Journal articles on the topic 'Aerial Mobile Manipulation'
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Ladig, Robert, Hannibal Paul, Ryo Miyazaki, and Kazuhiro Shimonomura. "Aerial Manipulation Using Multirotor UAV: A Review from the Aspect of Operating Space and Force." Journal of Robotics and Mechatronics 33, no. 2 (April 20, 2021): 196–204. http://dx.doi.org/10.20965/jrm.2021.p0196.
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Aerial manipulation: physical interaction with the environment by using a robotic manipulator attached to the airframe of an aerial robot. In the future one can expect that aerial manipulation will greatly extend the range of possible applications for mobile robotics, especially multirotor UAVs. This can range from inspection and maintenance of previously hard to reach pieces of infrastructure, to search and rescue applications. What kind of manipulator is attached to what position of the airframe is a key point in accomplishing the aerial robot’s function and in the past, various aerial manipulation solutions have been proposed. This review paper gives an overview of the literature on aerial manipulation that have been proposed so far and classifies them by configuration of the workspace and function.
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Orsag, Matko, Christopher Korpela, Stjepan Bogdan, and Paul Oh. "Dexterous Aerial Robots—Mobile Manipulation Using Unmanned Aerial Systems." IEEE Transactions on Robotics 33, no. 6 (December 2017): 1453–66. http://dx.doi.org/10.1109/tro.2017.2750693.
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Furferi, Rocco, Roberto Conti, Enrico Meli, and Alessandro Ridolfi. "Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks." International Journal of Advanced Robotic Systems 13, no. 6 (November 28, 2016): 172988141665793. http://dx.doi.org/10.1177/1729881416657931.
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An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments). Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs) is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment and it is transported by four underwater mobile robots, each one provided with a seven-degrees-of-freedom robotic arm. The simulation results are optimized thanks to the ANNs used for the potentials tuning.
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Yeol, Joe Woong, Donald Toohey, and Yong-Won Hwang. "Design and Analysis of a Multiple Tentacle System for Mobile Manipulation in Micro Aerial Vehicles." Procedia Computer Science 105 (2017): 7–13. http://dx.doi.org/10.1016/j.procs.2017.01.180.
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MASUDA, Arata, Yoshiyuki HIGASHI, and Takashi TANAKA. "1A1-T05 A Vibration Probe Foot for Aerial Inspection Robots for Steel Structures(Mobile Manipulation Robot)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _1A1—T05_1—_1A1—T05_2. http://dx.doi.org/10.1299/jsmermd.2014._1a1-t05_1.
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Lin, Shijie, Jinwang Wang, Rui Peng, and Wen Yang. "Development of an Autonomous Unmanned Aerial Manipulator Based on a Real-Time Oriented-Object Detection Method." Sensors 19, no. 10 (May 25, 2019): 2396. http://dx.doi.org/10.3390/s19102396.
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Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potential in mobile 3-dimensional grasping applications, but they still suffer from some difficulties impeding their board applications, such as target detection and indoor positioning. For the autonomous grasping mission, the UAMs need ability to recognize the objects and grasp them. Considering the efficiency and precision, we present a novel oriented-object detection method called Rotation-SqueezeDet. This method can run on embedded-platforms in near real-time. Besides, this method can give the oriented bounding box of an object in images to enable a rotation-aware grasping. Based on this method, a UAM platform was designed and built. We have given the formulation, positioning, control, and planning of the whole UAM system. All the mechanical designs are fully provided as open-source hardware for reuse by the community. Finally, the effectiveness of the proposed scheme was validated in multiple experimental trials, highlighting its applicability of autonomous aerial rotational grasping in Global Positioning System (GPS) denied environments. We believe this system can be deployed to many potential workplaces which need UAM to accomplish difficult manipulation tasks.
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Amran, Gehad Abdullah, Wang Shuang, Mohammed A. A. Al-qaness, Syed Agha Hassnain Mohsan, Rizwan Abbas, Eissa Ghaleb, Samah Alshathri, and Mohamed Abd Elaziz. "Efficient and Secure WiFi Signal Booster via Unmanned Aerial Vehicles WiFi Repeater Based on Intelligence Based Localization Swarm and Blockchain." Micromachines 13, no. 11 (November 8, 2022): 1924. http://dx.doi.org/10.3390/mi13111924.
