Abstract: With the continuous development of society and economy, energy consumption and exhaust emissions of high-speed trains have also gained more and more attention from the industry. Hence, optimizing the operation of high-speed trains is of pivotal significance to achieve optimization as required. On the basis of the intelligent robot palletizer technology, a spatial construction method and intelligent robot palletizer capable of operating through the dispatching of high-speed trains are put forward in this paper on the basis of the situation of high-speed trains assigned. The method of changing the arrival time of the trains and the order of departure are adopted to control the operation of the high-speed trains in an efficient and intelligent manner. With regard to the intervals of departure time, the overtaking of trains and other issues, a three-dimensional spatial travel route is established and used for processing. The intelligent robot palletizer is used to implement the dispatching of trains in the aspect of height. Subsequently, the minimum value method and secure network technology are used to verify that the technology of the intelligent robot palletizer is mature and reliable. Finally, a practical case analysis is carried out in this paper on some sections of the Harbin–Dalian high-speed railway to verify the accuracy and effectiveness of the method proposed in this paper. Through the comparative analysis with other methods, the advantages of the algorithm put forward in this paper can be observed. PubDate: Wed, 31 May 2023 15:35:02 +000
Abstract: Planar double-jointed robot is a kind of widely used robot. In the past decades, with the development of science and technology, planar double-jointed robot has a great breakthrough in many aspects, especially in the actual camera and attitude analysis. In recent years, pun-section manipulator has made great progress in technology, but its kinematic characteristics and the human body’s ability to move have a great gap. So, in the moving plane, we need to study how to improve its camera ability to find a more stable and effective camera mode, and to a certain extent, to meet its requirements in complex working conditions. Simulating the pose of two joints, we seek a more stable and effective camera mode to improve its moving speed, expand its moving space, and lay a solid foundation for its application. Planar double-jointed robot is the most representative one at present. It includes machinery, material, electronics, computer, sensor, drive, intelligent control, artificial intelligence, and so on. Because it is closer to the human body, more suitable for people’s work and work, so it does not need to change its environment, so it is regarded as having a high affinity for people’s machinery. Its characteristic is that it has the good adaptability and the flexibility, but the double joint camera’s support discontinuity enables it to be able to adapt each kind of complex situation well. It can not only climb the stairs but also in the messy ground smooth through and also in the inconvenient passage through. The aim of this paper is to analyze the unique advantages and irreplaceable characteristics of the planar double-jointed robot based on the bionic and mechanical research results. This paper analyzes the mechanical technology by means of literature review and actual data analysis. The experimental results show that the biggest difference between the two articulated robots and other robots is that they have two human-like joint motions. PubDate: Tue, 30 May 2023 14:20:01 +000
Abstract: The development of robotics is undeniable in recent years. Many developing contries face the growth of the elderly population, it is the premise and impetus for the development of research on humanoid robots to serve humans. Many studies on various aspects of robotics are carried out in different parts of the world. Many novel methods were introduced for the design of the robot’s external appearance, internal mechanisms, and gestures. Recent research on humanoid robots is designed to appear to be copies of the anthropometric indicators of real people, which may affect the security of other people’s identities. Besides, these robots cause a feeling of horror in the user if their appearance is in the position of the uncanny valley. Therefore, these designs need to be carefully considered before fabrication. Artificial skin is studied for various purposes such as ensuring collision safety for industrial users and helping robots to perceive basic tactile sensations. This review consists of the recent literature on the interaction of appearance and behavior of robot interaction, artificial skin, and especially humanoid robots, including appearance, such as android and Geminoid robots. This work can provide a reference for humanoid robot research, including uncanny valley hypotheses, artificial skin, and humanoid robots. PubDate: Fri, 19 May 2023 12:05:02 +000
Abstract: To enable mobile robots to effectively complete path planning in dynamic environments, a hybrid path planning method based on particle swarm optimization (PSO) and dynamic window approach (DWA) is proposed in this paper. First, an improved particle swarm optimization (IPSO) is proposed to enhance the exploration capability and search accuracy of the algorithm by improving the velocity update method and inertia weight. Secondly, a particle initialization strategy is used to increase population diversity, and an addressing local optimum strategy is used to make the algorithm overcome the local optimum. Thirdly, a method of selecting navigation points is proposed to guide local path planning. The robot selects the appropriate navigation points as the target points for local path planning based on the position of the robot and the risk of collision with dynamic obstacles. Finally, an improved dynamic window approach (IDWA) is proposed by combining the velocity obstacle (VO) with the DWA, and the evaluation function of the DWA is improved to enhance trajectory tracking and dynamic obstacle avoidance capabilities. The simulation and experimental results show that IPSO has greater exploration capability and search accuracy; IDWA is more effective in trajectory tracking and dynamic obstacle avoidance; and the hybrid algorithm enables the robot to efficiently complete path planning in dynamic environments. PubDate: Thu, 18 May 2023 09:50:00 +000
