检索结果-内蒙古大学图书馆

Real-time sub-assembly identification through IMU data fusion with vision sensor for an inspection system

International Journal of Nuclear Energy Science and Technology 2023年第2期16卷 80-96页

作者： Thirumalaesh, A. Nibarkavi, N.A. Winston, S. Joseph Jose, Joel Rathika, P.D. Robotics and Automation Engineering PSG College of Technology Tamil Nadu Coimbatore India Remote Handling and Irradiation Experiments Division Indira Gandhi Centre for Atomic Research Tamil Nadu Kalpakkam India Steam Generator Inspection Devices Section Indira Gandhi Centre for Atomic Research Tamil Nadu Kalpakkam India

The Prototype Fast Breeder Reactor (PFBR) is a two loop, sodium cooled, pool type reactor. The PFBR reactor core is made up of sub-assemblies holding core material in a hexagonal lattice. The Reactor Core Viewing System in Room Temperature (RCVS-RT) aids in the process of inspection of the reactor core components. It introduces a vision probe into the extracted subassembly slot to reach the grid plate top for inspection. This work explores fusing non-contact sensors to a vision sensor to achieve orientation recognition of the RCVS-RT since the orientation is completely lost during the deployment of camera probe. We achieve this by overlaying generated orientation information from non-contact sensors onto the vision data. We use the orientation of the RCVS-RT and the core geometry to generate a numbering scheme of the adjacent sub-assemblies. This allows for a straightforward identification of the subassemblies in the core while maintaining sterility of core components. © 2023 Inderscience Enterprises Ltd.

关键词： Probes

来源：评论

学校读者我要写书评

暂无评论

Field Assessment of Force Torque Sensors for Planetary Rover Navigation

arXiv

引用

arXiv 2024年

作者： Gerdes, Levin del Pulgar, Carlos Pérez Arquillo, Raúl Castilla Azkarate, Martin Space Robotics Lab The Department of Systems Engineering and Automation University of Malaga Calle Dr. Ortiz Ramos s/n Malaga Andalusia29001 Spain Planetary Robotics Lab of the Automation and Robotics Section European Space Agency Keplerlaan 1 South Holland Noordwijk2201 AZ Netherlands

Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely used to this effect, force-torque sensors are less explored for planetary navigation despite their potential to directly measure interaction forces and provide insights into traction performance. This paper presents an evaluation of the performance and use cases of force-torque sensors based on data collected from a six-wheeled rover during tests over varying terrains, speeds, and slopes. We discuss challenges, such as sensor signal reliability and terrain response accuracy, and identify opportunities regarding the use of these sensors. The data is openly accessible and includes force-torque measurements from each of the six-wheel assemblies as well as IMU data from within the rover chassis. This paper aims to inform the design of future studies and rover upgrades, particularly in sensor integration and control algorithms, to improve navigation capabilities. © 2024, CC BY.

关键词： Torque meters

来源：评论

学校读者我要写书评

暂无评论

Remote Monitoring and Control for a Lab-Scaled Valve Control System 10

Remote Monitoring and Control for a Lab-Scaled Valve Control...

引用

10th IEEE International Conference on Smart Instrumentation, Measurement and Applications, ICSIMA 2024

作者： Ali, Abdul Malik Bin Mohd Sahlan, Shafishuhaza Yunus, Mohd Amri Md. Rosli, Khairul Ijlal Gen, Ng Zi Manaf, Mohamad Shukri Abdul Electrical Electronic & Automation Section Kedah 0900 Malaysia Universiti Teknologi Malaysia Centre for Artificial Intelligence and Robotics Faculty of Electrical Engineering Johor Malaysia Universiti Teknologi Malaysia Faculty of Electrical Engineering Johor Malaysia ZEC Engineering Sdn. Bhd. Johor Bahru Malaysia

