Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve ...
详细信息
Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.
Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-toler...
Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.
This paper addresses the challenge of attitude stabilization for a class of underactuated rigid and flexible spacecrafts by utilizing only two control inputs. The attitude stabilization problem of underactuated spacec...
详细信息
One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often...
详细信息
One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often relies on human experience and judgment,which will introduce subjectivity and *** this paper,an intelligent approach is proposed for matching EIS data to their equivalent circuits based on the Random Forest *** can automatically select the most suitable equivalent circuit model based on the characteristics and patterns of EIS *** the typical scenario of metal corrosion,an atmospheric corrosion EIS dataset of low-carbon steel is constructed in this paper,which includes five different corrosion *** dataset was used to validate and evaluate the pro-posed method in this *** contributions of this paper can be summarized in three aspects:(1)This paper proposes a method for selecting equivalent circuit models for EIS data based on the Random Forest algorithm.(2)Using authentic EIS data collected from metal atmospheric corrosion,the paper es-tablishes a dataset encompassing five categories of metal corrosion scenarios.(3)The superiority of the proposed method is validated through the utilization of the established authentic EIS *** ex-periment results demonstrate that,in terms of equivalent circuit matching,this method surpasses other machine learning algorithms in both precision and ***,it shows strong applicability in the analysis of EIS data.
This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an inter...
详细信息
This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target tracking is based on image processing by a YOLOv3 Tiny convolutional neural network, combined with depth calculation using a gimbal-mounted ZED Mini stereo camera. We use RGB and depth data from the camera, devising a noise-reducing histogram-filter to extract the target's 3D position. Obtained 3D measurements of target's position are used to calculate the position, orientation, and size of a figure-eight shaped trajectory, which we approximate using a Bernoulli lemniscate. Once the approximation is deemed sufficiently precise, as measured by the distance between observations and estimate, we calculate an interception point to position the interceptor UAV directly on the intruder's path. Our method, which we have significantly improved based on the experience gathered during the MBZIRC competition, has been validated in simulation and through field experiments. Our results confirm that we have developed an efficient, visual-perception module that can extract information describing the intruder UAV's motion with precision sufficient to support interception planning. In a majority of our simulated encounters, we can track and intercept a target that moves 30% faster than the interceptor. Corresponding tests in an unstructured environment yielded 9 out of 12 successful results.
In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate...
详细信息
In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate in an autonomous, wall-building scenario, motivated by construction automation and large-scale robotic 3D printing. The robots must be able, autonomously, to detect, manipulate, and transport bricks in an unstructured, outdoor environment. Our control approach is based on a state machine that dictates which controllers are active at each stage of the Challenge. In the first stage our UGV uses visual servoing and local controllers to approach the target object without considering its orientation. The second stage consists of detecting the object's global pose using OpenCV-based processing of RGB-D image and point-cloud data, and calculating an alignment goal within a global map. The map is built with Google Cartographer and is based on onboard LIDAR, IMU, and GPS data. Motion control in the second stage is realized using the ROS Move Base package with Time-Elastic Band trajectory optimization. Visual servo algorithms guide the vehicle in local object-approach movement and the arm in manipulating bricks. To ensure a stable grasp of the brick's magnetic patch, we developed a passively-compliant, electromagnetic gripper with tactile feedback. Our fully-autonomous UGV performed well in Challenge 2 and in post-competition evaluations of its brick pick-and-place algorithms.
作者：
Zhu, HaiLi, BaoquanYin, HaolinZhang, XueboTiangong University
School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Nankai University
Institute of Robotics and Automatic Information Systems The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China
Generating an executable reference trajectory in realtime is a core of autonomous navigation for a quadrotor unmanned aerial vehicle (UAV). In the paper, a timeadjusted optimization method is proposed for UAV motion p...
详细信息
In order to improve the detection accuracy and efficiency of surface defects on ceramic tiles, a detection model based on DeepLabV3+and combined with MobileNetv2 for feature extraction was constructed. Using ECA atten...
详细信息
This paper presents a decentralized graph-based exploration and inspection framework for Multi-Robot systems, designed to address challenges in subterranean and largescale environments. Unlike prior works that focus s...
详细信息
ISBN:
(数字)9798331513283
ISBN:
(纸本)9798331513290
This paper presents a decentralized graph-based exploration and inspection framework for Multi-Robot systems, designed to address challenges in subterranean and largescale environments. Unlike prior works that focus solely on exploration or inspection, this framework integrates volumetric exploration, semantic inspection, and dynamic task allocation into a unified decentralized system. A key novelty of this work is the seamless integration of these modules in a multi-robot setting, allowing UAVs to autonomously coordinate their tasks without relying on centralized control. The framework employs a hierarchical graph structure, utilizing a dense local graph for immediate navigation and a sparse global graph for long-term planning and repositioning. Extensive simulations in large-scale complex-shaped environments demonstrate that the proposed approach improves the completeness of the generated maps, reduces inconsistencies in the constructed mesh, and accelerates the overall exploration-inspection process compared to existing decentralized strategies.
In this paper, we present a method to control the UAV to follow the power line with a specific position and orientation based only on the measurement of the magnetic field generated by the current flow in the power li...
详细信息
ISBN:
(数字)9798331513283
ISBN:
(纸本)9798331513290
In this paper, we present a method to control the UAV to follow the power line with a specific position and orientation based only on the measurement of the magnetic field generated by the current flow in the power line. In this way, it is possible to localize the UAV with respect to the power line without the need for additional sensors, even in poor visibility conditions. The measurements from four magnetometers attached to the UAV are used to solve an optimization problem that involves determining the relative pose of the UAV with respect to the power line. Based on the relative pose, the UAV is controlled to follow the power line in a predefined position and orientation. Experiments in a test setup have confirmed that the method is applicable in a realistic environment.
暂无评论