This paper presents results of the application of simultaneous localisation and map building (SLAM) for an uninhabited aerial vehicle (UAV). Single vision camera and inertial measurement unit (IMU) are installed in a ...
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This paper presents results of the application of simultaneous localisation and map building (SLAM) for an uninhabited aerial vehicle (UAV). Single vision camera and inertial measurement unit (IMU) are installed in a UAV platform. The data taken from a flight test is used to run the SLAM algorithm. Results show that both the map and the vehicle uncertainty are corrected even though the model of the system and observation are highly non-linear. The results, however, also indicate that further work of observability and the relationship between vehicle model drift and the number and the location of landmarks need to be further analysed given the highly dynamic nature of the system.
This study examines 3D-modeling techniques for object recognition using point cloud data and evaluates the performance of key deep learning-based semantic segmentation techniques. This study compared AI structure for ...
This study examines 3D-modeling techniques for object recognition using point cloud data and evaluates the performance of key deep learning-based semantic segmentation techniques. This study compared AI structure for point clouds such as PointNet, PointNet++, PointCNN, and DGCNN (dynamic graph CNN). The comparison confirmed that each technique offers different approaches to effectively manage the characteristics and spatial structure of point cloud data. Notably, DGCNN demonstrated high segmentation performance through dynamic graph convolutional networks. This study provides essential foundational data that can contribute to advancing disaster response technology and is expected to significantly aid disaster response agencies in making quick and accurate decisions.
This paper presents a synthesis procedure for a compliant four-bar linkage with three specified equilibrium configurations. The finite position synthesis equations are combined with equilibrium constraints at the flex...
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Robotic systems need advanced mobility capabili-ties to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to op...
Robotic systems need advanced mobility capabili-ties to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly, reliably, and efficiently in such complex environments, e.g., automatically “returning home” if communication between an operator and robot is lost during deployment. This work presents a novel method that enables mobile robots to robustly operate in multi-level environments by making it possible to autonomously locate and climb a range of different staircases. We present results wherein a wheeled robot works together with a quadrupedal system to quickly detect different staircases and reliably climb them. The performance of this novel staircase detection algorithm that is able to run on the heterogeneous platforms is compared to the current state-of-the-art detection algorithm. We show that our approach significantly increases the accuracy and speed at which detections occur.
Exoskeletons with active joints arouse great interest for human power augmentation and assistive applications. In this article we present an innovative prototype of a portable shoulder and elbow exoskeleton, for assis...
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The interest of many research groups regarding manufacture of composite materials by using natural fibers is increasing world-wide. The main objectives involve the improvement of mechanical properties, mainly those re...
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The interest of many research groups regarding manufacture of composite materials by using natural fibers is increasing world-wide. The main objectives involve the improvement of mechanical properties, mainly those related to resistance and elasticity. In the present study in a first stage, polymer concrete specimens were elaborated by using an unsaturated polyester resin, silica sand and luffa fibers; after, they were gamma irradiated at different doses and their mechanical properties were evaluated. Two different silica particle sizes (0.15 mm and 0.6 mm), and four different luffa fiber concentrations (0.3, 0.6, 0.9 and 1.2 wt%) were used, as well as 50 and 100 kGy of radiation dose. The results show a gradually diminution of compressive strength and modulus of elasticity when adding luffa fiber concentration. Nevertheless, such mechanical features are increasing when polymer concrete is gamma irradiated.
Series of submerged arc welds of HSLA steel made with three different fluxes and metallic additions of Ti, Mo, and Cr have been examined to study the inclusions and their role in the nucleation of acicular ferrite. In...
Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situations. For example, images for inspec...
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Development of materials with high strength having lightweight, has been the subject of intense research for the past three decades, and these are being exploited for a range of commercial applications, particularly t...
Development of materials with high strength having lightweight, has been the subject of intense research for the past three decades, and these are being exploited for a range of commercial applications, particularly the aviation and automotive sector. Aluminum-based metal matrix composites (AMCs) are being preferred for most of the applications. In this investigation, an attempt has been made to synthesize AA7075/TiB 2 composite through the in-situ salt melt reaction technique and ultrasound-assisted in-situ technique (UST). Furthermore, the effect of hot forging on the in-situ and also UST composites is investigated. Microstructural analysis reveals that the UST reduced the porosity level, and further, the UST refines the size of TiB 2 particles along with improvement in the dispersion of the TiB 2 particles. The assessment of the composite confirms that the UST is found to improve the mechanical and tribological characteristics significantly. UST forged composite shows enhanced hardness and strength as compared to as-cast, in-situ, and UST.
Series-Elastic Actuators (SEA) have been proposed as a technology to build robust humanoid robots. The aim of this work is to generate efficient and robust walking for such robots. We present a combined approach which...
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ISBN:
(纸本)9781538646793
Series-Elastic Actuators (SEA) have been proposed as a technology to build robust humanoid robots. The aim of this work is to generate efficient and robust walking for such robots. We present a combined approach which exploits the system dynamics through optimization based trajectory generation and a robust control scheme. The compliant actuator dynamics are explicitly modeled in the optimal control problem. For local stabilization, a passivity based tracking controller distributes the required control forces onto the available contacts. Additionally, a predictive control scheme for step adaptation is presented, which provides feasible contact points in the future. Using a reduced model, this combines efficient walking with robustness against model or environment uncertainties and external disturbances.
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