ISBN: (纸本)9798350365283

In this paper, an automated control valve system utilizing the Panasonic Programmable Logic Controller (PLC) AFPSWC is developed. Panasonic Control Web Creator software is used to develop the Supervisory Control and Data Acquisition (SCADA) system for remote control and monitoring purposes. To increase the efficiency of the operator, a user-friendly Human Machine Interface (HMI) is developed for the system. The lab-scaled control valve system consists of a supply tank, a reservoir tank, a control valve with a positioner, water level sensors, flow rate sensor and motor pump. The water level in the reservoir tank will be controlled by regulating the percentage of the control valve opening. The parameters such as incoming water flow rate, water levels in the supply tank and reservoir tank, incoming and outgoing motor frequencies and percentage of valve opening will be analysed. The communication protocol, Ethernet/IP is used to set up communication between the PLC and devices for remote monitoring and control purposes. The customized HMI can monitor the physical parameters in real time, while the predetermined water volume and motor pump frequencies can be controlled remotely. With the implementation of the remote monitoring system, the efficiency of the system is 97.6%. © 2024 IEEE.

关键词： Remote control

来源：评论

学校读者我要写书评

暂无评论

Roving with the buzzards: a TRL 5 autonomy marathon 74

Roving with the buzzards: a TRL 5 autonomy marathon

引用

74th International Astronautical Congress, IAC 2023

作者： Marc, R. Brayzier, B. Hamill, D. Braun, M. Dinsdale, M. Daoud-Moraru, A. Weclewski, P. Barclay, C. Sanchez-Ibanez, J.R. Hamilton, W. D'Ambrosi, E. Lee, C. Lopes, R. Douglas, J. Dysli, A. Azkarate, M. Guidance Navigation and Control Department Airbus Defence and Space Ltd. StevenageSG1 2AS United Kingdom Automation and Robotics Section ESA - European Space Agency ESTEC Keplerlaan 1 Noordwijk2201 AZ Netherlands

The Mars Sample Return (MSR) campaign constitutes a complex, long-term operation aiming at returning samples from the surface of the red planet to Earth. As part of this campaign, the Sample Fetch Rover (SFR) was conceived as a European contingency to NASA's Perseverance rover to fetch and deliver these samples to the return vehicle. Although this concept was dropped, it served to develop and validate autonomous traverse strategies that are useful for future planetary or lunar exploration missions. This is the context and motivation behind the shakedown of the Field Test Rover System (FTRS) during the Integrated BreadBoard 2 (IBB2) project. This paper presents an overview of the first real-world demonstration of such a robotic system. The IBB2 shakedown took place in September 2022 at a silica sand quarry near Leighton Buzzard, which offered both unfeatured, flat terrain and irregular, rocky terrain to cover a breadth of test scenarios. The locomotion subsystem was representative of the SFR design comprising two differential rocker bogies, eight independent actuators for steering and driving, and shape memory alloy tyres - on loan from NASA's Glenn Research Center (GRC). This test campaign served to build confidence in the Guidance Navigation and Control (GNC) mobility sub-system and identify any resultant issues early in its development. In particular, this campaign encompassed a series of GNC use cases with increasing levels of autonomy, including a fully autonomous 300m traverse showcasing the novel Absolute Global Localisation (AGL) algorithm. At the end of this paper we include some discussion about the results obtained and conclusions reached that may prove useful for the conceptualisation and design of GNC strategies for future robotic exploration missions. Copyright © 2023 by the International Astronautical Federation (IAF). All rights reserved.

关键词： autonomous driving field trials GNC MSR rover SFR

来源：评论

学校读者我要写书评

暂无评论

Transparency in Detecting Defects of a Printed Circuit Board: Harnessing XAI for Improved Quality Control in Electronic Manufacturing Industries 10

Transparency in Detecting Defects of a Printed Circuit Board...