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Recently, the unmanned aerial vehicles (UAV) under the umbrella of the Internet of Things (IoT) in smart cities and emerging communities have become the focus of the academic and industrial science community. On this basis, UAVs have been used in many military and commercial systems as emergency transport and air support during natural disasters and epidemics. In such previous scenarios, boosting wireless signals in remote or isolated areas would need a mobile signal booster placed on UAVs, and, at the same time, the data would be secured by a secure decentralized database. This paper contributes to investigating the possibility of using a wireless repeater placed on a UAV as a mobile booster for weak wireless signals in isolated or rural areas in emergency situations and that the transmitted information is protected from external interference and manipulation. The working mechanism is as follows: one of the UAVs detect a human presence in a predetermined area with the thermal camera and then directs the UAVs to the location to enhance the weak signal and protect the transmitted data. The methodology of localization and clusterization of the UAVs is represented by a swarm intelligence localization (SIL) optimization algorithm. At the same time, the information sent by UAV is protected by blockchain technology as a decentralization database. According to realistic studies and analyses of UAVs localization and clusterization, the proposed idea can improve the amplitude of the wireless signals in far regions. In comparison, this database technique is difficult to attack. The research ultimately supports emergency transport networks, blockchain, and IoT services.
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Lin, Chin E., Pei-Chi Shao, and Yu-Yuan Lin. "System Operation of Regional UTM in Taiwan." Aerospace 7, no. 5 (May 25, 2020): 65. http://dx.doi.org/10.3390/aerospace7050065.
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The hierarchical unmanned aerial systems (UAS) traffic management (UTM) is proposed for UAS operation in Taiwan. The proposed UTM is constructed using the similar concept of ATM from the transport category aviation system. Based on the airspace being divided by 400 feet of altitude, the RUTM (regional UTM) is managed by the local government and the NUTM (national UTM) by the Civil Aeronautical Administration (CAA). Under construction of the UTM system infrastructure, this trial tests examine the effectiveness of UAV surveillance under 400 feet using automatic dependent surveillance-broadcast (ADS-B)-like on-board units (OBU). The ground transceiver station (GTS) is designed with the adoptable systems. In these implementation tests, five long-range wide area network (LoRa) gateways and one automatic packet reporting system (APRS) I-Gate are deployed to cover the Tainan Metropolitan area. The data rates are set in different systems from 8 to 12 s to prevent from data conflict or congestion. The signal coverage, time delay, data distribution, and data variance in communication are recorded and analyzed for RUTM operation. Data streaming and Internet manipulation are verified with cloud system stability and availability. Simple operational procedures are defined with priority for detect and avoid (DAA) for unmanned aerial vehicles (UAVs). Mobile communication and Zello broadcasts are introduced and applied to establish controller-to-pilot communication (CPC) for DAA. The UAV flight tests are generally beyond visual line-of-sight (BVLOS) near suburban areas with flight distances to 8 km. On the GTS deployment, six test locations examine communication coverage and effectiveness using ADS-B like OBUs. In system verification, the proposed ADS-B like OBU works well in the UTM infrastructure. The system feasibility is proven with support of receiving data analysis and transceiver efficiency. The trial test supports RUTM in Taiwan for UAV operations.
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Herndon, J. Marvin, Dale D. Williams, and Mark Whiteside. "Ancient Giant Sequoias Are Dying: Scientists Refuse to Acknowledge the Cause." Advances in Social Sciences Research Journal 8, no. 9 (September 9, 2021): 57–70. http://dx.doi.org/10.14738/assrj.89.10851.
