检索结果-内蒙古大学图书馆

SomerBot: A Two-Legged Somersaulting Robotic Climber With Compliant Footpad

Journal of Mechanisms and robotics 2025年第8期17卷 081009页

作者： Mani Sankar, Kadali Thakur, Atul Bio-robotics and ArtificialIntelligence (BRAIn) Laboratory Department of Mechanical Engineering Indian Institute of Technology Patna Patna Bihar 801103 India Bio-robotics and ArtificialIntelligence (BRAIn) Laboratory Department of Mechanical Engineering Indian Institute of Technology Patna Patna Bihar 801106 India

Climbing capability is crucial for expanding the operational range of ground robots in inspection and exploration tasks within confined or hazardous spaces. We introduce SomerBot, a two-legged somersaulting robot designed for climbing flat and curved vertical surfaces. A key contribution is a 3D-printed compliant footpad with passive adhesion and tendon-driven detachment, reducing energy consumption compared to active adhesion techniques. The robot’s simple two-legged design minimizes fabrication complexity, weight, and power needs, which are critical for wall climbing. Optimized joint trajectory design ensures stable climbing by maintaining optimal surface contact. This article addresses several key issues: scaling of speed, payload, power, and weight with increasing motor torque, finding enhanced payload capacity without compromising speed. SomerBot’s structure, made using rapid prototyping techniques such as 3D printing and laser cutting, allows easy replication and customization. Experiments show its ability to transition between planes, overcome obstacles, and carry payloads at an average speed of 1.33 cm/s (0.12 body lengths/s). This work advances wall-climbing robots with energy-efficient adhesion and scalable design for complex climbing tasks.

关键词： legged climbing robots Design Energy consumption trajectory design Robots 3D printing somersaulting robot Adhesion

来源：评论

学校读者我要写书评

暂无评论

A ground robotic system for crops and soil monitoring and data collection in New Mexico chile pepper farms

引用

Discover Agriculture 2024年第1期2卷 1-26页

作者： Linford, Jordan Haghshenas-Jaryani, Mahdi Department of Mechanical and Aerospace Engineering New Mexico State University Las Cruces USA Bioinspired and Biomimetic Robotics (Bio²Robotics) Laboratory NMSU Las Cruces USA

This work presents the development and system integration of a ground agricultural mobile manipulator robot that is capable of traversing a field in order to monitor the health of the field and crops. The robotic platform consists of a 4-wheeled drive base rover that has a 6 degrees of freedom (DOF) robotic manipulator attached to it, which is equipped with a multitude of sensors that are used for navigation, crop inspection, and soil monitoring. To accurately measure the moisture of the soil using the moisture probe, the insertion process is very important, as the probe has to be inserted to the correct depth and be flush with the soil. It is for this reason, that the insertion process is difficult, as the field can be rough and uneven terrain. Utilizing a camera attached to the wrist of the robotic manipulator, the soil insertion process can be adjusted to more accurately insert the soil probe into the terrain with a varying degree of slopes. Along with detecting the slope of the soil to perform an accurate soil insertion, the robotic system is capable of detecting plants in various stages of development, and capture images to visually determine the crops health. The successful operation of the robot for in-situ soil measurements, crops image capturing, plant’s physical characteristics detection, and an autonomous soil slope alignment for sensor insertion have been demonstrated.

关键词：

来源：评论

学校读者我要写书评

暂无评论

FAST-LIVO2 on Resource-Constrained Platforms: LiDAR-Inertial-Visual Odometry with Efficient Memory and Computation

arXiv

引用

arXiv 2025年

作者： Zhou, Bingyang Zheng, Chunran Wang, Ziming Zhu, Fangcheng Cai, Yixi Zhang, Fu Laboratory Department of Mechanical Engineering University of Hong Kong Hong Kong Division of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden

This paper presents a lightweight LiDAR-inertial-visual odometry system optimized for resource-constrained platforms. It integrates a degeneration-aware adaptive visual frame selector into error-state iterated Kalman filter (ESIKF) with sequential updates, improving computation efficiency significantly while maintaining a similar level of robustness. Additionally, a memory-efficient mapping structure combining a locally unified visual-LiDAR map and a long-term visual map achieves a good trade-off between performance and memory usage. Extensive experiments on x86 and ARM platforms demonstrate the system’s robustness and efficiency. On the Hilti dataset, our system achieves a 33% reduction in per-frame runtime and 47% lower memory usage compared to FAST-LIVO2, with only a 3 cm increase in RMSE. Despite this slight accuracy trade-off, our system remains competitive, outperforming state-of-the-art (SOTA) LIO methods such as FAST-LIO2 and most existing LIVO systems. These results validate the system’s capability for scalable deployment on resource-constrained edge computing platforms. Copyright © 2025, The Authors. All rights reserved.