Abstract: The reasonable application of the random sampling consistent algorithm can be used to eliminate the theoretically possible error points and then complete the initial aiming pairing. The interior points obtained after this algorithm are used to estimate the relative adjacent poses of the new robot in the operation of the least squares method, so as to make certain improvements to the ICP (iterative closest point) algorithm, making it useful for accurate aiming pairing. Finally, by using the optimization method of G20, the posture of the new mobile robot relative to the adjacent position is optimized to a certain extent. In order to reasonably plan and design the landscape of mountain villages, this paper proposes the corresponding solution by analyzing the multidimensional value and landscape design data of traditional mountain villages, which not only needs to adapt to modern economic development but also needs to live in harmony with the natural ecological environment. Taking a village as a case for analysis, the village houses, roads, services, greening, ecology, and other aspects were reconstructed, and then, the detailed landscape design of the multimedia multidimensional resource village was analyzed and implemented. PubDate: Wed, 17 May 2023 17:20:01 +000
Abstract: The rapid development of network technology makes the world enter a new era, but it also brings a variety of severe information security problems, which makes the network security more and more important. Based on the existing literature and information, this paper expounds the current situation of database information system security. In view of the security risks of the media database information, this paper proposes to use the remote control system of the network robot, through sorting out the organizational structure characteristics and technology of multimedia data, establish the security defense system, and try to manage the multimedia data security. This system takes the mobile robot as the control object and adds the vision and ultrasonic transducer for the robot, so that it can carry on the semi-autonomous movement under the control of human. In addition, the host PC is used as the main control terminal to send instructions to the remote robot and receive the feedback data information. The simulation results show that the robot remote control system has good security, can ensure the establishment of database security defense technology system, and has the characteristics of convenient operation, easy to expand, and strong mobility. From the research point of view of this paper, the combination of robotics and multimedia information security is booming and will become a new application prospect. PubDate: Wed, 17 May 2023 17:20:01 +000
Abstract: This study investigates a guidance method that will allow the small unmanned helicopter to follow the predefined horizontal smooth path. A stable nonlinear guidance law, which needs the information of the inertial position and groundspeed of the helicopter and the implicit function of the desired path, is designed to generate the reference course rate command based on the concept of the vector field. The asymptotic approximation to the desired path with bounded following errors has also been demonstrated by using the Lyapunov stability arguments. Some conditions for guaranteeing the stability have been extended. Simulations on following four types of planar paths, i.e., the square, circular, elliptic, and cubic curve paths, have verified the effectiveness of the proposed method. The predefined square path following performance of the proposed vector field-based method is compared with another two guidance laws, which are based on the PD-like and fuzzy logic control. The comparison shows that the proposed method can guide the helicopter to follow the predefined path most smoothly. The maximum overshoot by using the proposed method is less than 0.016 meters, while those by using the other two methods are all larger than 0.80 meters. Moreover, the vector field-based method will cost the least time for the vehicle to converge to the predefined path. PubDate: Thu, 11 May 2023 05:50:00 +000
Abstract: Industrial robots are an important way to realize the development of industrial industry intelligence and automation, an important driving force to accelerate the construction of Industry 4.0, and an important basic force to improve the professional level of industrial industry. The development of industrial robot technology has enhanced the requirements of its detection quality and the demand for data comprehensiveness. Most of the previous robots obtain the corresponding data through a single sensor system, which has a large error and a high limitation of the range of data obtained. The detection method of industrial robots has the problems of high cost and high professionalism. Therefore, this paper constructs a dual-angle sensor industrial robot detection system based on the fusion of multisource vibration signals and achieves the fusion of multisensor signals through Kalman filtering to provide reliable analysis data for the dual-angle sensor detection system. The experimental results show that Kalman filtering can effectively remove noise while preserving the original vibration signal characteristics and structure and improve the reliability and validity of the vibration signal. In addition, the dual-angle sensor detection system can realize the position detection of industrial robots according to the command standard and obtain the corresponding residual and standard values through system data analysis. The overall optimization of the system algorithm enhances the accuracy and reliability of the measurement. PubDate: Thu, 04 May 2023 09:05:01 +000
