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Robotic sensing for buried pipes with sound waves

The Journal of the Acoustical Society of America 2023年第4_SUPPLEMENT期154卷 A68-A68页

作者： Yicheng.Yu Kirill Horoshenkov Rob Worley Sean Anderson Dept. of Mech. Eng. Univ. of Sheffield Mappin St. Sheffield S1 3JD United Kingdom yicheng.yu@sheffield.ac.uk Mech. Eng. Univ. of Sheffield Sheffield United Kingdom Dept. of Automatic Control and Systems Eng. University of Sheffield Univ. of Sheffield Sheffield United Kingdom

The leng.h of buried sewer and drainage network in Europe is several million kilometres. Autonomous robots are being developed to inspect this massive network of pipes pervasively. These inspection technologies traditionally rely on CCTV images. However, detection of the condition of buried pipes with autonomous robots is challeng.ng computationally. Acoustic waves provide an efficient alternative to conventional CCTV methods to detect a range of artefacts that can lead to pipe failure and map these conditions. This paper presents an acoustic method for simultaneous condition detection, localization, and classification in air-filled pipes. A microphone array is used to estimate the reflection coefficient from a range of artefacts. This information is used together with a regularization method. A wavelet basis function is adapted to enhance the fidelity of collected acoustic data. It is shown that the wavelet components can also be used to train and to test a support vector machine (SVM) classifier for the condition identification. This work can also inform the route planning and low-level control algorithms for autonomous robots which are being developed for the inspection of buried pipes.

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Motion optimization for a robotic fish based on adversarial structured control

Motion optimization for a robotic fish based on adversarial ...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Yan, Shuaizheng.Wang, Jian Wu, Zheng.ing Yu, Junzhi Tan, Min Institute of Automation CAS State Key Lab Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781728163215

This paper proposes a task-based control optimization method for the robotic fish. It is essentially an adversarial structured control consisting of a global control module and a local compensation control module. In detail, the global control module emulates an optimized central pattern generator with Evolutionary Strategy, while the local control module produces targeted compensation control signals with Soft Actor-Critic. The linear summation of two control laws works for the final robotic fish control. Considering that the evolutionary computation optimization algorithms generally have the defect of falling into the local optimum, we propose a method of antagonistic training to improve the optimization performance. The effectiveness of the designed controller is validated by simulation on agents in Mujoco. Noticeably, the simulation results demonstrate that the proposed method teaches the agent fish to move to any target point with a low energy consumption, which lays a good foundation for application of reinforcement learning in real robotic fish control. © 2019 IEEE.

关键词： Fish

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Design and yaw control of a two-motor-actuated biomimetic robotic fish

Design and yaw control of a two-motor-actuated biomimetic ro...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Du, Sheng.Wu, Zheng.ing Yu, Junzhi Institute of Automation CAS State Key Lab Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781728163215

This paper addresses the design and control of a novel tuna-inspired robotic fish able to realize both fast swimming and high maneuverability. A two-stage transmission mech.nism is proposed, aiming at reducing the volume and mass of caudal peduncle. Benefited by it, both volumes and mass of moving parts can be reduced to allow higher swing frequency. At the same time, two joints driven by two motors ensure the flexibility of steering. The robotic fish achieves a maximum speed up to 1.65 body leng.hs per second (BL/s) and a minimum turning radius less than 0.35 body leng.hs (BL), based on the open-loop control designed by Central Pattern Generator (CPG) method. Furthermore, a yaw control is proposed to maintain course angle at high swimming speed, and simulation in Automatic Dynamic Analysis of mech.nical systems (ADAMS) software reveals the effectiveness. The results show that the proposed yaw control method can regulate the fluctuation of anterior body to desired range but without compensation of sideways drift. © 2019 IEEE.

关键词： Fish

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3-D motion analysis and implementation of a developed gliding robotic dolphin

3-D motion analysis and implementation of a developed glidin...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Wang, Jian Wu, Zheng.ing Liu, Jincun Tan, Min Yu, Junzhi Institute of Automation CAS State Key Lab Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781728163215

This paper investigates the three-dimensional (3-D) maneuverability of a gliding robotic dolphin through analyzing the horizontal and vertical motions. Concretely, in order to improve the performance in the horizontal plane, the gliding robotic dolphin is developed with a rudder installed on its belly, and the 3-D full-state dynamic model is derived briefly. By setting two typical body and/or caudal fin (BCF)-based and three typical median and/or paired fin (MPF)-based turning patterns, the turning performances are revealed and analyzed. With regard to the vertical plane, a novel finite state machine framework is proposed to realize the vertical downward action. Finally, extensive experiments involving the turning and vertical motions are conducted to illustrate and analyze the 3-D maneuverability, which provides valuable guidance for the real-world applications of the gliding robotic dolphin. © 2019 IEEE.

关键词： Motion analysis

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Effect of compliant passive joint on swimming performance for a multi-joint robotic fish

Effect of compliant passive joint on swimming performance fo...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Chen, Di Wu, Zheng.ing Yu, Junzhi Institute of Automation CAS State Key Lab Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781728163215

In this paper, a novel compliant passive joint with two torsion springs is designed for a multi-joint robotic fish to improve propulsive performance. The motion of the multi-joint robotic fish is governed by the central pattern generator (CPG) control method. Using this multi-joint robotic fish as a testbed, the effect of compliant passive joint on swimming speed with changes in spring constant and CPG parameters such as oscillation frequency and phase difference is explored. As for the multi-joint robotic fish with a compliant passive joint, the swimming speed increases directly with the increase of oscillation frequency and the swimming speed achieved at maximum oscillation frequency increases with the decrease of phase difference. In addition, the comparison of swimming performance between robotic fish with a compliant passive joint and a fixed passive joint is made. Remarkably, the maximum swimming speed after improvement increases approximately 9.43 cm/s, corresponding to 0.17 BL/s. Experimental results reveal that adding an extra compliant passive joint can not always bring an improvement in swimming performance. Appropriate stiffness of passive joint and control parameters are needed to achieve better swimming performance. © 2019 IEEE.

