Journal of Field Robotics最新文献

{"title":"Automatic terminal guidance for small fixed-wing unmanned aerial vehicles","authors":"Yachao Yang,&nbsp;Jie Li,&nbsp;Chang Liu,&nbsp;Yu Yang,&nbsp;Juan Li,&nbsp;Zhenbei Wang,&nbsp;Xueyong Wu,&nbsp;Lei Fu,&nbsp;Xiao Xu","doi":"10.1002/rob.22113","DOIUrl":"https://doi.org/10.1002/rob.22113","url":null,"abstract":"<p>The research presented in this article focuses on expanding and deepening the prior research of a low-cost terminal guidance system in a previous paper entitled “Design, implementation and verification of a low-cost terminal guidance system for small fixed-wing UAVs.” An automatic terminal guidance workflow is specially designed for an individual in a small fixed-wing unmanned aerial vehicle (SUAV) swarm. The extended work around the proposed workflow primarily involves upgrading onboard hardware modules to improve sensor accuracy and environmental adaptability, the imaging performance of the seeker, as well as the computational capability of the image processor, applying object detection to replace the human-in-the-loop function and adopting the integral proportional guidance law in the vertical direction to reduce the required overload and obtain a larger impact angle. Furthermore, we conducted several field tests on two types of SUAV against a stationary target on the ground in a field scenario. The experiments have generated valuable onboard image data and SUAV status information, all of which are aligned in the time domain. The only remaining data sets that support the findings of this study are available from the corresponding author. Our study into automatic terminal guidance has yielded a solution of the automatic strap-down monocular terminal guidance problem of individual SUAVs. The field trials of a single SUAV demonstrate the robustness and efficiency of the proposed automatic terminal guidance methodology and lays a foundation for the future SUAVs' cooperative attack test.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 1","pages":"3-29"},"PeriodicalIF":8.3,"publicationDate":"2022-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"5733775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Automated wall-climbing robot for concrete construction inspection","authors":"Liang Yang,&nbsp;Bing Li,&nbsp;Jinglun Feng,&nbsp;Guoyong Yang,&nbsp;Yong Chang,&nbsp;Biao Jiang,&nbsp;Jizhong Xiao","doi":"10.1002/rob.22119","DOIUrl":"https://doi.org/10.1002/rob.22119","url":null,"abstract":"<p>Human-made concrete structures require cutting-edge inspection tools to ensure the quality of the construction to meet the applicable building codes and to maintain the sustainability of the aging infrastructure. This paper introduces a wall-climbing robot for metric concrete inspection that can reach difficult-to-access locations with a close-up view for visual data collection and real-time flaws detection and localization. The wall-climbing robot is able to detect concrete surface flaws (i.e., cracks and spalls) and produce a defect-highlighted 3D model with extracted location clues and metric measurements. The system encompasses four modules, including a data collection module to capture RGB-D frames and inertial measurement unit data, a visual–inertial navigation system module to generate pose-coupled keyframes, a deep neural network module (namely InspectionNet) to classify each pixel into three classes (background, crack, and spall), and a semantic reconstruction module to integrate per-frame measurement into a global volumetric model with defects highlighted. We found that commercial RGB-D camera output depth is noisy with holes, and a Gussian-Bilateral filter for depth completion is introduced to inpaint the depth image. The method achieves the state-of-the-art depth completion accuracy even with large holes. Based on the semantic mesh, we introduce a coherent defect metric evaluation approach to compute the metric measurement of crack and spall area (e.g., length, width, area, and depth). Field experiments on a concrete bridge demonstrate that our wall-climbing robot is able to operate on a rough surface and can cross over shallow gaps. The robot is capable to detect and measure surface flaws under low illuminated environments and texture-less environments. Besides the robot system, we create the first publicly accessible concrete structure spalls and cracks data set that includes 820 labeled images and over 10,000 field-collected images and release it to the research community.