Abstract: This study aimed to find out the prototype of an EVOCE robot that gave impact of students’ English vocabularies enhancement. In this study, the authors used two types of research design, namely, prototyping method and experiment research design. The mixed method is applied in this research qualitatively and quantitatively. Both vocabulary tests and observational methods of prototyping data collection were employed. The robot prototype used in the class as a tool to examine how was the effect of this media helped young learners in acquiring basic English vocabulary. The prototype has been through the test and the result showed that it suited with the needs for young learners. Nonprobability sampling was the technique used. A total of 40 students from two classes made up the research sample. The vocabulary score achievement pre and post test using EVOCE robot was compared with data analysis and t-test. The findings of value of t-stat > t-table at the significant level of 5% (1,679 > 1,328) meaning that the robot helped students become better acquisition in getting new vocabulary and influenced their level of vocabulary score. As the result, this research therefore has consequences for the teacher’s understanding that the usage of robots can both increase students’ vocabulary and also have an impact on their level of English proficiency. PubDate: Sun, 30 Apr 2023 11:50:01 +000
Abstract: Visual place recognition (VPR) is considered among the most challenging problems due to the extreme variations in appearance and viewpoint. Essentially, appearance-based VPR can be considered as an image retrieval task, thus the key is to accurately and efficiently describe the images. Recently, global descriptor methods have attracted substantial attention from the VPR community, which has contributed to numerous important outcomes. Despite the growing number of global descriptors presented, little attention has been paid to the comparison and evaluation of these methods and so it remains difficult for researchers to disentangle the factors that led to better performance. This study provided comprehensive insight into global descriptors from a practical application perspective. We present a systematic evaluation that integrates 15 commonly used global descriptors, 6 benchmark datasets, and 5 evaluation metrics, and subsequently extended this evaluation to discuss the key factors impacting the matching performance and computational efficiency. We also report practical suggestions for constructing promising CNN descriptors, based on the experimental conclusions. Our analysis reveals both advantages and limitations of three different types of global descriptors, including handcrafted features-based ones, off-the-shelf CNN-based ones, and customized CNN-based ones. Finally, we evaluate the practicality of reported global descriptors to mediate the trade-offs between matching performance and computational efficiency. PubDate: Sat, 22 Apr 2023 11:20:01 +000
Abstract: All along, safety accidents in the field of bridge construction have continued to arise, costing society's development financial and material resources and taking away people’s personal safety, turning into an urgent need for safety managers in the field to solve the subject research. Researchers look forward to continued innovative exploration to find new ways of working safely and using them in the construction industry. On this basis, BIM virtual scenes are introduced to create a universal scene specification dataset in the field of bridge construction and a dataset of unsafe potential hazard characteristics in the field of bridge construction. Nanobots are artificial intelligence systems built to simulate biological nanomachine constructions in life activities and important biological events in life processes. In this paper, BIM virtual scenarios incorporating intelligent nanomaterial robot mapping technology are migrated to bridge engineering safety management. According to the collected construction scene images and BIM (building information model) virtual scenes, build the construction scene dataset, use intelligent robots to obtain construction scenes, and load them into the trained construction on-the-spot neural network modeling to complete the bridge construction scene identification safety discrimination to select more comprehensive and more stringent management solutions as safety management personnel management methods on-the-spot. PubDate: Sat, 22 Apr 2023 11:20:01 +000
Abstract: In the Internet of Things (IoT) era, the combination of mobile robots and IoT technology has realized the complementary advantages of the IoT and robots, which has brought new challenges and opportunities for the development and application of the IoT and mobile robots. In this study, a mobile robot positioning system based on the wireless positioning technology of the IoT is first designed, and an adaptive federated filtering algorithm based on the confidence of the sensor measurement data is given, and the data fusion processing is carried out for the positioning system to achieve the accurate positioning of the mobile robot. Then, we embed the intelligent control system of the ring lamp and propose an adaptive fuzzy PI double closed loop equalization control strategy, which can automatically identify the number of interlaced parallel and ensure its equalization effect. The experimental results show that the equalization strategy designed in this study has a good equalization effect in the loop interleaving parallel topology, strong adaptive parameter adjustment ability, good robustness, and anti-interference. PubDate: Fri, 21 Apr 2023 08:50:01 +000
