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Mars 2020 surface mission performance analysis: Part 2. surface traversability

Mars 2020 surface mission performance analysis: Part 2. surf...

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AIAA Space and Astronautics Forum and Exposition, 2018

作者： Ono, Masahiro Heverly, Matthew Rothrock, Brandon Ishimatsu, Takuto Almeida, Eduardo Calef, Fred Soliman, Tariq Williams, Nathan Gengl, Hallie Nicholas, Austin Stilley, Erisa K. Otsu, Kyohei Trautman, Marshall Lange, Robert Milkovich, Sarah Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Research Technologist Mobility and Robotics Systems Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Mechanical Engineering Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Science Data Understanding Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Geophysics and Planetary Geosciences Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Data Visualization Developer Instrument Software and Science Data Systems PasadenaCA91106 United States Software Systems Engineering Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Mission Systems Engineering Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Science Systems Engineer Jet Propulsion Laboratory California Institute of Technology 394B PasadenaCA91106 United States

ISBN: (纸本)9781624105753

– The Mars 2020 Rover Mission (M2020) is characterized by demanding requirement on the distance and time for traveling between scientific Regions Of Interest (ROIs). As a result, surface traversability is one of the major driving factors for the landing site selection of M2020. With the newly developed Mars Terrain Traversability analysis Tools (MTTT), we performed traversability analysis of the eight candidate landing sites with an unprecedented granularity. This paper describes the MTTT analysis capabilityies, as well as how the MTTT capabilities were used to downselect from eight to three candidate landing sites for further evaluation. © 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Site selection

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Comparison of Monocular ROS-Based Visual SLAM Methods 1

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7th International Conference on Interactive Collaborative robotics, ICR 2022

作者： Safarova, Liaisan Abbyasov, Bulat Tsoy, Tatyana Li, Hongbing Magid, Evgeni Laboratory of Intelligent Robotic Systems Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University Kremlyovskaya Str. 35 Kazan420111 Russia Department of Instrument Science and Engineering Shanghai Jiao Tong University Shanghai China Tikhonov Moscow Institute of Electronics and Mathematics HSE University Tallinn Str 34 Moscow123592 Russia

ISBN: (数字)9783031236099

ISBN: (纸本)9783031236082

Simultaneous Localization and Mapping (SLAM) is a robot navigation approach used to estimate a movement of a sensor in an unknown environment. SLAM application examples include urban search and rescue operations in high-risk environments, visual surveillance and service robotics. Compared to laser-range finders, visual sensors are more light weight, have less power consumption and provide more vast amount of environmental information. Visual SLAM methods are based on visual information only and employ monocular, stereo or RGD-D cameras as input sensors. Monocular SLAM methods are often preferred for a robotic platform when cost, energy and system weight requirements are limited. Calculation of errors and testing on ready-made datasets allow to check applicability of an algorithm in real-world scenarios with less efforts than experiments with a real robot. Verification of a sensor position and robot trajectory estimation accuracy is achieved by measuring Absolute Trajectory Error (ATE), Relative Pose Error (RPE) and Root Mean Square Error (RMSE). This article presents analysis and comparison of the most widely used Visual SLAM monocular algorithms built for Robot Operating System (ROS): ORB-SLAM2, ORB-SLAM3, DSO and LDSO. The KITTI and Euroc MAV datasets were selected to evaluate the algorithms’ performance. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robot Operating System

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SmallRhex: A Fast and Highly-Mobile Hexapod Robot

SmallRhex: A Fast and Highly-Mobile Hexapod Robot

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IEEE International Conference on robotics and Biomimetics

作者： Wenhui Wang Wujie Shi Zerui Li Weiheng Zhuang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Southern University of Science and Technology (SUSTech) Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities Shenzhen China

ISBN: (纸本)9781665481106

Relying on the unique C-leg structure, RHex robots have good mobility and traffic ability when having relatively simple structures. Based on the existing RHex robots, taking into account the performance and cost, this design develops a small hexapod robot, named smallRhex, with low cost but strong performance. This paper mainly introduces the mechanical structure, robot gaits, simulation, and physical performance tests of smallRhex robots. The hardware is mainly based on the raspberry pie microcomputer and Robomaster motor and accessories. The high power density meets the dual requirements of performance and cost. Then cooperates with 3D printing and sheet metal and machined parts processing to complete the design of the mechanical structure and assembly of the robot. At the control level, raspberry pie directly controls the movement of 6 motors. The gait design includes basic motion gait, which includes straight walking and turning, and other gaits of complex motion: stair climbing, jumping, and high obstacle climbing. They are simulated in Webots. Finally, the performance test and the gait test of the robot are carried out. Then the gait design is further optimized, and the basic design of smallRhex robot is completed.