关键词： Kalman filters

来源：评论

学校读者我要写书评

暂无评论

Knowledge-guided temperature correction method for soluble solids content detection of watermelon based on Vis/NIR spectroscopy

Artificial Intelligence in Agriculture

引用

Artificial Intelligence in Agriculture 2025年第1期15卷 88-97页

作者： Zhizhong Sun Jie Yang Yang Yao Dong Hu Yibin Ying Junxian Guo Lijuan Xie College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058PR China College of Chemistry and Materials Engineering Zhejiang A&F UniversityHangzhou 311300PR China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Hangzhou 310058PR China The National Key Laboratory of Agricultural Equipment Technology Beijing 100083PR China Department of Bioproducts and Biosystems Engineering University of MinnesotaSaint PaulMN 55108USA Zhejiang University School of Medicine Division of Scientific Research(ZJU-QILU joint research institute)Hangzhou 310058PR China College of Optical Mechanical and Electrical EngineeringZhejiang A&F UniversityHangzhou 311300PR China College of Mechanical and Electrical Engineering Xinjiang Agricultural UniversityUrumqi 830052PR China

Visible/near-infrared(Vis/NIR)spectroscopy technology has been extensively utilized for the determination of soluble solids content(SSC)in ***,the spectral distortion resulting from temperature variations in the sample leads to a decrease in detection *** mitigate the influence of temperature fluctuations on the accuracy of SSC detection in fruits,using watermelon as an example,this study presents a knowledge-guided temperature correction method utilizing one-dimensional convolutional neural networks(1D-CNN).This method consists of two stages:the first stage involves utilizing 1D-CNN models and gradient-weighted class activation mapping(Grad-CAM)method to acquire gradient-weighted features correlating with *** second stage involves mapping these features and integrating them with the original Vis/NIR spectrum,and then train and test the partial least squares(PLS)*** knowledge-guided method can identify wavelength bands with high temperature correlation in the Vis/NIR spectra,offering valuable guidance for spectral data *** performance of the PLS model constructed using the 15℃ spectrum guided by this method is superior to that of the global model,and can reduce the root mean square error of the prediction set(RMSEP)to 0.324°Brix,which is 32.5%lower than the RMSEP of the global model(0.480°Brix).The method proposed in this study has superior temperature correction effects than slope and bias correction,piecewise direct standardization,and external parameter orthogonalization correction *** results indicate that the knowledge-guided temperature correction method based on deep learning can significantly enhance the detection accuracy of SSC in watermelon,providing valuable reference for the development of PLS calibration methods.

关键词： Visible/near-infrared spectroscopy Temperature correction Watermelon Knowledge-guided Convolutional neural network

来源：评论

学校读者我要写书评

暂无评论

Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

引用

IEEE Transactions on Automatic Control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

来源：评论

学校读者我要写书评

暂无评论

Heuristic Online Path Planning for Mobile Air Purification and Disinfection Robot In Regulating Indoor Air Quality

Heuristic Online Path Planning for Mobile Air Purification a...

引用

2023 IEEE International Conference on robotics and biomimetics, RObio 2023

作者： Zhong, Qingnan Chen, Kai Duan, Jianghua Ma, Jun Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Robotics and Human Machine Interface Laboratory Futian China The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Futian China

ISBN: (纸本)9798350325706

In light of past epidemics, people have become more aware of the possibility of viruses on object surfaces and in the air. As a result, there is an increasing demand for robots capable of autonomously disinfecting surfaces and purifying the air. This paper focuses on a mobile robot equipped with air purification and UV-C LED disinfection to combat airborne pathogens and environmental pollution. Through the onboard sensors, the proposed algorithm uses gaussian process model to predict the high potential air pollution area in real-time without the requirement of a distributed array of sensors, and it avoids environmental modifications. Then we propose the hybrid artificial potential field (HAPF) by integrating the predicted result with the artificial potential field method, to generate a heuristic path that can navigate the robot to the affected areas with obstacle avoidance. Experimental testing in simulated and real-world environments demonstrates the effectiveness of the proposed approach in rapidly planning purification paths, marking significant progress in automated air purification, and disinfection technology. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Impact Intensity Estimation of a Quadruped Robot without Using a Force Sensor

arXiv

引用

arXiv 2022年

作者： Huynh, Ba-Phuc Bae, Joonbum Bio-Robotics and Control Laboratory Department of Mechanical Engineering Ulsan National Institute of Science and Technology Korea Republic of

Estimating the impact intensity is one of the significant tasks of the legged robot. Accurate feedback of the impact may support the robot to plan a suitable and efficient trajectory to adapt to unknown complex terrains. Ordinarily, this task is performed by a force sensor in the robot's foot. In this letter, an impact intensity estimation without using a force sensor is proposed. An artificial neural network model is designed to predict the motor torques of the legs in an instantaneous position in the trajectory without utilizing the complex kinematic and dynamic models of motion. An unscented Kalman filter is used during the trajectory to smooth and stabilize the measurement. Based on the difference between the predicted information and the filtered value, the state and intensity of the robot foot's impact with the obstacles are estimated. The simulation and experiment on a quadruped robot are carried to verify the effectiveness of the proposed method1. © 2022, CC BY.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

Mitigating Singularities in Control of Magnetic Capsule Endoscopes Using a Novel Nested Electromagnetic Coil System