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California’s Giant Sequoias and Coast Redwoods, long symbols of strength, longevity, and resilience, have survived natural climate change for as long as 3,000 years, but are now succumbing to human manipulation of the natural environment. Scientists concerned with the wellbeing of these magnificent trees blame their recent die-offs on climate change, drought, and insects while turning a blind eye to the primary underlying cause: environmental modification by jet-emplacement in the troposphere of toxic particles evidenced as coal combustion fly ash. Said aerosolized particulates cause droughts and deluges, heat the troposphere, contaminate rain, snow, and fog with plant-killing toxins including chemically-mobile aluminum, coat foliage, and exacerbate forest fires. The aerial spraying depletes stratospheric ozone, allowing damaging ultraviolet radiation B and C to reach Earth’s surface. These environmental stressors weaken the trees to the point they are attacked by insects and pathogenic fungi. Here we disclose the unspoken, underlying cause of the die-offs of Giant Sequoias and Coast Redwoods. Through a diabolically-deceptive, Trojan horse, United Nations’ International Treaty the governments of sovereign nations were coerced to wage environmental warfare against their own citizens and the natural environment under the guise of peaceful environmental modification. Remaining trees, and indeed much of the life on Earth, can only be saved if this environmental modification is halted.
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Danko, Todd W., and Paul Y. Oh. "Design and Control of a Hyper-Redundant Manipulator for Mobile Manipulating Unmanned Aerial Vehicles." Journal of Intelligent & Robotic Systems 73, no. 1-4 (October 10, 2013): 709–23. http://dx.doi.org/10.1007/s10846-013-9935-2.
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Korpela, Christopher M., Todd W. Danko, and Paul Y. Oh. "MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle." Journal of Intelligent & Robotic Systems 65, no. 1-4 (November 16, 2011): 93–101. http://dx.doi.org/10.1007/s10846-011-9591-3.
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Orsag, Matko, Christopher Korpela, and Paul Oh. "Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle." Journal of Intelligent & Robotic Systems 69, no. 1-4 (August 31, 2012): 227–40. http://dx.doi.org/10.1007/s10846-012-9723-4.
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Korpela, Christopher, Matko Orsag, and Paul Oh. "Hardware-in-the-Loop Verification for Mobile Manipulating Unmanned Aerial Vehicles." Journal of Intelligent & Robotic Systems 73, no. 1-4 (October 18, 2013): 725–36. http://dx.doi.org/10.1007/s10846-013-9950-3.
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von Frankenberg, Florentin, and Scott B. Nokleby. "Inclined landing testing of an omni-directional unmanned aerial vehicle." Transactions of the Canadian Society for Mechanical Engineering 42, no. 1 (March 1, 2018): 61–70. http://dx.doi.org/10.1139/tcsme-2017-0008.
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Traditional multi-rotors and helicopters control translational movement by changing the orientation of the entire vehicle. This approach limits the effectiveness of these vehicles in applications — such as a mobile manipulator base — in which it is often necessary to fly near large structures where unpredictable aerodynamic conditions exist. Maintaining precise control of position requires counteracting disturbance forces quickly. Having to roll and pitch the entire vehicle induces a delay that limits the ability of traditional multi-rotors and helicopters to maintain position precisely. Additionally, a mobile base must be capable of resisting arbitrary combinations of force and torque resulting from use of a manipulator arm. Traditional multi-rotors and helicopters do not have this ability. This paper presents a novel unmanned aerial vehicle (UAV) concept that features the addition of four rotors orthogonal to the main lift rotors of a traditional quadrotor design. These rotors allow decoupling of orientation from translational movement. Tests done on a physical prototype demonstrated the ability to sustain roll or pitch angles up to 15° independent of translational movement, including the ability to move backwards at an angle and to dock on inclined surfaces in a controlled manner. The tests show that the OmniCopter can successfully land on surfaces with up to 30° inclination. This type of motion is impossible for a traditional multi-rotor vehicle.
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Ibrahim, I. N. "A Comparative Study for an Inverse Kinematics Solution of an Aerial Manipulator Based on the Differential Evolution Method and the Modifi ed Shuffl ed Frog-Leaping Algorithm." Mekhatronika, Avtomatizatsiya, Upravlenie 19, no. 11 (November 8, 2018): 714–24. http://dx.doi.org/10.17587/mau.19.714-724.