关键词： Robotics

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3-D Motion Analysis and Implementation of a Developed Gliding Robotic Dolphin

3-D Motion Analysis and Implementation of a Developed Glidin...

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IEEE International Conference on Robotics and Biomimetics

作者： Jian Wang Zheng.ing Wu Jincun Liu Min Tan Junzhi Yu State Key Lab Management and Control for Complex Systems Institute of Automation CAS Beijing China Dept. Mech. Eng. Sci. Peking University Beijing China

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An efficient 3D pedestrian detector with calibrated RGB camera and 3D LiDAR

An efficient 3D pedestrian detector with calibrated RGB came...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Pang, Lei Cao, Zhiqiang Yu, Junzhi Liang, Shuang Chen, Xuechao Zhang, Weimin State Key Lab Management and Control for Complex Systems Institute of Automation CAS Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China BAICIRS Beijing100081 China Intell. Robot. Inst. Beijing Inst. Technol. Beijing100081 China

ISBN: (纸本)9781728163215

Pedestrian detection plays an important role in the environmental perception and autonomous navigation for robotics, which provides critical information for the safe operation in complex environments. In this paper, a 3D pedestrian detector with calibrated LiDAR and RGB Camera is proposed, which takes full advantage of the precise range information of 3D LiDAR scanner and semantic information acquired from RGB image. The proposed approach integrates the segmented object clusters of point cloud and 2D bounding boxes generated by a visual object detector. The point cloud is segmented by a three-step segmentation approach, which can segment point cloud with both high precision and high efficiency. By fusion multi-sensor information in the image domain, the proposed approach provides 3D information of pedestrians in both LiDAR and camera coordinate systems. Experiments was conducted to evaluate the performance of the proposed approach. © 2019 IEEE.

关键词： Cameras

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On the rational representation of fractional order lead compensator using Padé approximation 7

On the rational representation of fractional order lead comp...

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7th Mediterranean Conference on Embedded Computing, MECO 2018

作者： Bošković, Marko Č. Rapaić, Milan R. Šekara, Tomislav B. Mandić, Petar D. Lazarević, Mihailo P. Cvetković, Boško Lutovac, Budimir Daković, Miloš Department of Autom. Control University of Novi Sad Faculty of Technical Sciences Novi Sad Serbia Signals and Systems Dept. University of Belgrade School of Elect. Eng. Belgrade Serbia University of Belgrade Faculty of Mech. Eng. Belgrade Serbia Signals and Systems Dept. University of Montenegro Faculty of Elec. Eng. Podgorica Montenegro

ISBN: (纸本)9781538656822

This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Padé approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass. © 2018 IEEE.

关键词： Robust control

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A generalized framework for perturbation-based derivative estimation in multivariable extremum-seeking

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IFAC-PapersOnLine 2017年第1期50卷 3148-3153页

作者： van der Weijst R. van Keulen T. Willems F. Mech. Eng. Dept. Eindhoven University of Technology Control Systems Technology group Eindhoven Netherlands DAF Trucks N.V. Eindhoven Netherlands TNO Automotive Powertrains Dept. Helmond Netherlands

In the context of model-free optimization of dynamic nonlinear multiple-input-single-output (MISO) systems using extremum-seeking (ES), accurate and fast derivative estimation of the systems steady-state performance map is essential. This paper presents a generalized derivative estimator (DE) framework for unknown MISO static maps. To this extent, the map input is perturbed with sinusoidal dither signals with different frequencies. Using the proposed framework, the derivatives can be estimated up to an arbitrary order, for maps with an arbitrary number of inputs. Conditions on the dither frequencies are provided, which optimize the DE time-scale, such that derivative estimation is as fast as possible. Simulation examples are provided to demonstrate the effectiveness of the proposed framework. © 2017

关键词： adaptive control autotuning data-based control Extremum-seeking multivariable systems nonlinear systems

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Simulated and experimental demonstrations of the first acoustic hologram enhanced phased arrays for manipulation

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The Journal of the Acoustical Society of America 2019年第4_SUPPLEMENT期146卷 2950-2950页

作者： Luke Cox Kai Melde Anthony Croxford Peer Fischer Bruce W. Drinkwater Mech. Eng. Univ. of Bristol UNDT Group Queen's Bldg. University Walk Bristol BS8 1TR United Kingdom luke.cox@bristol.ac.uk Micro Nano and Molecular Systems Group Max Plank Inst. for Intelligent Systems Stuttgart BW Germany Mech. Eng. Univ. of Bristol Bristol United Kingdom

When attempting to form a desired static sound field for manipulation, acoustic holograms are generally superior to phased arrays due to their immensely higher resolution. However, they lack the dynamic capabilities of phased arrays. We therefore demonstrate a combination of the two. We produce several holograms for use with a continuously excited 64-element linear phased array. Simulations were used to predict the expected range of performance. We then experimentally demonstrate moving the position of the projected hologram plane via phase delays which tilt the output of the phased array. This creates a much more tightly focused point than the phased array alone, whilst retaining dynamical control. A second hologram allows the complex movement of a “phase surfer” along a phase track. These examples demonstrate that the streng.hs of both phased arrays and holograms can be combined. These developments open the door for more complex manipulation in the future whilst maintaining a relatively simple electronic set-up, thus reducing the cost whilst increasing the capability.

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