Abstract: With the in-depth study of architectural planning in China, more and more designers and developers are aware of the superiority of the use of technological robots to improve the speed and quality of construction, weakening past experience and based on real-world research through modern technology. However, the application of this method in the predesign work is not mature. To be specific, designers may lack expertise due to the overly detailed division of labor. In addition, the developer’s blind pursuit of profitability leads to inaccurate market positioning and forecasting. At the same time, the lack of effective communication between designers and developers, architects and owners makes the predesign work ineffective and does not provide reasonable and accurate guidance for the building design. Therefore, the predesign work requires the designer to analyze and select the site reasonably. In addition, it is necessary to conduct in-depth research on the target customers. At the same time, it is necessary to accurately position and predict the dynamic market, and then to have a thorough understanding of the norms and regulations. As a result, the predesign work enables the design to be analyzed in the context of the actual situation. Then, according to the data and information from various aspects, effective planning and argumentation are carried out, and corresponding decisions are made to provide guidance for the design. Overall, predesign is a process of rational planning of the design process. In fact, in the process of landscape design innovation, it is necessary to fully consider the requirements of the intelligent era. Therefore, multimedia and advanced robotics can continuously enhance the interaction and experience of urban landscape to make it integrate into the intelligent system of the future city. In other words, multimedia technology can enhance the new image of the city in an intelligent, digital, and humanized interactive experience. Especially in the landscape design process, the advent of computers has enabled landscape designers to use relevant design software to design their own works, thus giving them unlimited design possibilities. Virtual reality technology, as a form of computer technology, provides designers with a new creative experience in the design phase of a landscape project. To be specific, this technology allows designers to freely grasp the design space and scientifically compare the differences between design options to make the design more reasonable and complete. Therefore, this paper analyzes the differences in the general environment and concepts of 3D software virtual reality technology, starting from the characteristics of the application of 3D technology as an entry point. At the same time, this study uses the similarities and differences in technology to discover the vital role of using virtual reality technology to reconstruct the space and the impact of robots on modern architecture. PubDate: Mon, 17 Apr 2023 08:50:02 +000
Abstract: Along with the increase of electricity consumption in society, it means that the quality of power inspection gives higher requirements. The traditional manual inspection method is difficult to ensure the stability of checking quality. Without the popularization of manned distribution stations and smart grid methods, replacing manual inspection with electric power inspection robots can improve the inspection quality and inspection efficiency to a certain extent. Along with theimage processing process which is widely used in the robot system, visual impact is not only an effective way for us to obtain information but also the key reflection of the robot system intelligence. Unmanned aircraft as an extremely important robot has long been widely used in all walks of life. Power inspection is the most common use of unmanned aircraft robot inspection. However, due to extreme criteria such as bad weather, relative motion, and shaking of imaging equipment, inspection images are obtained ambiguously. The quality of the inspection image is related to the timely understanding, analysis, and judgment of the power engineering quality inspection database. In the paper, the unmanned aircraft power inspection robot as a scientific research foothold, according to explore the key technology of anti-internet technology to clear the image ambiguity, proposed a complete disambiguation optimization calculation method. The image denoising optimization calculation method based on the directional characteristics of time-frequency analysis and edge maintenance is selected to carry out the finding of the image, which reasonably solves the image resolution bottleneck problem of GIS in unmanned aircraft robot line inspection. Meanwhile, with the emergence of nanorobots in the 21st century, the application and analysis of remote sensing image processing technology in the field of robotic power inspection in this paper will also bring new vitality and vigor to the research of nanopower inspection robots and solve the problem of unclear images existing in nanorobots. PubDate: Sat, 15 Apr 2023 07:50:01 +000