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This paper focuses on the real-time kinematics solution of an aerial manipulator mounted on an aerial vehicle, the vehicle’s motion isn’t considered in this study. Robot kinematics using Denavit-Hartenberg model was presented. The fundamental scope of this paper is to obtain a global online solution of design configurations with a weighted specific objective function and imposed constraints are fulfilled. Acknowledging the forward kinematics equations of the manipulator; the trajectory planning issue is consequently assigned to on an optimization issue. Several types of computing methods are documented in the literature and are well-known for solving complicated nonlinear functions. Accordingly, this study suggests two kinds of artificial intelligent techniques which are regarded as search methods; they are differential evolution (DE) method and modified shuffled frog-leaping algorithm (MSFLA). These algorithms are constrained metaheuristic and population-based approaches. moreover, they are able to solve the inverse kinematics problem taking into account the mobile platform additionally avoiding singularities since it doesn’t demand the inversion of a Jacobian matrix. Simulation results are carried out for trajectory planning of 6 degree-of-freedom (DOF) kinematically aerial manipulator and confirmed the feasibility and effectiveness of the supposed methods.
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Makarov, A. P., A. G. Chibunichev, and E. V. Poliakova. "APPLICATION OF ROBOTIC SYSTEM FOR OBTAINING INFORMATION ABOUT THE AREA." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2020 (August 12, 2020): 611–16. http://dx.doi.org/10.5194/isprs-archives-xliii-b2-2020-611-2020.
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Abstract. The Photogrammetry Department of MIIGAIK is developing the "Automated Information Generation System" (AIGS), which is designed to carry out automatic aerial survey of the object using a drone and obtain documents about the terrain (orthophotos, DMR, etc.). The system is based on a robotic mobile platform with a navigation system installed on it, a manipulator and a lifting portal. The manipulator has three degrees of freedom and is designed to manipulate the necessary when replacing automatically the battery in the UAV. The lifting portal is designed to load and fix UAVs on the platform. The robotic station is able to work both individually and as part of a network of stations. Complexes are evenly distributed on the territory where aerial photography or monitoring will be carried out. The operator is in the office, forms the job and sends it over the Internet channel, at the station. The job is run automatically on schedule.
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Bitelli, G., P. Conte, T. Csoknyai, and E. Mandanici. "Urban energetics applications and Geomatic technologies in a Smart City perspective." International Review of Applied Sciences and Engineering 6, no. 1 (June 2015): 19–29. http://dx.doi.org/10.1556/1848.2015.6.1.3.
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The management of an urban context in a Smart City perspective requires the development of innovative projects, with new applications in multidisciplinary research areas. They can be related to many aspects of city life and urban management: fuel consumption monitoring, energy efficiency issues, environment, social organization, traffic, urban transformations, etc. Geomatics, the modern discipline of gathering, storing, processing, and delivering digital spatially referenced information, can play a fundamental role in many of these areas, providing new efficient and productive methods for a precise mapping of different phenomena by traditional cartographic representation or by new methods of data visualization and manipulation (e.g. three-dimensional modelling, data fusion, etc.). The technologies involved are based on airborne or satellite remote sensing (in visible, near infrared, thermal bands), laser scanning, digital photogrammetry, satellite positioning and, first of all, appropriate sensor integration (online or offline). The aim of this work is to present and analyse some new opportunities offered by Geomatics technologies for a Smart City management, with a specific interest towards the energy sector related to buildings. Reducing consumption and CO2 emissions is a primary objective to be pursued for a sustainable development and, in this direction, an accurate knowledge of energy consumptions and waste for heating of single houses, blocks or districts is needed. A synoptic information regarding a city or a portion of a city can be acquired through sensors on board of airplanes or satellite platforms, operating in the thermal band. A problem to be investigated at the scale A problem to be investigated at the scale of the whole urban context is the Urban Heat Island (UHI), a phenomenon known and studied in the last decades. UHI is related not only to sensible heat released by anthropic activities, but also to land use variations and evapotranspiration reduction. The availability of thermal satellite sensors is fundamental to carry out multi-temporal studies in order to evaluate the dynamic behaviour of the UHI for a city. Working with a greater detail, districts or single buildings can be analysed by specifically designed airborne surveys. The activity has been recently carried out in the EnergyCity project, developed in the framework of the Central Europe programme established by UE. As demonstrated by the project, such data can be successfully integrated in a GIS storing all relevant data about buildings and energy supply, in order to create a powerful geospatial database for a Decision Support System assisting to reduce energy losses and CO2 emissions. Today, aerial thermal mapping could be furthermore integrated by terrestrial 3D surveys realized with Mobile Mapping Systems through multisensor platforms comprising thermal camera/s, laser scanning, GPS, inertial systems, etc. In this way the product can be a true 3D thermal model with good geometric properties, enlarging the possibilities in respect to conventional qualitative 2D images with simple colour palettes. Finally, some applications in the energy sector could benefit from the availability of a true 3D City Model, where the buildings are carefully described through three-dimensional elements. The processing of airborne LiDAR datasets for automated and semi-automated extraction of 3D buildings can provide such new generation of 3D city models.