关键词： Legged locomotion Power system measurements Costs Metals Stairs Microcomputers Turning

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Operational scheduling for rough mills using a virtual manufacturing environment

Operational scheduling for rough mills using a virtual manuf...

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IEEE International Conference on systems, Man and Cybernetics

作者： D.B. Kotak M. Fleetwood H. Tamoto W.A. Gruver Manufacturing Systems Engineering Group National Research Council Canada Vancouver BC Canada Intelligent Robotics & Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Production scheduling in wood product plants, such as furniture factories, is highly complex due to its sensitivity to defects occurring in wood. Due to the huge number of choices and uncertainty of the outcome an optimum schedule cannot be computed mathematically. These choices, with complex interdependencies, have to be made on an hourly basis at different machines and must be coordinated to achieve the overall production,objectives. A decision support tool, using a 3D simulation model, is provided to predict the production performance of the null under various operational schedules, before a selected schedule is implemented. A 3D simulation model was developed accurately depicting the layout and operation of a rough mill. A historical database, some of it maintained via human input and some of it collected automatically, was analyzed to provide the basis for predicting the behavior of the mill when processing different type of raw materials and when producing different combination of products. The validated model, which links to the scheduling database (i.e., raw material available, products required) is used to test-fly alternate production schedules as often as required, thus identifying potential production problems before they occur in the mill. The next step will be to incorporate intelligent scheduling agents using techniques, such as fuzzy logic and genetic algorithms, to provide scheduling recommendations on individual machines. In the future these will be coordinated in a holonic manufacturing execution system to achieve better global performance. Performance measurement will require assessment based upon multiple criteria (e.g., productivity, recovery, grade utilization, and satisfaction of order files).

关键词： Milling machines Job shop scheduling Processor scheduling Predictive models Databases Raw materials Production facilities Uncertainty Computational modeling Humans

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Short-Term Photovoltaic Power Prediction Modeling Based on AdaBoost Algorithm and Elman 10

Short-Term Photovoltaic Power Prediction Modeling Based on A...

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10th International Conference on Power and Energy systems, ICPES 2020

作者： Sun, Wenxuan Zhang, Tao Tao, Ran Wang, Anna Northeastern University College of Information Science and Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9781665404945

In recent years, with the rapid expansion of the installed capacity of renewable energy systems, the availability, stability and quality of smart grids have become increasingly important[1]. The application of renewable energy production forecasting has also been rapidly developed, especially in the field of solar photovoltaic (PV)[2][3]. In the example of solar PV output prediction, machine learning and hybrid technologies have been implemented for many applications. In this paper, a high-precision PV system output power prediction model based on improved AdaBoost and Elman is proposed. Multiple model using integrated AdaBoost algorithm fusion with the bat algorithm for the parameters of optimized combination of weak Elman neural network predictor to become a higher prediction precision, the method of strong predictor of the model can according to the weather information, such as temperature, solar radiation and the history of the output of the PV system data, the probability of photovoltaic power generation for 12 hours and deterministic prediction. The prediction accuracy of the model is determined by Root Mean Squared Error (RMSE). Experimental results show that the prediction accuracy of this algorithm is better than that of other benchmark models, and the algorithm can effectively predict the volatility and irregularity of complex time series. © 2020 IEEE.

关键词： Adaptive boosting

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A two-phased object orientation controller on soft finger operations

A two-phased object orientation controller on soft finger op...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Takahiro Inoue Shinichi Hirai Faculty of Computer of Systems Engineering for Sports Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan Laboratory for Integrated Machine Intelligence and Faculty of Department of Robotics Ritsumeikan University Japan