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 1","pages":"110-129"},"PeriodicalIF":8.3,"publicationDate":"2022-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"5767652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Using an improved YOLOv5s network for the automatic detection of silicon on wheat straw epidermis of micrographs","authors":"Qianru Zhang,&nbsp;Yunfei Wang,&nbsp;Lei Song,&nbsp;Mengxuan Han,&nbsp;Huaibo Song","doi":"10.1002/rob.22120","DOIUrl":"https://doi.org/10.1002/rob.22120","url":null,"abstract":"<p>The silicon on wheat straw epidermis is an obstacle to its resource utilization, and pretreated methods should be applied to remove this structure. Due to the difficulties in detecting the silicon on wheat straw epidermis, judging the efficiency of pretreatment is still a challenging task. In this study, an automatic detection method based on you only look once (YOLO) v5s was proposed to detect the silicon on wheat straw epidermis of micrographs. To improve the efficiency of the network, the Input was modified, the inverted residual module, the pointwise convolution, and the attention mechanism were added, while the focus module was cut off. A total of 4690 micrographs of wheat straw epidermis were collected for training and testing. The training results showed that the proposed model can efficiently detect silicon on wheat straw epidermis of micrographs, and had the highest mean Average Precision of 98.88% among five state-of-the-art comparison models, including RetinaNet, Single Shot MultiBox Detector, YOLOv4tiny, YOLOv4, and YOLOv5s. The weight of the proposed model was 11.7 M, indicating that it can be transplanted to mobile devices. The proposed model showed good robustness under different imaging conditions. All the results indicated that the proposed model could detect the silicon on wheat straw epidermis of micrographs accurately and efficiently.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 1","pages":"130-143"},"PeriodicalIF":8.3,"publicationDate":"2022-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"5797481","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and analysis of a wall-climbing robot for passive adaptive movement on variable-curvature metal facades","authors":"Ze Jiang,&nbsp;Zhe Ma,&nbsp;Zhongjin Ju,&nbsp;Dianzheng Wang,&nbsp;Yundou Xu","doi":"10.1002/rob.22118","DOIUrl":"https://doi.org/10.1002/rob.22118","url":null,"abstract":"<p>To facilitate the safe adsorption and stable motion of robots on curved metal surfaces, a wall-climbing robot with a wheeled-type mobile mechanism that can passively self-adapt to walls with different curvature is proposed. The robot is composed of two relatively independent passive adaptive mobile mechanisms and overrunning permanent magnetic adsorption devices to achieve effective fitting of the driving wheels to the wall surface and adaptive surface motion. The overall design is based on a double-hinged connection scheme and gap-type permanent magnetic adsorption. The minimum adsorption force required for the robot to achieve stable climbing motion with no risk of slipping or capsizing is determined by developing a static analysis model. The effects of air-gap size and wall thickness on the adsorption force are analyzed by means of magnetic circuit design studies and parametric simulations on the permanent magnet adsorption device, as well as design optimization of the permanent magnet device. The motion performance test of the fabricated prototype shows that the robot can achieve adaptive curvature motion with self-attitude adjustment, and has a certain load capacity, obstacle crossing capability, and good surface adaptivity.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 1","pages":"94-109"},"PeriodicalIF":8.3,"publicationDate":"2022-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6139661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Characterization of motion power loss of off-road wheeled robot in a slippery terrain","authors":"Seyed Mojtaba Shafaei,&nbsp;Hossein Mousazadeh","doi":"10.1002/rob.22116","DOIUrl":"https://doi.org/10.1002/rob.22116","url":null,"abstract":"<p>For the first time in realm of power study of off-road wheeled robots, this study deals with motion power loss due to slippage of robot wheels traversed on slippery terrain. For this purpose, effects of slippery terrain type (solid balls with diameter of 0.0127, 0.0254, and 0.0508 m), tire air pressure (20.68, 34.47, and 55.16 kPa), and robot forward speed (0.17, 0.33, and 0.5 m/s) on the power loss were characterized. Derived results proved that the increasing effect of slippery terrain type on the power loss was dominant (1.08 and 3.21 times) than that of robot forward speed and tire air pressure, respectively. Meanwhile, the increasing effect of robot forward speed on the power loss was prevailed (2.98 times) than that of tire air pressure. Hence, to minimize the power loss of the robot traversed on each type of slippery terrain, adjustment of robot forward speed should be considered as first priority. A comparison between motion power loss (43.60–249.40 W) and provided motion power for the robot (136–436.37 W) implies that 12.93–75.44% of provided motion power was wasted by slippage of the robot wheels on slippery terrains. Overall, the analytical results obtained in this study lead to open a new prospection for comprehending of the power loss trends of off-road wheeled robots traversed on slippery terrains. As slippery terrain composed of solid balls, the results can be especially utilized for final phase of unloading robotic operations of catalyst handling procedure in process towers and reactors of oil, gas, petrochemical, and chemical industries.