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Hrabar, Ivan, Goran Vasiljević, and Zdenko Kovačić. "Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards." Electronics 11, no. 2 (January 11, 2022): 217. http://dx.doi.org/10.3390/electronics11020217.
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A heterogeneous robotic system that can perform various tasks in the steep vineyards of the Mediterranean region was developed and tested as part of the HEKTOR—Heterogeneous Autonomous Robotic System in Viticulture and Mariculture—project. This article describes the design of hardware and an easy-to-use method for evaluating the energy consumption of the system, as well as, indirectly, its deployment readiness level. The heterogeneous robotic system itself consisted of a flying robot—a light autonomous aerial robot (LAAR)—and a ground robot—an all-terrain mobile manipulator (ATMM), composed of an all-terrain mobile robot (ATMR) platform and a seven-degree-of-freedom (DoF) torque-controlled robotic arm. A formal approach to describe the topology and parameters of selected vineyards is presented. It is shown how Google Earth data can be used to make an initial estimation of energy consumption for a selected vineyard. On this basis, estimates of energy consumption were made for the tasks of protective spraying and bud rubbing. The experiments were conducted in two different vineyards, one with a moderate slope and the other with a much steeper slope, to evaluate the proposed estimation method.
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Kapetanović, Nadir, Jurica Goričanec, Ivo Vatavuk, Ivan Hrabar, Dario Stuhne, Goran Vasiljević, Zdenko Kovačić, et al. "Heterogeneous Autonomous Robotic System in Viticulture and Mariculture: Vehicles Development and Systems Integration." Sensors 22, no. 8 (April 12, 2022): 2961. http://dx.doi.org/10.3390/s22082961.
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There are activities in viticulture and mariculture that require extreme physical endurance from human workers, making them prime candidates for automation and robotization. This paper presents a novel, practical, heterogeneous, autonomous robotic system divided into two main parts, each dealing with respective scenarios in viticulture and mariculture. The robotic components and the subsystems that enable collaboration were developed as part of the ongoing HEKTOR project, and each specific scenario is presented. In viticulture, this includes vineyard surveillance, spraying and suckering with an all-terrain mobile manipulator (ATMM) and a lightweight autonomous aerial robot (LAAR) that can be used in very steep vineyards where other mechanization fails. In mariculture, scenarios include coordinated aerial and subsurface monitoring of fish net pens using the LAAR, an autonomous surface vehicle (ASV), and a remotely operated underwater vehicle (ROV). All robotic components communicate and coordinate their actions through the Robot Operating System (ROS). Field tests demonstrate the great capabilities of the HEKTOR system for the fully autonomous execution of very strenuous and hazardous work in viticulture and mariculture, while meeting the necessary conditions for the required quality and quantity of the work performed.
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Li, Hong Jun, Wei Jiang, Dehua Zou, Yu Yan, An Zhang, and Wei Chen. "Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment." Industrial Robot: the international journal of robotics research and application 47, no. 2 (January 27, 2020): 219–29. http://dx.doi.org/10.1108/ir-09-2019-0203.
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Purpose In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory. Design/methodology/approach Through the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory. Findings The robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion. Originality/value Three-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation of the robot joint motion and the state space expression of the robot control system have been established. Based on this, a robot closed-loop trajectory tracking control system has been designed. A robust trajectory tracking motion control method for robots based on sliding mode variable structure theory has been proposed, and a sliding mode control model for the robot has been constructed. The uncertain parameters in the control model have been compensated by the neural network in real-time, and the sliding mode robust control law of the robot manipulator has been solved and obtained. A suitable Lyapunov function has been selected to prove the stability of the system. This method enhances the expansibility of the robot control system and shortens the development cycle of the controller. The trajectory tracking simulation experiment of the robot manipulator proves that the sliding mode variable structure control can effectively restrain the influence of disturbance and uncertainty on the robot motion stability, and meet the design requirements of the control system with fast response, high tracking accuracy and sound stability. Finally, the engineering practicability and superiority of sliding mode variable structure control have been further verified by field operation experiments.
