Journal of Field Robotics最新文献_第6页

A simulation-assisted point cloud segmentation neural network for human–robot interaction applications 用于人机交互应用的仿真辅助点云分割神经网络

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-01 DOI: 10.1002/rob.22385

Jingxin Lin, Kaifan Zhong, Tao Gong, Xianmin Zhang, Nianfeng Wang

引用次数: 0

Three-dimensional kinematics-based real-time localization method using two robots 基于三维运动学的双机器人实时定位方法

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-01 DOI: 10.1002/rob.22383

Guy Elmakis, Matan Coronel, David Zarrouk

引用次数: 0

Soft crawling caterpillar driven by electrohydrodynamic pumps 由电动流体动力泵驱动的软履带履带车

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-01 DOI: 10.1002/rob.22388

Tianyu Zhao, Cheng Wang, Zhongbao Luo, Weiqi Cheng, Nan Xiang

{"title":"Soft crawling caterpillar driven by electrohydrodynamic pumps","authors":"Tianyu Zhao, Cheng Wang, Zhongbao Luo, Weiqi Cheng, Nan Xiang","doi":"10.1002/rob.22388","DOIUrl":"10.1002/rob.22388","url":null,"abstract":"Soft crawling robots are usually driven by bulky and complex external pneumatic or hydraulic actuators. In this work, we proposed a miniaturized soft crawling caterpillar based on electrohydrodynamic (EHD) pumps. The caterpillar was mainly composed of a flexible EHD pump for providing the driving force, an artificial muscle for performing the crawling, a fluid reservoir, and several stabilizers and auxiliary feet. To achieve better crawling performances for our caterpillar, the flow rate and pressure of the EHD pump were improved by using a curved electrode design. The electrode gap, electrode overlap length, channel height, electrode thickness, and electrode pair number of the EHD pump were further optimized for better performance. Compared with the EHD pumps with conventional straight electrodes, our EHD pump showed a 50% enhancement in driving pressure and a 60% increase in flow rate. The bending capability of the artificial muscles was also characterized, showing a maximum bending angle of over 50°. Then, the crawling ability of the soft crawling caterpillar is also tested. Finally, our caterpillar owns the advantages of simple fabrication, low-cost, fast movement speed, and small footprint, which has robust and wide potential for practical use, especially over various terrains.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2705-2714"},"PeriodicalIF":4.2,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141532743","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}

引用次数: 0

Autonomous navigation method based on RGB-D camera for a crop phenotyping robot 基于 RGB-D 摄像头的作物表型机器人自主导航方法

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-30 DOI: 10.1002/rob.22379

Meng Yang, Chenglong Huang, Zhengda Li, Yang Shao, Jinzhan Yuan, Wanneng Yang, Peng Song

{"title":"Autonomous navigation method based on RGB-D camera for a crop phenotyping robot","authors":"Meng Yang, Chenglong Huang, Zhengda Li, Yang Shao, Jinzhan Yuan, Wanneng Yang, Peng Song","doi":"10.1002/rob.22379","DOIUrl":"10.1002/rob.22379","url":null,"abstract":"Phenotyping robots have the potential to obtain crop phenotypic traits on a large scale with high throughput. Autonomous navigation technology for phenotyping robots can significantly improve the efficiency of phenotypic traits collection. This study developed an autonomous navigation method utilizing an RGB-D camera, specifically designed for phenotyping robots in field environments. The PP-LiteSeg semantic segmentation model was employed due to its real-time and accurate segmentation capabilities, enabling the distinction of crop areas in images captured by the RGB-D camera. Navigation feature points were extracted from these segmented areas, with their three-dimensional coordinates determined from pixel and depth information, facilitating the computation of angle deviation (α) and lateral deviation (d). Fuzzy controllers were designed with α and d as inputs for real-time deviation correction during the walking of phenotyping robot. Additionally, the method includes end-of-row recognition and row spacing calculation, based on both visible and depth data, enabling automatic turning and row transition. The experimental results showed that the adopted PP-LiteSeg semantic segmentation model had a testing accuracy of 95.379% and a mean intersection over union of 90.615%. The robot's navigation demonstrated an average walking deviation of 1.33 cm, with a maximum of 3.82 cm. Additionally, the average error in row spacing measurement was 2.71 cm, while the success rate of row transition at the end of the row was 100%. These findings indicate that the proposed method provides effective support for the autonomous operation of phenotyping robots.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2663-2675"},"PeriodicalIF":4.2,"publicationDate":"2024-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22379","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141525510","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}