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 1","pages":"57-72"},"PeriodicalIF":8.3,"publicationDate":"2022-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6146446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A multirobot system for autonomous deployment and recovery of a blade crawler for operations and maintenance of offshore wind turbine blades","authors":"Zhengyi Jiang,&nbsp;Ferdian Jovan,&nbsp;Peiman Moradi,&nbsp;Tom Richardson,&nbsp;Sara Bernardini,&nbsp;Simon Watson,&nbsp;Andrew Weightman,&nbsp;Duncan Hine","doi":"10.1002/rob.22117","DOIUrl":"https://doi.org/10.1002/rob.22117","url":null,"abstract":"<p>Offshore wind farms will play a vital role in the global ambition of net zero energy generation. Future offshore wind farms will be larger and further from the coast, meaning that traditional human-based operations and maintenance approaches will become infeasible due to safety, cost, and skills shortages. The use of remotely operated or autonomous robotic assistants to undertake these activities provides an attractive alternative solution. This paper presents an autonomous multirobot system which is able to transport, deploy and retrieve a wind turbine blade inspection robot using an unmanned aerial vehicle (UAV). The proposed solution is a fully autonomous system including a robot deployment interface for deployment, a mechatronic link-hook module (LHM) for retrieval, both installed on the underside of a UAV, a mechatronic on-load attaching module installed on the robotic payload and an intelligent global mission planner. The LHM is integrated with a 2-DOF hinge that can operate either passively or actively to reduce the swing motion of a slung load by approximately 30%. The mechatronic modules can be coupled and decoupled by special maneuvers of the UAV, and the intelligent global mission planner coordinates the operations of the UAV and the mechatronic modules for synchronous and seamless actions. For navigation in the vicinity of wind turbine blades, a visual-based localization merged with the location knowledge from Global Navigation Satellite System has been developed. A proof-of-concept system was field tested on a full-size decommissioned wind-turbine blade. The results show that the experimental system is able to deploy and retrieve a robotic payload onto and from a wind turbine blade safely and robustly without the need for human intervention. The vicinity localization and navigation system have shown an accuracy of 0.65 and 0.44 m in the horizontal and vertical directions, respectively. Furthermore, this study shows the feasibility of systems toward autonomous inspection and maintenance of offshore windfarms.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 1","pages":"73-93"},"PeriodicalIF":8.3,"publicationDate":"2022-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22117","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6144405","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Actuator fault detection for masonry robot manipulator arm with the interval observer","authors":"Jinbao Zhao,&nbsp;Ke Zhang,&nbsp;Maxiao Hou,&nbsp;Hao Zhang,&nbsp;Yunfei Bai,&nbsp;Yanzheng Huang,&nbsp;Jianan Li","doi":"10.1002/rob.22114","DOIUrl":"https://doi.org/10.1002/rob.22114","url":null,"abstract":"<p>The main construction method of building wall is artificial masonry, the main problem is that the process is associated with low construction efficiency and poor safety, workers are prone fall from high altitude. The research of automatic masonry robot has become an urgent need. The masonry mechanical arm system is the main executing part of the masonry robot, special attention should be paid to the robot fault. Therefore, it is necessary to establish a suitable model to detect the actuator faults of the manipulator system. In this paper, a dynamic model of manipulator fault is presented and a fault detection scheme of masonry robot manipulator arm is proposed based on the model. The model is simplified by analyzing the state parameters of each joint during robot masonry and the interval observer with more design freedom was designed based on the established mathematical model of actuator faults. In this paper, a joint method for