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Zhang, Hongda, Yuqing He, Decai Li, Feng Gu, Qi Li, Mingxi Zhang, Chunlei Di, Lingling Chu, Bo Chen, and Yanming Hu. "Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification." Applied Sciences 10, no. 5 (February 26, 2020): 1583. http://dx.doi.org/10.3390/app10051583.
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Heterogeneous unmanned systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) have great application potential in marine environments. At present, the fully autonomous recovery of UAVs is a key problem that restricts any significant application of a heterogeneous unmanned system. This paper presents a novel fully autonomous recovery system, covering the entire process of recovery of small fixed-wing UAVs on mobile platforms at sea. We describe methods or solutions for the key problems encountered by the current system, including active modeling of the UAV–USV heterogeneous platform motion model, accurate estimation of the highly dynamic relative motion of the heterogeneous platform, dynamic analysis of the arresting cable system, and compliance control of the manipulator recovery system. Based on these methods, a physical simulation platform for the fully autonomous recovery system, including an actively adjustable arresting cable, manipulator compliance recovery system, and other subsystems, is developed and verified through experiments. The experiments show that the system proposed in this study can achieve full autonomous recovery of a small ship-based fixed-wing UAV with a high success rate in a short period. This system is the foundation for practical applications of UAV–USV heterogeneous unmanned systems in the marine environment.
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Quaglia, Giuseppe, Carmen Visconte, Leonardo Sabatino Scimmi, Matteo Melchiorre, Paride Cavallone, and Stefano Pastorelli. "Design of a UGV Powered by Solar Energy for Precision Agriculture." Robotics 9, no. 1 (March 13, 2020): 13. http://dx.doi.org/10.3390/robotics9010013.
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In this paper, a novel UGV (unmanned ground vehicle) for precision agriculture, named “Agri.q,” is presented. The Agri.q has a multiple degrees of freedom positioning mechanism and it is equipped with a robotic arm and vision sensors, which allow to challenge irregular terrains and to perform precision field operations with perception. In particular, the integration of a 7 DOFs (degrees of freedom) manipulator and a mobile frame results in a reconfigurable workspace, which opens to samples collection and inspection in non-structured environments. Moreover, Agri.q mounts an orientable landing platform for drones which is made of solar panels, enabling multi-robot strategies and solar power storage, with a view to sustainable energy. In fact, the device will assume a central role in a more complex automated system for agriculture, that includes the use of UAV (unmanned aerial vehicle) and UGV for coordinated field monitoring and servicing. The electronics of the device is also discussed, since Agri.q should be ready to send-receive data to move autonomously or to be remotely controlled by means of dedicated processing units and transmitter-receiver modules. This paper collects all these elements and shows the advances of the previous works, describing the design process of the mechatronic system and showing the realization phase, whose outcome is the physical prototype.
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Meng, Max Q.-H., and Hong Zhang. "Perspectives of Computational Intelligence in Robotics and Automation." Journal of Advanced Computational Intelligence and Intelligent Informatics 8, no. 3 (May 20, 2004): 235–36. http://dx.doi.org/10.20965/jaciii.2004.p0235.
