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IEEE International Conference on robotics and Biomimetics

作者： Zirui Wang Haiou Liao Zhenzhong Jia Jing Wu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems they are also with Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology (SUSTech) Shenzhen China

ISBN: (纸本)9781665481106

Cleaning robots have been widely used in our daily life, achieving huge success in the service robot sector. The autonomous movement and decision-making of these robots directly depend on their environmental perception capability, which is implemented using SLAM (simultaneous localization and mapping) technique. In order to achieve better environmental perception and intelligent decision-making, it is necessary to introduce visual SLAM into cleaning robot and take full advantage of visual information to achieve higher-level perception, instead of sticking to current feature point or pixel level perception capability. In this paper, we propose a framework for semantic mapping with object model replacement visualization in indoor scenes for cleaning robot. We use an EKF-based method to fuse wheel odometry and visual odometry, and build a map representation for navigation in the framework. We obtain a semantic map by fusing object detection and point cloud segmentation. We also develop object model replacement for better visualization purposes. Finally, we conduct dataset tests and real experiments to validate our proposed framework.

关键词： Visualization Simultaneous localization and mapping Service robots Biological system modeling Semantics Decision making Wheels

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A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot systems in Power Line Inspection Tasks

A Multi-Layer Software Architecture for Aerial Cognitive Mul...

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2021 International Conference on Unmanned Aircraft systems, ICUAS 2021

作者： Silano, Giuseppe Bednar, Jan Nascimento, Tiago Capitan, Jesus Saska, Martin Ollero, Anibal Czech Technical University Faculty of Electrical Engineering Prague Czech Republic Universidade Federal da Paraiba Department of Computer Systems Brazil Grvc Robotics Laboratory University of Seville Spain

ISBN: (纸本)9780738131153

This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quad-rotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out successfully. Besides, cognitive capabilities are integrated in the multi-vehicle system in order to reply to unforeseen events and external disturbances. The feasibility and effectiveness of the proposed architecture are demonstrated by means of realistic simulations. © 2021 IEEE.

关键词： Inspection

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Atomic Simulations of Tip-Based Nanomilling Process on Single Crystal Copper

SSRN

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SSRN 2022年

作者： Yan, Yongda Li, Zihan Wang, Jiqiang Geng, Yanquan The State Key Laboratory of Robotics and Systems Robotics Institute Harbin Institute of Technology Heilongjiang Harbin150080 China Center for Precision Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China

An atomic force microscopy (AFM) tip-based scratch method has been used to machine 2D/3D micro-nanostructures. However, the machining efficiency is too low for being applied in a wide application. The AFM tip-based nanomilling approach has the advantage of higher efficiency due to a higher materials removal rate. This paper compares the materials removal mechanism between single scratch and nanomilling processes close to the atomic scale on single crystal copper surface using the molecular dynamics simulation. By analyzing the groove morphology, atomic flow behavior and variation of scratching forces, the materials removal mechanism is revealed in this study. Moreover, tip trajectory and sample crystallographic orientation effect on atomic removal are also studied by the analysis of relationship between the evolution of the subsurface defect and material removal. This work reveals the mechanism of the materials removal in nanomilling process in detail, which will greatly improve the ability of the tip-based nanomachining method. © 2022, The Authors. All rights reserved.

关键词： Molecular dynamics

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Multiple Sensor Fusion-Based Positioning Robot for Steam Generator Inspection

Multiple Sensor Fusion-Based Positioning Robot for Steam Gen...

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Sensor Technology and Control (ISSTC), International Symposium on

作者： Jingwei You Shouqi Wei Xiong Wu Jianquan Sun Department of Electrical Engineering Guilin University of Electronic Technology Guilin China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen China

Nuclear energy is presently the clean energy source most likely to massively displace fossil energy, and the secondary side of the steam generator is an important part of a nuclear power plant. Due to the small space of the secondary side of the steam generator and the confinement of the vessel, the precise positioning of the robot inside the steam generator cannot be achieved by a single sensor alone. This paper introduces a multi-sensor fusion steam generator secondary side inspection robot. Primary emphasis is on data fusion of multiple sensors, such as laser sensors, cameras, IMU, and wheel encoder. First of all, this paper integrates data from wheel encoder data and IMU data by using extended Kalman filtering (EKF), which decreases the drift error during the motion and enhances the robot positioning precision. Afterwards, we incorporate laser ranging sensors and camera picture data to enhance the overall spatial sensitivity of the robot through particle filtering algorithms. Experiments show that the robot works reliably and has high positioning accuracy.