solving <i>S</i> and <i>L</i> matrices is proposed, which avoids the limitation of the traditional method for solving <i>L</i> matrices by two-step. In the presence of external interference, <math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mi>l</mi>\u0000 \u0000 <mn>1</mn>\u0000 </msub>\u0000 </mrow>\u0000 <annotation> ${l}_{1}$</annotation>\u0000 </semantics></math>/<math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mi>H</mi>\u0000 \u0000 <mi>∞</mi>\u0000 </msub>\u0000 </mrow>\u0000 <annotation> ${H}_{infty }$</annotation>\u0000 </semantics></math> performance are introduced into the generation process of residual interval, and the interval observer has better disturbance robustness and fault sensitivity. Simulation experiments verify that the scheme can effectively detect the actuator fault of the manipulator, and experiments are carried out on a 6-axis manipulator. The experimental results show that when actuator faults occur at joints 2 and 3, the residual rapidly exceeds the threshold range, which proves the effectiveness of the fault detection scheme designed in this paper.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 2","pages":"147-160"},"PeriodicalIF":8.3,"publicationDate":"2022-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6079206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Cover Image, Volume 39, Number 7, October 2022","authors":"Rao Li,&nbsp;Cheng Zhou,&nbsp;Quanli Dou,&nbsp;Bin Hu","doi":"10.1002/rob.22115","DOIUrl":"https://doi.org/10.1002/rob.22115","url":null,"abstract":"<p>The cover image is based on the Research Article <i>Complete coverage path planning and performance factor analysis for autonomous bulldozer</i> by Rao Li et al., https://doi.org/10.1002/rob.22085.\u0000\u0000 <figure>\u0000 <div><picture>\u0000 <source></source></picture><p></p>\u0000 </div>\u0000 </figure></p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"39 7","pages":"i"},"PeriodicalIF":8.3,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22115","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"5979748","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Distributed cohesive configuration controller for a swarm with low-cost platforms","authors":"Seoung Kyou Lee","doi":"10.1002/rob.22111","DOIUrl":"https://doi.org/10.1002/rob.22111","url":null,"abstract":"<p>This study presents a <i>cohesive configuration controller</i> for distributed space coverage by a swarm of robots. The goal is to build a dense, convex network that is robust against disconnection while robots are flocking with only incomplete knowledge about the network. The controller is an integrated framework of two different algorithms. First, we present a <i>boundary force</i> algorithm: physics-based swarm intelligence that borrows the concept of surface tension force between liquid molecules. The combination of such a force with conventional flocking produces a convex and dense configuration without knowledge of the complete geometry of a robot network. Second, robots distributively determine when a configuration is on the verge of disconnection by identifying a local articulation point—a region where the removal of a single robot will change the local topology. When such a point is detected, robots switch their behavior to <i>clustering</i>, which aggregates them around the vulnerable region to remove every articulation point and retain a connected configuration. Finally, we introduced an index that objectively represents the level of risk of a robot configuration against the massive fragmentation, called <i>vulnerability index</i>. We provide theoretical performance analyses of each algorithm and validate the results with simulations and experiments using a set of low-cost robots.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 1","pages":"30-56"},"PeriodicalIF":8.3,"publicationDate":"2022-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6122173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Cover Image, Volume 39, Number 6, September 2022","authors":"Shawndy M. Lee,&nbsp;Wei H. Ng,&nbsp;Emmanuel Tang,&nbsp;Shaohui Foong","doi":"10.1002/rob.22112","DOIUrl":"https://doi.org/10.1002/rob.22112","url":null,"abstract":"<p>The cover image is based on the Research Article Towards fluid force estimation of a water-jetting aerial robot with hybrid kinematics-force model by Shawndy M. Lee et al., https://doi.org/10.1002/rob.22079.\u0000\u0000 <figure>\u0000 <div><picture>\u0000 <source></source></picture><p></p>\u0000 </div>\u0000 </figure></p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"39 6","pages":"i"},"PeriodicalIF":8.3,"publicationDate":"2022-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22112","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"5863675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}