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As people attempt to build biomimetic robots and realize automation processes through artificial intelligence, computational intelligence plays a very important role in robotics and automation. This special issue contains several important papers that address various aspects of computational intelligence in robotics and automation. While acknowledging its limited coverage, this special issue offers a range of interesting contributions such as intelligent trajectory planning for flying and land mobile robots, fuzzy decision making, control of rigid and teleoperated robots, modeling of human sensations, and intelligent sensor fusion techniques. Let us scan through these contributions of this special issue. The first paper, "Planar Spline Trajectory Following for an Autonomous Helicopter," by Harbick et al., proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system stabilizes the robot and enforces trajectory following of an autonomous helicopter with a reasonable trajectory tracking error on the order of the size of the helicopter (1.8m). In the second paper, "A Biologically Inspired Approach to Collision-Free Path Planning and Tracking Control of a Mobile Robot," by Yang et al., a novel biologically inspired neural network approach is proposed for dynamic collision-free path planning and stable tracking control of a nonholonomic mobile robot in a non-stationary environment, based on shunting equations derived from Hodgkin and Huxley's biological membrane equation. The third paper, "Composite Fuzzy Measure and Its Application to Decision Making," by Kaino and Kaoru, builds a composite fuzzy measure from fuzzy measures defined on fuzzy measurable spaces using composite fuzzy weights by the authors, with a successful application to an automobile factory capital investment decision making problem. In "Intelligent Control of a Miniature Climbing Robot," by Xiao et al., a fuzzy logic based intelligent optimal control system for a miniature climbing robot to achieve precision motion control, minimized power consumption, and versatile behaviors is presented with validation via experimental studies. The fifth paper, "Incorporating Motivation in a Hybrid Robot Architecture," by Stoytchev and Arkin, describes a hybrid mobile robot architecture capable of deliberative planning, reactive control, and motivational drives, which addresses three main challenges for robots living in human-inhabited environments: operating in dynamic and unpredictable environment, dealing with high-level human commands, and engaging human users. Experimental results for a fax delivery mission in a normal office environment are included. In the next paper, "Intelligent Scaling Control for Internet-based Teleoperation," by Liu et al., an adaptive scaling control scheme, with a neural network based time-delay prediction algorithm trained using the maximum entropy principle, is proposed with successful experimental studies on an Internet mobile robot platform. The next paper, "Feature Extraction of Robot Sensor Data Using Factor Analysis for Behavior Learning," by Fung and Liu, discusses important knowledge extraction of sensor data for robot behavior learning using a new approach based on the inter-correlation of sensor data via factor analysis and construction of logical perceptual space by hypothetical latent factors. Experimental results are included to demonstrate the process of logical perceptual space extraction from ultrasonic range data for robot behavior learning. "Trajectory Planning of Mobile Robots Using DNA Computing," by Kiguchi et al., presents an optimal trajectory planning method for mobile robots using Watson-Crick pairing to find the shortest trajectory in the robot working area with the DNA sequences representing the locations of the obstacles removed during the process. The proposed algorithm is especially suitable for computing on a DNA molecular computer. In the ninth paper, "Computational Intelligence for Modeling Human Sensations in Virtual Environments," by Lee and Xu, cascade neural networks with node-decoupled extended Kalman filter training for modeling human sensations in virtual environments are proposed, with a stochastic similarity measure based on hidden Markov models to calculate the relative similarity between model-generated sensations and actual human sensations. A new input selection technique, based on independent component analysis capable of reducing the data size and selecting the stimulus information, is developed and reported. The next paper, "Intelligent Sensor Fusion in Robotic Prosthetic Eye System," by Gu et al., is concerned with the design, sensing and control of a robotic prosthetic eye that moves horizontally in synchronization with the movement of the natural eye. It discusses issues on sensor failure detection and recovery and sensor data fusion techniques using statistical methods and artificial neural network based methods. Simulation and experimental results are included to demonstrate the effectiveness of the results. The final contribution in our collection is a paper by Sun et al., entitled "A Position Control of Direct-Drive Robot Manipulators with PMAC Motors Using Enhanced Fuzzy PD Control." It presents a simple and easy-to-implement position control scheme for direct-drive robot manipulators based on enhanced fuzzy PD control, incorporating two nonlinear tracking differentiators into a conventional PD controller. Experiments on a single-link manipulator directly driven by a permanent magnet AC (PMAC) motor demonstrate the validity of the proposed approach. The Guest Editors would like to thank the contributors and reviewers of this special issue for their time and effort in making this special issue possible. They would also like to express their sincere appreciation to the JACIII editorial board, especially Profs. Kaoru and Fukuda, Editors-in-Chief and Kenta Uchino, Managing Editor, for the opportunity and help they provided for us to put together this special issue.