引用次数: 0

Design and movement mechanism analysis of a multiple degree of freedom bionic crocodile robot based on the characteristic of “death roll” 基于 "死亡翻滚 "特性的多自由度仿生鳄鱼机器人的设计与运动机理分析

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-21 DOI: 10.1002/rob.22380

Chujun Liu, Jingwei Wang, Zhongyang Liu, Zejia Zhao, Guoqing Zhang

{"title":"Design and movement mechanism analysis of a multiple degree of freedom bionic crocodile robot based on the characteristic of “death roll”","authors":"Chujun Liu, Jingwei Wang, Zhongyang Liu, Zejia Zhao, Guoqing Zhang","doi":"10.1002/rob.22380","DOIUrl":"10.1002/rob.22380","url":null,"abstract":"This paper introduces a multi-degree of freedom bionic crocodile robot designed to tackle the challenge of cleaning pollutants and debris from the surfaces of narrow, shallow rivers. The robot mimics the “death roll” motion of crocodiles which is a technique used for object disintegration. First, the design incorporated a swinging tail mechanism using a multi-section oscillating guide-bar mechanism. By analyzing three-, four-, and five-section tail structures, the four-section tail was identified as the most effective structure, offering optimal strength and swing amplitude. Each section of the tail can reach maximum swing angles of 8.05°, 20.95°, 35.09°, and 43.84°, respectively, under a single motor's drive. Next, the robotic legs were designed with a double parallelogram mechanism, facilitating both crawling and retracting movements. In addition, the mouth employed a double-rocker mechanism for efficient closure and locking, achieving an average torque of 5.69 N m with a motor torque of 3.92 N m. Moreover, the robotic body was designed with upper and lower segment structures and waterproofing function was also considered. Besides, the kinematic mechanism and mechanical properties of the bionic crocodile structure were analyzed from the perspectives of modeling and field tests. The results demonstrated an exceptional kinematic performance of the bionic crocodile robot, effectively replicating the authentic movement characteristics of a crocodile.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2650-2662"},"PeriodicalIF":4.2,"publicationDate":"2024-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141529118","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}

引用次数: 0

MPC-based cooperative multiagent search for multiple targets using a Bayesian framework 利用贝叶斯框架，基于 MPC 的多目标多代理合作搜索

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-19 DOI: 10.1002/rob.22382

Hu Xiao, Rongxin Cui, Demin Xu, Yanran Li

引用次数: 0

A cable-driven underwater robotic system for delicate manipulation of marine biology samples 用于精细操作海洋生物样本的缆索驱动水下机器人系统

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-17 DOI: 10.1002/rob.22381

Mahmoud Zarebidoki, Jaspreet Singh Dhupia, Minas Liarokapis, Weiliang Xu

{"title":"A cable-driven underwater robotic system for delicate manipulation of marine biology samples","authors":"Mahmoud Zarebidoki, Jaspreet Singh Dhupia, Minas Liarokapis, Weiliang Xu","doi":"10.1002/rob.22381","DOIUrl":"https://doi.org/10.1002/rob.22381","url":null,"abstract":"Underwater robotic systems have the potential to assist and complement humans in dangerous or remote environments, such as in the monitoring, sampling, or manipulation of sensitive underwater species. Here we present the design, modeling, and development of an underwater manipulator (UM) with a lightweight cable-driven structure that allows for delicate deep-sea reef sampling. The compact and lightweight design of the UM and gripper decreases the coupling effect between the UM and the underwater vehicle (UV) significantly. The UM and gripper are equipped with force sensors, enabling them for soft and sensitive object manipulation and grasping. The accurate force exertion capabilities of the UM ensure efficient operation in the process of localization and approaching reef samples, such as the corals and sponges. The active force control of the tendon-driven gripper ensures gentle/delicate grasping, handling, and transporting of the marine samples without damaging their tissues. A complete simulation of the UM is provided for deriving the required specifications of actuators and sensors to be compatible with the UVs with a speed range of 1–4 Knots. The system's performance for accurate trajectory tracking and delicate grasping of two different types of underwater species (a sponge skeleton and a Neptune's necklace seaweed) is verified using a model-free robust-adaptive position/force controller.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2615-2629"},"PeriodicalIF":4.2,"publicationDate":"2024-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22381","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142587966","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}