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Intelligent Wireless Self-Sustained Sensing Cubic Node Toward AIOT Ready Smart City

Intelligent Wireless Self-Sustained Sensing Cubic Node Towar...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Manjuan Huang Tingting Zhao Guoqing Jin Xiaojing Mu Huicong Liu Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical Engineering Soochow University Suzhou CHINA Key Laboratory of Optoelectronic Technology & Systems Ministry of Education International R&D Center of Micro-nano Systems and New Materials Technology Chongqing University Chongqing CHINA

This paper presents an intelligent wireless self-sustained sensing cubic node, consisting of a rotational electromagnetic generator (R-EMG) for power supply and a versatile triaxial piezoelectric sensor (TPS) composed of three piezoelectric beams. This system enhances internet of things (IoT) sensing through cloud-based artificial intelligence (AI) computing. The cubic node provides power generation and multi-functional sensing capabilities, including vibration acceleration, frequency, and tilting angle. The design of the R-EMG ensures stable output at different rotational speeds, reaching a maximum output power of 66 mW at 550 rpm with an external load of 1.1 kΩ, allowing for self-sustaining energy generation for the node. Additionally, the cubic design enables the orthogonal placement of the three piezoelectric beams, enabling a broad response to vibrational energy from various directions. This flexibility allows for diverse applications across different frequencies and scenarios.

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Experimental analysis of slip ratio using the wheel walking locomotion mode in reconfigurable rovers

Experimental analysis of slip ratio using the wheel walking ...

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Mediterranean Conference on Control and Automation (MED)

作者： S. Domí nguez-Durante C. J. Pé rez-Del-Pulgar G. J. Paz-Delgado M. Azkarate Department of Systems Engineering and Automation Space Robotics Laboratory Universidad de Ma&#x00ED laga Andalucia Tech Ma&#x00ED laga Spain Robotics and Automation Section European Space Agency Noordwijk The Netherlands

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

Planetary exploration has been affected by the ability of rovers to avoid getting trapped on sandy terrains. Currently, the European Space Agency in collaboration with the Russian Federal Space Agency are preparing the ExoMars mission, with the objective of placing a rover on the Martian surface to seek for signs of life. This rover is capable of a novel locomotion mode, commonly called wheel walking. It consists on moving the wheel forward and backward in order to improve traction and escape from terrains with a high slip ratio. The main drawback of this locomotion mode is related to the efficiency in power consumption. Therefore, it should be used only in extreme conditions. The objective of this paper is twofold. First, the definition of an experimental setup, based on a rover prototype, an experimental flat terrain and a mechanism to induce a given slip to the rover. Second, the use of this experimental scenario to validate a method, previously proposed by authors, to estimate the rover slip during the wheel walking locomotion mode.

关键词： Legged locomotion Adaptation models Power demand Space missions European Space Agency Force Wheels

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LoRa technology application within the Internet of Flying Things concept for data collection from IoT devices

LoRa technology application within the Internet of Flying Th...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Alexander Dubelschikov Timur Gamberov Tatyana Tsoy Kuo-Hsien Hsia Evgeni Magid Tikhonov Moscow Institute of Electronics and Mathematics HSE University Moscow Russia Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russia Graduate School Engineering Science and Technology National Yunlin University of Science & Technology Taiwan The Republic of China

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

The Internet of Flying Things is one of the priority areas for robotics and automation research and applications. A promising case is an application of UAVs in a search and rescue scenario for data collection from pre-positioned IoT devices, which allows assessing and monitoring a current situation in an operation area. This paper presents a concept of using a low-power LoRa protocol to transmit data from smart sensors to UAVs that deliver the data to a dedicated cloud for further processing and analysis. A mock-up of a structure, which is described in the paper, is to be realized using microcontrollers, LoRa modules and smart temperature sensors.

