurav S. Oregon State Univ Sch Mech Ind & Mfg Engn Corvallis OR 97330 USA Univ So Calif Dept Comp Sci Los Angeles CA 90089 USA

We propose three sampling-based motion planning algorithms for generating informative mobile robot trajectories. The goal is to find a trajectory that maximizes an information quality metric (e. g. variance reduction, information gain, or mutual information) and also falls within a pre-specified budget constraint (e. g. fuel, energy, or time). Prior algorithms have employed combinatorial optimization techniques to solve these problems, but existing techniques are typically restricted to discrete domains and often scale poorly in the size of the problem. Our proposed rapidly exploring information gathering (RIG) algorithms combine ideas from sampling-based motion planning with branch and bound techniques to achieve efficient information gathering in continuous space with motion constraints. We provide analysis of the asymptotic optimality of our algorithms, and we present several conservative pruning strategies for modular, submodular, and time-varying information objectives. We demonstrate that our proposed techniques find optimal solutions more quickly than existing combinatorial solvers, and we provide a proof-of-concept field implementation on an autonomous surface vehicle performing a wireless signal strength monitoring task in a lake.

关键词： Motion and path planning field robotics robotic information gathering

来源：评论

学校读者我要写书评

暂无评论

Search and rescue under the forest canopy using multiple UAVs

引用

INTERNATIONAL JOURNAL OF robotics RESEARCH 2020年第1-11期39卷 1201-1221页

作者： Tian, Yulun Liu, Katherine Ok, Kyel Tran, Loc Allen, Danette Roy, Nicholas How, Jonathan P. MIT 70 Vassar St Cambridge MA 02139 USA NASA Langley Res Ctr Hampton VA 23665 USA

We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual aliasing which hinders reliable loop closure detection for mutual localization and map fusion. Our proposed system features unmanned aerial vehicles (UAVs) that perform onboard sensing, estimation, and planning. When communication is available, each UAV transmits compressed tree-based submaps to a central ground station for collaborative simultaneous localization and mapping (CSLAM). To overcome high measurement noise and perceptual aliasing, we use the local configuration of a group of trees as a distinctive feature for robust loop closure detection. Furthermore, we propose a novel procedure based on cycle consistent multiway matching to recover from incorrect pairwise data associations. The returned global data association is guaranteed to be cycle consistent, and is shown to improve both precision and recall compared with the input pairwise associations. The proposed multi-UAV system is validated both in simulation and during real-world collaborative exploration missions at NASA Langley Research Center.

关键词： Multi-robot systems field robotics SLAM

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：