引用

10th IEEE International Conference on Smart Instrumentation, Measurement and Applications, ICSIMA 2024

作者： Ali, Abdul Malik Mohd Sahlan, Shafishuhaza Khamis, Nurulaqilla Ziyi, Xie Rashid, Fadilla Latyka Nor Electrical Electronic & Automation Section Kedah 0900 Malaysia Universiti Teknologi Malaysia Centre for Artificial Intelligence and Robotics Faculty of Electrical Engineering Skudai Johor Malaysia Universiti Teknologi Malaysia Faculty of Electrical Engineering Skudai Johor Malaysia Universiti Kebangsaan Malaysia Center for Artificial Intelligence Technology Selangort Bangi Malaysia

ISBN: (纸本)9798350365283

In electronic manufacturing industries, defects emerging from Printed Circuit Boards (PCBs) may cause severe malfunctions of the final product. This paper aims to address this issue by proposing the utilization of artificial intelligence (AI) techniques to detect common defects in PCB through the implementation of deep learning (DL) models. The paper utilizes Convolutional Neural Networks (CNNs) and their derived models, in particular, region-based convolutional neural network (R-CNN), Fast R-CNN, and Faster R-CNN. Analysis of the utilization of these techniques in detecting common defects of the PCB, which are classified as missing hole, open circuit, short, spur and spurious circuit are performed in Google Colab platform using Python, with data retrieved from Kaggle. From the results obtained, the best performance parameters for color input for the defect classes are 95.3%, 83.2%, 89.7%, 85.6% and 82.7% respectively. To better understand the results obtained, explainable AI (XAI) techniques, LIME and Grad-CAM were utilized. The implemented technique successfully shows the decision logic for the defect classes through the interpretation images obtained. © 2024 IEEE.

关键词： Convolutional neural networks

来源：评论

学校读者我要写书评

暂无评论

Soil Nutrient Deficiency Detection of Lime Trees using Signal-based Deep Learning

Soil Nutrient Deficiency Detection of Lime Trees using Signa...

引用

Visualization, Informatics and Technology Conference (IVIT), International

作者： Raja Fazliza Raja Suleiman Muhamad Kamalkhairie Riduwan Aina Nabilah M. Kamal Nur Asyikin Wahab UniKL Robotics and Industrial Automation Center (URIAC) Industrial Automation Section Universiti Kuala Lumpur Malaysia France Institute Bangi Malaysia

ISBN: (纸本)9781665486491

This research work is initiated to create another alternative for the small farmers to identify crop nutrient deficiency by using modern technology that is more efficient and more precise than the conventional method of using eyes and hands. Most of the current plant health classification techniques focus on image-based learning methods. The presented work employs signal-based techniques to identify plant nutrient deficiencies. The classification process uses datasets retrieved via Xiaomi plant sensor that measures soil moisture and fertility, surrounding light, and ambient temperature of three lime trees. Each plant has different conditions that represents healthy plant, and sick plants (one is less fertilizer, another is less water). The objective of this project is to detect plant nutrient deficiency using signal-based deep learning methods. A comparison of based deep learning methods between RNN (Recurrent Neural Network) and MLP (Multilayer Perceptron) is performed using Python. Based on the findings of this experiment, MLP performs better with maximum accuracy of 98.6% using softmax activation function while RNN maximum accuracy is 95.4% using sigmoid activation function.

关键词： Deep learning Temperature measurement Temperature sensors Learning systems Visualization Recurrent neural networks Soil measurements

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Vision-Based Unmarked Road Detection with Semantic Segmentation using Mask R-CNN for Lane Departure Warning System 4

Vision-Based Unmarked Road Detection with Semantic Segmentat...