Abstract: Image classification is the process of finding common features in images from various classes and applying them to categorize and label them. The main problem of the image classification process is the abundance of images, the high complexity of the data, and the shortage of labeled data, presenting the key obstacles in image classification. The cornerstone of image classification is evaluating the convolutional features retrieved from deep learning models and training them with machine learning classifiers. This study proposes a new approach of “hybrid learning” by combining deep learning with machine learning for image classification based on convolutional feature extraction using the VGG-16 deep learning model and seven classifiers. A hybrid supervised learning system that takes advantage of rich intermediate features extracted from deep learning compared to traditional feature extraction to boost classification accuracy and parameters is suggested. They provide the same set of characteristics to discover and verify which classifier yields the best classification with our new proposed approach of “hybrid learning.” To achieve this, the performance of classifiers was assessed depending on a genuine dataset that was taken by our camera system. The simulation results show that the support vector machine (SVM) has a mean square error of 0.011, a total accuracy ratio of 98.80%, and an F1 score of 0.99. Moreover, the results show that the LR classifier has a mean square error of 0.035 and a total ratio of 96.42%, and an F1 score of 0.96 comes in the second place. The ANN classifier has a mean square error of 0.047 and a total ratio of 95.23%, and an F1 score of 0.94 comes in the third place. Furthermore, RF, WKNN, DT, and NB with a mean square error and an F1 score advance to the next stage with accuracy ratios of 91.66%, 90.47%, 79.76%, and 75%, respectively. As a result, the main contribution is the enhancement of the classification performance parameters with images of varying brightness and clarity using the proposed hybrid learning approach. PubDate: Sat, 15 Apr 2023 05:05:01 +000
Abstract: In modern society, intelligent spatial analysis services have been playing an important role in building smart cities. Especially, people’s spatial information needs have changed with the technological progress of times, from traditional two-dimensional appearance to three-dimensional interior. In this case, the construction of street networks is a key part of spatial information analysis research. Establishing an integrated indoor-outdoor street network data model with accurate information and complete attributes can provide strong technical support for indoor-outdoor navigation, emergency evacuation, and other application services. However, most of the current studies on internal and external road networks are independent of each other. This means that indoor road networks are mainly based on floor plans, which contain little information and do not represent the spatial relationships between floors. Indoor and outdoor links often suffer from poor connectivity and data loss. Heterogeneous robotics is a high degree of integration of intelligent control and platform control technologies. In a sense, it is a technology platform for connecting heterogeneous robotic populations. By developing effective collaboration and control strategies, tasks can be performed with the highest success rate and the lowest risk while respecting spatial and temporal constraints. As a result, the study of the coordination and management of heterogeneous robotic systems for road network construction, management, and maintenance is a topic of a great theoretical value and significance. Therefore, this paper proposes an intelligent road network construction method that incorporates BIM and GIS technologies. This study uses the building information model to enrich the information of indoor building components and combines the strong spatial analysis capability of outdoor areas with GIS road network technology to build an indoor road network and design a connection scheme for indoor and outdoor areas. After that, the construction of an integrated indoor-outdoor street network is completed, and the interaction between indoor as well as outdoor spatial data is very smooth. PubDate: Wed, 12 Apr 2023 08:20:01 +000
Abstract: New energy (NE) power generation technology has become an important means to solve the problems of global energy demand and environmental governance due to its sustainability and cleanliness. However, restricted by climate and other factors, the instability of its power generation capacity has a serious impact on the voltage multimedia quality evaluation of small microgrids, which even causes damage to important equipment. This paper proposed a multimedia quality evaluation method in the new energy power generation system relying on intelligent robot numerical control technology. According to the state characteristics of different units, the expanded representation models of conventional units, wind turbines, and photovoltaic units were established, respectively. Based on intelligent robot numerical control technology, a multimedia quality monitoring model of the new energy power generation system in random production simulation was established. The planned outage condition of the unit, which was ignored by the current stochastic simulation method, has been fully considered to ensure the rationality of the simulation of intelligent robot numerical control technology. The intelligent robot numerical control technology was used to explore the expected production power change of the unit and to improve the calculation speed and accuracy. In this paper, an appropriate wind and solar power generation model was constructed based on the output characteristics of wind and solar. Secondly, the influence of random faults between units on the subsequent loading rate was studied through probability calculation. The start-stop factors of conventional units were comprehensively analyzed. Then, the expected value of unit start-stop times was obtained. The average relative error of the expected value of the power shortage of the new energy electricity generation system (EGS) was 2.45%, and the error was lower than 2.98%. In the intelligent robot numerical control technology in this paper, the planned outage condition of the unit was considered, which showed the correctness and superiority of the multimedia quality evaluation of the proposed model. PubDate: Sat, 08 Apr 2023 08:20:01 +000