引用

Journal of Medical robotics Research 2024年第3-4期9卷

作者： Chen, Xinhao Bhattacharjee, Anuruddha Mair, Lamar O. Raval, Suraj Addepalli, Pranav Erin, Onder Bell, Adrian Diaz-Mercado, Yancy Krieger, Axel Laboratory for Computational Sensing and Robotics Johns Hopkins University Division of Magnetic Manipulation and Particle Research Weinberg Medical Physics Inc. Department of Mechanical Engineering University of Maryland Department of Mechanical Engineering Johns Hopkins University

Magnetic actuation systems that utilize external electromagnetic coils present a promising approach for controlling untethered small-scale robots, notably in medical applications. However, these systems frequently experience actuation singularities at which robotic control over the agent is lost or severely diminished. Such singularities may lead to excessively large current or rapid current changes that significantly affect the robots' stability in specific areas of the workspace. In order to effectively mitigate these actuation singularities, this paper introduces a closed-loop control method using a novel nested electromagnetic coil system, leveraging finite element analysis-based magnetic field data and a novel controller combining a singularity solver and optimal current control method. The electromagnetic system has 12 coils nested in four coil units, each having three concentric coils with different outer radius, surrounding a central workspace. We call the 12-coil system Variable Outer Radius Individually Addressable Coil Stacks (VORIACS). Here, we experimentally evaluate the method for closed-loop trajectory tracking of a soft magnetic capsule endoscope (PillCam™) and a permanent magnet robot inside the VORIACS system at different magnetic field orientations. The results demonstrate that the VORIACS system with a singularity solver reduces root mean square (RMS) position tracking errors of the PillCam™by 46% to 50% and orientation tracking errors by 41% to 42% compared to a standard 4-coil system. Moreover, the system can achieve a notable 60.73% reduction in RMS position error, with sub-millimeter precision control when controlling the permanent magnet robot. We further manipulate the PillCam™for tracking a medical application-inspired complex trajectory, showcasing the system's potential in precise control of magnetic devices for medical use. © 2024 World Scientific Publishing Company.

关键词： capsule endoscopy magnetic control Medical robotics

来源：评论

学校读者我要写书评

暂无评论

Singularity-Free Approximate Waypoint Tracking Controller for Underactuated Magnetic Robots

引用

IFAC-PapersOnLine 2024年第28期58卷 1079-1084页

作者： Suraj Raval Anuruddha Bhattacharjee Xinhao Chen Lamar Mair Axel Krieger Yancy Diaz-Mercado Mechanical Engineering Department University of Maryland College Park MD 20742 USA Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD 21218 USA Division of Magnetic Manipulation and Particle Research Weinberg Medical Physics Inc. North Bethesda MD 20852 USA

Magnetic robots use external magnetic fields to draw energy, generating steering capabilities crucial for minimally invasive surgeries and enabling next generation untethered surgical tool miniaturization. However, accurate control is challenging due to configuration-dependent singularities in the manipulation Jacobian, which can cause unsafe behavior with standard controls. We analyze the nonlinear nature of magnetic fields to understand singularity-free control limits without adding more magnetic actuators, which increases bulk and cost. Using Chow’s Theorem, we study the motion feasibility of a single magnetic robot moving in a plane, powered by stationary electromagnets. We determine the degree of nonholonomy for an underactuated case and show that any desired motion in the state-space can be approximated with more complex controls. We deploy an approximate-tracking controller to steer a magnetic robot between any two points in the state-space, avoiding singularities. Simulations show a 0.82 mm RMS positional tracking error for an 8 mm long cylindrical magnetic tool using our method.

关键词： Magnetic Robots Nonlinear Control Systems robotics Path Planning Motion Control Robot Manipulators

来源：评论

学校读者我要写书评

暂无评论

biomechanics of Exoskeleton-Assisted Treadmill Walking

Biomechanics of Exoskeleton-Assisted Treadmill Walking

引用

IEEE International Conference on Rehabilitation robotics (ICORR)

作者： F. Di Tommaso F. Tamburella M. Lorusso L. Gastaldi M. Molinari N. L. Tagliamonte Research Unit of Advanced Robotics and Human-Centred Technologies Università Campus Bio-Medico di Roma Rome Italy Neurorehabilitation 1 Department Laboratory of Robotic Neurorehabilitation Fondazione Santa Lucia Rome Italy Department of Mechanical and Aerospace Engineering Politecnico di Torino Turin Italy

To exploit the benefits of treadmill-based exoskeletons, it is crucial to assess possible deviations from natural walking depending on assistive parameters. This study evaluated the biomechanics of exoskeleton-assisted treadmill walking by comparing it with free gait. Five healthy participants walked freely on a treadmill and with the assistance of the Lokomat gait trainer, while changing Body Weight Support (BWS), Gait Speed (GS), and Guidance Force (GF). Results showed that the hip and knee joint kinematics depended on BWS and GS, while changes due to GF were limited. Moreover, joint kinematics and the activity of related muscles were altered with respect to free gait, for any combination of robot parameters in the case of the ankle, and especially for low GS and with BWS in the case of hip and knee. Overall, walking with the Lokomat can mostly resemble free gait at high speed and without BWS.

关键词：

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：