引用次数: 0

UP-GAN: Channel-spatial attention-based progressive generative adversarial network for underwater image enhancement UP-GAN：基于通道空间注意力的渐进生成对抗网络，用于水下图像增强

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-12 DOI: 10.1002/rob.22378

Ning Wang, Yanzheng Chen, Yi Wei, Tingkai Chen, Hamid Reza Karimi

{"title":"UP-GAN: Channel-spatial attention-based progressive generative adversarial network for underwater image enhancement","authors":"Ning Wang, Yanzheng Chen, Yi Wei, Tingkai Chen, Hamid Reza Karimi","doi":"10.1002/rob.22378","DOIUrl":"10.1002/rob.22378","url":null,"abstract":"Focusing on severe color deviation, low brightness, and mixed noise caused by inherent scattering and light attenuation effects within underwater environments, an underwater-attention progressive generative adversarial network (UP-GAN) is innovated for underwater image enhancement (UIE). Salient contributions are as follows: (1) By elaborately devising an underwater background light estimation module via an underwater imaging model, the degradation mechanism can be sufficiently integrated to fuse prior information, which in turn saves computational burden on subsequent enhancement; (2) to suppress mixed noise and enhance foreground, simultaneously, an underwater dual-attention module is created to fertilize skip connection from channel and spatial aspects, thereby getting rid of noise amplification within the UIE; and (3) by systematically combining with spatial consistency, exposure control, color constancy, color relative dispersion losses, the entire UP-GAN framework is skillfully optimized by taking into account multidegradation factors. Comprehensive experiments conducted on the UIEB data set demonstrate the effectiveness and superiority of the proposed UP-GAN in terms of both subjective and objective aspects.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2597-2614"},"PeriodicalIF":4.2,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141352465","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}

引用次数: 0

Mountain search and recovery: An unmanned aerial vehicle deployment case study and analysis 山区搜索和救援：无人驾驶飞行器部署案例研究与分析

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-12 DOI: 10.1002/rob.22376

Nathan L. Schomer, Julie A. Adams

引用次数: 0

A selective harvesting robot for cherry tomatoes: Design, development, field evaluation analysis 樱桃番茄选择性收获机器人：设计、开发和实地评估分析

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-10 DOI: 10.1002/rob.22377

Jiacheng Rong, Lin Hu, Hui Zhou, Guanglin Dai, Ting Yuan, Pengbo Wang

{"title":"A selective harvesting robot for cherry tomatoes: Design, development, field evaluation analysis","authors":"Jiacheng Rong, Lin Hu, Hui Zhou, Guanglin Dai, Ting Yuan, Pengbo Wang","doi":"10.1002/rob.22377","DOIUrl":"10.1002/rob.22377","url":null,"abstract":"With the aging population and increasing labor costs, traditional manual harvesting methods have become less economically efficient. Consequently, research into fully automated harvesting using selective harvesting robots for cherry tomatoes has become a hot topic. However, most of the current research is focused on individual harvesting of large tomatoes, and there is less research on the development of complete systems for harvesting cherry tomatoes in clusters. The purpose of this study is to develop a harvesting robot system capable of picking tomato clusters by cutting their fruit-bearing pedicels and to evaluate the robot prototype in real greenhouse environments. First, to enhance the grasping stability, a novel end-effector was designed. This end-effector utilizes a cam mechanism to achieve asynchronous actions of cutting and grasping with only one power source. Subsequently, a visual perception system was developed to locate the cutting points of the pedicels. This system is divided into two parts: rough positioning of the fruits in the far-range view and accurate positioning of the cutting points of the pedicels in the close-range view. Furthermore, it possesses the capability to adaptively infer the approaching pose of the end-effector based on point cloud features extracted from fruit-bearing pedicels and stems. Finally, a prototype of the tomato-harvesting robot was assembled for field trials. The test results demonstrate that in tomato clusters with unobstructed pedicels, the localization success rates for the cutting points were 88.5% and 83.7% in the two greenhouses, respectively, while the harvesting success rates reached 57.7% and 55.4%, respectively. The average cycle time to harvest a tomato cluster was 24 s. The experimental results prove the potential for commercial application of the developed tomato-harvesting robot and through the analysis of failure cases, discuss directions for future work.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2564-2582"},"PeriodicalIF":4.2,"publicationDate":"2024-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141365470","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}

引用次数: 0