Abstract: Following the ongoing advancement of the communication industry, data traffic and information have achieved rapid growth. As the core technology of contemporary mobile communication, 5G technology can not only meet the transportation needs of massive data traffic but also be expanded to various industries, expanding the development field of intelligent communication and realizing further improvement of production efficiency. At present, 5G mobile communication technology is widely used in communication engineering, providing effective technical support for engineering construction and operation. However, while the progress of the times brings innovation and refinement in mobile communication technology, it also increases the complexity of market development, in this context, the practical application of 5G technology in communication engineering is limited, which limits the development of both. In order to solve this dilemma, this paper integrated the communication method of the robot controller, and based on the analysis of the characteristics and application status of mobile communication technology, the application of 5G technology in communication engineering was deeply studied. In order to prove the effect of the robot controller communication method, in this paper, simulation experiments were carried out to analyze the application effect of 5G in communication engineering from three aspects of throughput rate, energy efficiency, and signal suppression effect and to compare it with traditional communication methods. The results of the signal suppression experiment showed that the average peak value of the signal under the traditional communication method was 18.134 dB, and the average peak value of the signal under the method in this paper was 11.296 dB, which showed that the 5G technology integrating the communication method of the robot controller is more practical in communication engineering. PubDate: Sat, 08 Apr 2023 07:20:02 +000
Abstract: In order to solve the problem of fast path planning and effective obstacle avoidance for autonomous underwater vehicles (AUVs) in two-dimensional underwater environment, a path planning algorithm based on deep Q-network and Quantum particle swarm optimization (DQN-QPSO) was proposed. Five actions are defined first: normal, exploration, particle explode, random mutation, and fine-tuning operation. After that, the five actions are selected by DQN decision thinking, and the position information of particles is dynamically updated in each iteration according to the selected actions. Finally, considering the complexity of underwater environment, the fitness function is designed, and the route length, deflection angle, and the influence of ocean current are considered comprehensively, so that the algorithm can find the solution path with the shortest energy consumption in underwater environment. Experimental results show that DQN-QPSO algorithm is an effective algorithm, and its performance is better than traditional methods. PubDate: Wed, 05 Apr 2023 15:05:01 +000
Abstract: In recent years, nanotechnology has continued to develop, especially the use of nanomaterials in various fields. Microcontroller is the most typical embedded system at this stage. With the development of science and technology, microcontroller has been widely used in people’s production life. A simple and practical multiservo controller can be built by using microcontroller and LED control chip PCA9685, which can realize at least 16 channels of servo control. In this paper, the control program of multichannel actuator is designed in detail, and the speed regulation of multichannel actuator is studied, which is applied to the industrial robot system driven by actuator. Nanomaterials, as new materials with various unique properties, have great application prospects, and this paper investigates the extension of nanomaterials in the field of robotic systems. PubDate: Fri, 31 Mar 2023 15:35:01 +000
Abstract: In order to further improve the functional requirements and performance indicators of the industrial robot assembly system and more accurately realize the measurement and recognition of the target position of the assembly line by the vision system, this article constructs a robot assembly line system based on obstacle detection and robot arm obstacle path planning based on machine vision technology and further improves the intelligence and accuracy of the assembly line system through the design and optimization of the system software module. Through the experimental verification of the positioning error based on the eye-to-hand binocular vision system and eye-in-hand monocular vision system, the system proposed in this article meets the design accuracy requirements of less than 0.1 mm in x/y direction and less than 1 mm in depth direction and verifies the feasibility and high accuracy of the system. PubDate: Thu, 30 Mar 2023 10:35:01 +000
Abstract: This study investigates the feasibility of a mobile robot navigating and discovering its location in unknown environments, followed by the creation of maps of these navigated environments for future use. First, a real mobile robot named TurtleBot3 Burger was used to achieve the simultaneous localization and mapping (SLAM) technique for a complex environment with 12 obstacles of different sizes based on the Rviz library, which is built on the robot operating system (ROS) booted in Linux. It is possible to control the robot and perform this process remotely by using an Amazon Elastic Compute Cloud (Amazon EC2) instance service. Then, the map to the Amazon Simple Storage Service (Amazon S3) cloud was uploaded. This provides a database to display maps and use them at any time for navigation without the need to redraw the map. This map can be accessed by using an authentication process (username and password) supervised by the cloud server administrator. After that, using the serverless image handler (SIH), with the aid of this solution, you can change the size of images, change the color of the background, format them, or add watermarks. Experiment results demonstrated the ability to build a map of an unknown location in a complex environment and use it for navigation tasks on a real mobile robot via remote control. It also showed the success of the process of storing the map for future use and the process of modifying the map using SIH. PubDate: Wed, 29 Mar 2023 04:05:01 +000