引用

4th International Symposium on Agents, Multi-Agents Systems and robotics, ISAMSR 2021

作者： Anak Undit, Harold Japok Abu Hassan, Mohd Fadzil Zin, Zalhan Mohd Industrial Automation Section Universiti Kuala Lumpur Malaysia France Institute Bandar Baru Bangi Selangor Malaysia Universiti Kuala Lumpur Malaysia France Institute UniKL Robotics and Industrial Automation Center Bandar Baru Bangi Selangor Malaysia

ISBN: (纸本)9781728166544

Road Lane detection plays an essential role in a Lane Departure Warning System (LDWS). LDWS application faces difficulty to detect lanes in complex environments such as unmarked roads. The vision-based lane detection for unmarked roads is difficult to perform due to vague and inconsistent visual features for object detection. In this study, the Mask Region Convolutional Neural Networks (Mask R-CNN) was reconstructed and trained with the collection of annotated unmarked road image datasets. The model was trained to enable the system to detect the unmarked road with various road conditions and perform semantic segmentation. About 2,000 samples of the unmarked road with various background conditions images were annotated using VGG image Annotator Tool. The trained model was evaluated to get the desired performance of unmarked roads segmentation for LDWS. The performance of deployed Mask R-CNN unmarked road detection model was 80.2% in accuracy using the Mean Average Precision method. © 2021 IEEE.

关键词： Semantic Segmentation

来源：评论

学校读者我要写书评

暂无评论

Multi-stage warm started optimal motion planning for over-actuated mobile platforms

arXiv

引用

arXiv 2022年

作者： Paz-Delgado, Gonzalo Jesús Pérez-Del-Pulgar, C.J. Azkarate, M. Kirchner, F. García-Cerezo, A. The Space Robotics Laboratory Department of Systems Engineering and Automation Universidad de Málaga Andalucia Tech Málaga29070 Spain The Automation and Robotics Section European Space Agency NoordwijkAZ 2201 Netherlands The DFKI Robotics Innovation Center Bremen Robert-Hooke-Str. 1 Bremen28359 Germany

This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers non-linearities and constraints. The proposed motion planner is based on a sequential multi-stage approach that takes advantage of the warm start on each step. Firstly, a globally optimal and smooth 2D/3D trajectory is generated using the Fast Marching Method. This trajectory is fed as a warm start to a sequential linear quadratic regulator that is able to generate an optimal motion plan without constraints for all the platform actuators. Finally, a feasible motion plan is generated considering the constraints defined in the model. In this respect, the sequential linear quadratic regulator is employed again, taking the previously generated unconstrained motion plan as a warm start. This novel approach has been deployed into the Exomars Testing Rover of the European Space Agency. This rover is an Ackermann-capable planetary exploration testbed that is equipped with a robotic arm. Several experiments were carried out demonstrating that the proposed approach speeds up the computation time, increasing the success ratio for a martian sample retrieval mission, which can be considered as a representative use case of an over-actuated mobile platform. © 2022, CC BY.

关键词： Rovers

来源：评论

学校读者我要写书评

暂无评论

Hardware-accelerated Mars Sample Localization via deep transfer learning from photorealistic simulations

arXiv

引用

arXiv 2022年

作者： Castilla-Arquillo, Raúl Pérez-Del-Pulgar, C.J. Paz-Delgado, G.J. Gerdes, L. Department of Automation and Systems Engineering Universidad de Málaga Andalucía Tech Málaga29070 Spain Automation and Robotics Section The European Space Agency Keplerlaan 1 Noordwijk2201 AZ Netherlands

The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover and deposited on the Martian surface. As part of this campaign, it is expected that the Sample Fetch Rover will be in charge of localizing and gathering up to 35 sample tubes over 150 Martian sols. Autonomous capabilities are critical for the success of the overall campaign and for the Sample Fetch Rover in particular. This work proposes a novel system architecture for the autonomous detection and pose estimation of the sample tubes. For the detection stage, a Deep Neural Network and transfer learning from a synthetic dataset are proposed. The dataset is created from photorealistic 3D simulations of Martian scenarios. Additionally, the sample tubes poses are estimated using Computer Vision techniques such as contour detection and line fitting on the detected area. Finally, laboratory tests of the Sample Localization procedure are performed using the ExoMars Testing Rover on a Mars-like testbed. These tests validate the proposed approach in different hardware architectures, providing promising results related to the sample detection and pose estimation. © 2022, CC BY.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：