关键词： Temperature sensors Protocols Microcontrollers LoRa Data collection Communications technology Internet of Things robotics and automation Monitoring Intelligent sensors

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Robust Dynamic Object Removal in 3D Point Clouds Based on Multi-View Projections

Robust Dynamic Object Removal in 3D Point Clouds Based on Mu...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Chen Yao Jingyi Liu Xing Yao Dingyuan Zhang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech Shenzhen China Shenzhen Zhicheng Software Technology Service corporation Futian Shenzhen Guangdong China Shenzhen ETop Information corporation Futian Shenzhen Guangdong China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

SLAM techniques are always used to effectively explore surroundings. To further enhance navigation capabilities, it is essential to filter out dynamic and noisy objects. In this paper, we present an online method that employs a multi-view image-parameterization-based representation, specifically a Bird’s Eye View-Polar View-Range View (BEV-PV-RV) fusion module, for efficient removal of dynamic objects in 3D point clouds. By employing different sizes of projected image windows and varying resolution levels, we can generate confidence levels that determine the disparity between the query scans and the imprecise noisy map derived from a collection of point clouds. Importantly, these points are identified at a granular level. Our iterative process combines the strengths of different projected views, compensating for motion distortions and comparison errors. To evaluate the effectiveness of our approach, we conducted extensive experiments on different sequences of the KITTI dataset. This allows us to successfully eliminate dynamic points, recover static points, and construct a subset that consists mainly of static points with the aid of proposed projected image views. Both quantitative and qualitative analyses demonstrate the robustness, reliability, and high performance of such proposed method.

关键词： Point cloud compression Laser radar Three-dimensional displays Simultaneous localization and mapping Navigation Statistical analysis Heuristic algorithms Robustness Sensors Noise measurement

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Multimodal Detection and Identification of Robot Manipulation Failures

arXiv

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arXiv 2023年

作者： Inceoglu, Arda Aksoy, Eren Erdal Sariel, Sanem Artificial Intelligence and Robotics Laboratory Faculty of Computer and Informatics Engineering Istanbul Technical University Maslak Turkey School of Information Technology Center for Applied Intelligent Systems Research Halmstad University Halmstad Sweden

An autonomous service robot should be able to interact with its environment safely and robustly without requiring human assistance. Unstructured environments are challenging for robots since the exact prediction of outcomes is not always possible. Even when the robot behaviors are well-designed, the unpredictable nature of physical robot-object interaction may prevent success in object manipulation. Therefore, execution of a manipulation action may result in an undesirable outcome involving accidents or damages to the objects or environment. Situation awareness becomes important in such cases to enable the robot to (i) maintain the integrity of both itself and the environment, (ii) recover from failed tasks in the short term, and (iii) learn to avoid failures in the long term. For this purpose, robot executions should be continuously monitored, and failures should be detected and classified appropriately. In this work, we focus on detecting and classifying both manipulation and post-manipulation phase failures using the same exteroception setup. We cover a diverse set of failure types for primary tabletop manipulation actions. In order to detect these failures, we propose FINO-Net [1], a deep multimodal sensor fusion based classifier network. Proposed network accurately detects and classifies failures from raw sensory data without any prior knowledge. In this work, we use our extended FAILURE dataset [1] with 99 new multimodal manipulation recordings and annotate them with their corresponding failure types. FINO-Net achieves 0.87 failure detection and 0.80 failure classification F1 scores. Experimental results show that proposed architecture is also appropriate for real-time use. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

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Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadroto...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhi Zheng Jin Wang Yuze Wu Qifeng Cai Huan Yu Ruibin Zhang Jie Tu Jun Meng Guodong Lu Fei Gao The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Institute of Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou China

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor config-uration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to roll through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely roll through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient rolling through challenging terrains while conserving energy.

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