Abstract: Automated human tracking in real time has been applied in many areas such as security, surveillance, traffic control, and robots. In this paper, an improvement of the Camshift human tracking algorithm based on deep learning and the Kalman filter is proposed. To detail an approach by using YOLOv4-tiny to detect a human in real time, Camshift is used to track a particular person and the Kalman filter is applied to enhance the performance of this algorithm in case of occlusion, noise, and different light conditions. The experiments show that the combination of YOLOv4-tiny and the improved Camshift algorithm raises the standard of speed as well as robustness. The proposed algorithm is suitable for running in real time and adapts well to the same color and different light conditions. PubDate: Tue, 21 Mar 2023 09:05:01 +000
Abstract: Efficient and accurate state detection of transmission cables is an important means to ensure reliable transmission. Aiming to realize fast and efficient transmission cable state analysis with the help of a binocular vision tool on a loop dismantling robot, this paper proposes a transmission cable state recognition method combining motion control and image segmentation technology. In this method, the fuzzy control method is adopted to ensure that the wire removal robot can realize high-precision and rapid response control and effectively improve the collection quality of the cable image sample set. Meanwhile, aiming to achieve faster and more efficient data acquisition and state analysis, the state analysis model is sunk to the edge side, and the cable state detection and recognition model is constructed based on the fast RCNN model at the edge of the network to realize the in-depth extraction of feature information, enhance the transmission cable state recognition effect of the state detection model, and improve the response analysis speed of the model. The simulation results show that the accuracy of the proposed method is 97.54%, and its calculation time is 1.034 s, which can effectively realize the analysis and research of transmission cable state under complex working conditions. PubDate: Mon, 27 Feb 2023 04:50:01 +000
Abstract: The control performance of the fixed-depth motion is related to the performance of the underwater vehicle. Due to the complex and changing environment underwater and various potential risks, the variety of underwater operations, and the variability of the structural parameters and environmental parameters of the underwater vehicle, the control performance is compromised when performing constant depth motion. It is of much significance to study the control method of the fixed-depth motion to improve the performance of the underwater vehicle. The transfer function of underwater vehicle’s depth-setting motion was established, and the fuzzy-PID controller was established for simulating the control of depth-setting movements of underwater vehicles. The interaction law between PID initial parameters and controller performance was studied, and the interaction law between the change of underwater vehicle mass and the hydrodynamic coefficient and controller performance was also studied. The results show that the fuzzy-PID controller can realize the control of the underwater vehicle’s depth-setting motion, and the control effect was independent of the initial PID parameters, thus avoiding the dependence of the formulation of PID parameters on manual control experience. When the mass and hydrodynamic coefficient of the underwater vehicle change, the fuzzy-PID controller can still maintain good control performance and has strong adaptive ability. PubDate: Thu, 23 Feb 2023 05:20:02 +000
Abstract: The ability to track the trajectory or path on the sea surface remains a key measurement in the control system of an unmanned surface vehicle (USV). In this research, the designed algorithm defines the path and minimizes the disturbances to zero. Underactuated USVs are ships or boats, which operate on the water surface without a crew and the underactuated system has low actuators than its degree of freedom (DOF). The adaptive control strategy is applied to the unbounded system as the ocean due to its high performance, while the robust control system attains high performance in the bounded system. To consider the trajectory tracking of UUSV and provide an optimal control strategy for a ship in the presence of external disturbances, the study presents a controller-based on model reference adaptive control with an integrator (MRACI), which guarantees the stability of a closed-loop system. The vehicle experiences variations in the system response due to external disturbance. This abovementioned scheme reduces the variations to nearly equal to zero making the vehicle stable. First, use computer-based simulation to verify the proposed controller under two different scenarios. Then, simulation results show that the designed scheme lowers the errors and performs well. PubDate: Fri, 17 Feb 2023 08:20:02 +000
Abstract: Mobile robots are widely used in medicine, agriculture, home furnishing, and industry. Simultaneous localization and mapping (SLAM) is the working basis of mobile robots, so it is extremely necessary and meaningful for making researches on SLAM technology. SLAM technology involves robot mechanism kinematics, logic, mathematics, perceptual detection, and other fields. However, it faces the problem of classifying the technical content, which leads to diverse technical frameworks of SLAM. Among all sorts of SLAM, visual SLAM (V-SLAM) has become the key academic research due to its advantages of low price, easy installation, and simple algorithm model. Firstly, we illustrate the superiority of V-SLAM by comparing it with other localization techniques. Secondly, we sort out some open-source V-SLAM algorithms and compare their real-time performance, robustness, and innovation. Then, we analyze the frameworks, mathematical models, and related basic theoretical knowledge of V-SLAM. Meanwhile, we review the related works from four aspects: visual odometry, back-end optimization, loop closure detection, and mapping. Finally, we prospect the future development trend and make a foundation for researchers to expand works in the future. All in all, this paper classifies each module of V-SLAM in detail and provides better readability to readers. This is undoubtedly the most comprehensive review of V-SLAM recently. PubDate: Fri, 17 Feb 2023 07:35:01 +000