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Sinnemann, Jannis, Marius Boshoff, Raphael Dyrska, Sebastian Leonow, Martin Mönnigmann, and Bernd Kuhlenkötter. "Systematic literature review of applications and usage potentials for the combination of unmanned aerial vehicles and mobile robot manipulators in production systems." Production Engineering, March 2, 2022. http://dx.doi.org/10.1007/s11740-022-01109-y.
Full textAbstract:
AbstractThe cooperation of Unmanned Aerial Vehicles (UAVs) and Mobile Robot Manipulators (MRMs) offers enormous possibilities to modern industry. It paves the way for logistics, cooperative assembling or manipulation and will provide even more flexibility and autonomy to today’s manufacturing processes. Currently, some systematic literature reviews exist that provide an overview on research fields and gaps in the field of UAVs and MRMs. However, an investigation of the research landscape for combined use of UAVs and MRMs does not exist to the best of the authors’ knowledge. Therefore, in this paper, a systematic review of the current research landscape for the combined use of UAV and MRM is conducted to finally identify fields of action that need to be addressed in the future to harness the full potential.
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Habib, Ayman, Zahra Lari, Eunju Kwak, and Kaleel Al-Durgham. "AUTOMATED DETECTION, LOCALIZATION, AND IDENTIFICATION OF SIGNALIZED TARGETS AND THEIR IMPACT ON DIGITAL CAMERA CALIBRATION." Revista Brasileira de Cartografia 65, no. 4 (August 24, 2013). http://dx.doi.org/10.14393/rbcv65n4-43860.
Full textAbstract:
The increased resolution and reduced cost of commercially-available digital cameras have led to their use in close range and low-altitude airborne photogrammetric operations. In addition, the widespread adoption of Mobile Mapping and Unmanned Aerial Vehicle systems in various applications increased the demand for 3D reconstruction using Medium-Format Digital Cameras (MFDCs). The interest of professionals who might lack photogrammetric expertise mandates the development of automated procedures, especially camera calibration, for the manipulation of digital imaging systems. This paper deals with an investigation of the type of signalized targets that can be economically prepared while lending themselves to reliable detection and precise localization in the captured imagery. More specifically, checkerboard and circular targets are evaluated. Efficient techniques are introduced for their automated detection and localization as well as semi-automated identification. The impact of the proposed approaches on the quality of derived IOPs is quantified using similarity measures, which evaluate the degree of similarity of the reconstructed bundles from these IOPs. The experimental results show that automated localization of checkerboard and circular targets yield consistent IOPs. However, the detection and localization of checkerboard targets are easier and more robust to the quality of the involved imagery. Therefore, checkerboard targets are recommended as the target of choice for digital camera calibration.
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Yang, Xinrui, Mouad Kahouadji, Othman Lakhal, and Rochdi Merzouki. "Integrated design of an aerial soft-continuum manipulator for predictive maintenance." Frontiers in Robotics and AI 9 (September 20, 2022). http://dx.doi.org/10.3389/frobt.2022.980800.
Full textAbstract:
This article presents an integrated concept of an aerial robot used for predictive maintenance in the construction sector. The latter can be remotely controlled, allowing the localization of cracks on wall surfaces and the adaptive deposit of the material for in situ repairs. The use of an aerial robot is motivated by fast intervention, allowing time and cost minimizing of overhead repairs without the need for scaffolding. It is composed of a flying mobile platform positioned in stationary mode to guide a soft continuum arm that allows to reach the area of cracks with different access points. Indeed, some constructions have complex geometries that present problems for access using rigid mechanical arms. The aerial robot uses visual sensors to automatically identify and localize cracks in walls, based on deep learning convolutional neural networks. A centerline representing the structural feature of the crack is computed. The soft continuum manipulator is used to guide the continuous deposit of the putty material to fill the microscopic crack. For this purpose, an inverse kinematic model-based control of the soft arm is developed, allowing to estimate the length of the bending tubes. The latter are then used as inputs for a neural network to predict the desired input pressure to bend the actuated soft tubes. A set of experiments was carried out on cracks located on flat and oblique surfaces, to evaluate the actual performances of the predictive maintenance mechatronic robot.