The greatest characteristic of soft-fingered manipulation is its softness and flexibility during manipulating operations. In previous works, this intrinsic property had been quantitatively explained from the viewpoint of physical and mechanical perspective that the deformation energy induced by large elastic distortion automatically has a minimum equilibrium point. Hence this report first derive equations of motion of two-fingered soft finger robotic hand on the basis of energy- based analysis, and explain that an equilibrium point on a combined energy function exists even in the case of manipulating motions by the hand. In this paper, the equilibrium point is called LMEEwC that is unfolded as local minimum of elastic energy with constraints. Next, we show that the posture control of a rigid object grasped by the minimal degrees-of-freedom hand can easily be achieved by applying a two-phased controller associated with each joint angle of the hand, which is newly proposed in this report. This control scheme is constructed by two parts: a PD controller with respect to the finger angle and an integral controller with respect to the orientation of the grasped object. The characteristics of the control method of the latter part is that the desired joint angle of the hand is produced dynamically by the integral controller with respect to the object orientation. Finally, we clarify the effectiveness of the proposed control method in the case of the soft-fingered manipulation.

关键词： Fingers Equations Force control Motion analysis Grasping systems engineering and theory Linear feedback control systems Force feedback Robot kinematics Intelligent robots

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Collision-free Navigation of Magnetic Mobile Microrobot in Multiple Scenarios

Collision-free Navigation of Magnetic Mobile Microrobot in M...

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IEEE International Conference on robotics and Biomimetics

作者： Yueying Tang Yi Xing You Li Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9781665481106

Microrobot has been developed for the manipulation of micro- and nanoscale objects for many biological and manufacturing tasks. However, there are still challenges in the collision-free operation of microrobots in multiple scenarios. Essential functions, such as path planning and autonomous and adaptive navigation in dynamic environments, are urgently needed to implement microrobots in practical scenarios. Here, we implement path planning and the autonomous navigation of microrobots in 2D static obstacle scenarios and micro-mazes. A probabilistic-based RRT algorithm is employed to speed up the path search in static obstacle scenarios. The Dijkstra algorithm is employed in the micro-maze navigation of the microrobot to avoid the narrow and long pipeline effect. To further ease the active manipulation of magnetic mobile microrobots, a handle-based interactive operation is developed to realize the operational tasks in the three-dimensional space based on artificial vision planning and navigation, which improves the interactivity and flexibility of the system, and supplements the current limitation of autonomous navigation on the three-dimensional space.

关键词： Visualization Navigation Magnetic resonance imaging Heuristic algorithms Probabilistic logic Path planning Real-time systems

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A survey on intelligent interaction and cooperative control of multi-robot systems

A survey on intelligent interaction and cooperative control ...

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International Conference on Control and Automation (ICCA)

作者： Anmin Zhu Simon X. Yang School of Computer Science and Software Engineering Shenzhen University China Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

Multi-robot systems have drawn the attention of many different research communities, such as physics, electronics, control, computer science, mathematics, and biology. Motivated by the growing popularity of multi-robot system and related coordination approaches, this paper surveys and analyzes the relevant literature, including six classification dimensions: system architectures, communication and robotic sensor networks, swarm intelligence and swarm robotics, cooperation among robots, applications, and research projects.

关键词： Control systems Multirobot systems Robot sensing systems Robot kinematics Intelligent robots Physics Communication system control Biological control systems Computer science Mathematics

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Semantic Mapping Based on Visual SLAM with Object Model Replacement Visualization for Cleaning Robot

Semantic Mapping Based on Visual SLAM with Object Model Repl...

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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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Modeling and Experimental Characterization of Propeller-driven Capsule Endoscope Robot for Gastrointestinal Minimally Invasive Diagnosis

Modeling and Experimental Characterization of Propeller-driv...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Weihao Wang Yi Zhang Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Wireless capsule endoscopy robots are miniaturized robots that integrate camera, wireless communication, microcontroller, power supply, and other modules. In this paper, we study the modeling and experimental characterization of a propeller-driven capsule endoscopy robot (PCER). The profile of the propeller is challenging to design without detailed drawings because of the complex curved surfaces. The propeller design is achieved in the MIT open-source project OpenProp. The modeling of the propeller and the PCER shell are completed. We used the FLUENT fluid simulation toolkit to evaluate the hydrodynamic performance of the propeller and PCER shell. The thrust generated by the propeller is measured by experiment, and the resistance of PCER shell is measured by experiment following the fluid similarity law. The error between the simulation and the experiment results is within the allowable range, which proves that the hydrodynamic performance parameters of the micro-propeller and the PCER shell calculated by the simulation are reliable, and it provides a new method for the design and optimization of the PCER.

关键词： Wireless communication Solid modeling Fluids Spirals Propellers Endoscopes Propulsion

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