Abstract: This paper proposes the optimal design and simulation analysis of a robot for tree-climbing, which has the ability to climb up the tree trunk to adapt to different tree diameter changes. In an unstructured forest environment, considering that the Tree-Climbing Robot (TCR) may collide with branches, reducing the success rate of tree climbing, the mechanical structure and movement strategy to avoid branches are predesigned. The presented TCR mimics several design principles that have been adapted to arboreal animals, including claw-hand grasping and climbing gait movements, and is optimally designed to achieve high manoeuvrability on irregularly shaped trees. Based on the D-H parameterization method, the kinematics model of the TCR is developed and its kinematic equations are solved. The accuracy of the kinematic equations is verified by MATLAB, and the reachable area of the working space of the manipulator of the TCR is determined. Using ADAMS to analyse the kinematics and dynamics of the climbing process of the TCR, the rationality of the gait planning of the robot is verified, and the time-varying characteristic curves of each physical quantity of each structural joint are derived and further simulated through numerical analysis, the results of which will profoundly validate the technical feasibility and design innovation of this presented TCR. PubDate: Thu, 16 Feb 2023 11:20:02 +000
Abstract: This document proposes a control scheme applied to delayed bilateral teleoperation of the forward and turn speed of a biped robot against asymmetric and time-varying delays. This biped robot is modeled as a hybrid dynamic system because it behaves as a continuous system when the leg moves forward and discrete when the foot touches the ground generating an impulsive response. It is proposed to vary online the damping according to the time delay present in the communication channel, and the walking cycle time using an optimization criterion, to decrease the teleoperation system errors. To accomplish this, a three-phase cascade calibration process is used, and their benefits are evidenced in a comparative simulation study. The first phase is an offline calibration of the inverse dynamic compensation and also the parameters of the bilateral controller. The second phase guarantees the bilateral coordination of the delayed teleoperation system, using the Lyapunov–Krasovskii stability theory, by changing the leader damping and the equivalent follower damping together. The third phase assures a stable walk of the hybrid dynamics by controlling the walking cycle time and the real damping to move the eigenvalues of the Poincaré map, numerically computed, to stable limit cycles and link this result with an equivalent continuous system to join both phases. Additionally, a fictitious force was implemented to detect and avoid possible collisions with obstacles. Finally, an intercontinental teleoperation experiment of an NAO robot via the Internet including force and visual feedback is shown. PubDate: Wed, 08 Feb 2023 10:50:01 +000
Abstract: With the rapid development of the Internet of Things (IoT), the logistics and transportation industry is booming. At the same time, with the advancement of AI technology, intelligent logistics is also gradually emerging, and the purpose of intelligent logistics is to use different types of automatic guided transport machines to replace people to handle and move products. At the same time, with the help of big data, cloud computing, artificial intelligence, sensor technology, and other technologies, we can achieve logistics automation. However, the current logistics robot creation platforms are diverse, which makes intelligent logistics robots diverse in variety and wide in application and also makes the creation and use of robots more challenging. Robot Operating System (ROS) is an open-source software platform that supports programming in multiple languages and has excellent adaptability. In addition, most of the currently used path planning focuses on a single target point, which is insufficient to support the current needs of multitasking in intelligent logistics. Therefore, this paper aimed to design an intelligent logistics management system based on ROS robot and proposed to use the A-star algorithm to calculate the shortest path of the robot so as to achieve the optimal path. In the simulation experiment, 20 ROS robots were selected and divided into two groups. In the logistics warehouse of different transportation nodes, 20 ROS robots were set up to transport goods of different weights in the experiment, and the transportation data were collected at last. The final simulation results have shown that the power consumption and response delay performance of the ROS robot are good, and the logistics transportation speed is significantly improved. In addition, compared with the traditional transportation method, the daily transportation weight of each robot is up to 310.1% and the monthly profit is up to 171%, which shows that the intelligent logistics management system designed in this paper is more efficient in logistics and transportation and can bring more profits. PubDate: Tue, 07 Feb 2023 07:20:00 +000
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