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IET Cybersystems and Robotics最新文献

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A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics 基于生物神经动力学的无人潜航器混合跟踪控制策略
IET Cybersystems and Robotics Pub Date : 2022-09-09 DOI: 10.1049/csy2.12060
Zhe Xu, Tao Yan, Simon X. Yang, S. Andrew Gadsden
{"title":"A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics","authors":"Zhe Xu,&nbsp;Tao Yan,&nbsp;Simon X. Yang,&nbsp;S. Andrew Gadsden","doi":"10.1049/csy2.12060","DOIUrl":"10.1049/csy2.12060","url":null,"abstract":"<p>Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic control strategy is first developed to avoid sharp velocity jumps and provides smooth velocity commands relative to conventional methods. Then, a novel sliding mode control is proposed, which is capable of providing smooth and continuous torque commands free from chattering. In comparative studies, the proposed combined hybrid control strategy has ensured control signal smoothness, which is critical in real-world applications, especially for a UUV that needs to operate in complex underwater environments.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 3","pages":"153-162"},"PeriodicalIF":0.0,"publicationDate":"2022-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12060","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78821766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Gait tracking control of biped robot based on adaptive gait switching algorithm 基于自适应步态切换算法的双足机器人步态跟踪控制
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907560
Jianjun Yu, Ruiqi Li, Daoxiong Gong, Yixin Liu, Peng Liu
{"title":"Gait tracking control of biped robot based on adaptive gait switching algorithm","authors":"Jianjun Yu, Ruiqi Li, Daoxiong Gong, Yixin Liu, Peng Liu","doi":"10.1109/CYBER55403.2022.9907560","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907560","url":null,"abstract":"In order to make the walking gait of biped robot more human like, this paper takes the human walking data as the expected gait of robot, and uses the periodic characteristics of gait, proposes a gait tracking control strategy of Biped Robot Based on adaptive gait switching algorithm. Firstly, this paper establishes the complete dynamic models of left leg support phase (LSP) and right leg support phase (RSP) based on Lagrange method, then designs the corresponding LQR gait tracking control strategy, and uses the adaptive weighted particle swarm algorithm (A WPSO) to obtain the optimal controller parameters. Finally, the threshold range of plantar contact force in two periods are estimated based on the adaptive mechanism, and the occurrence of gait switching is detected according to the defined decision rules, thus trigger the control strategy in the next stage to realize the walking tracking control of biped robot. The experimental results show that only two LQR controllers to realize the accurate tracking of the desired gait of the biped robot, and the maximum gait speed reaches two steps/s, which is close to the human gait speed. Compared with other methods, the gait is more human like.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"42 4 1","pages":"105-110"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90424781","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Mechanical Design of a Crawler Hydraulic Sludge Cleaning Robot 履带式液压污泥清扫机器人的机械设计
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907466
Zhilin Yang, H. Fang, Yongqiang Wang, Wei Feng, Kai He
{"title":"Mechanical Design of a Crawler Hydraulic Sludge Cleaning Robot","authors":"Zhilin Yang, H. Fang, Yongqiang Wang, Wei Feng, Kai He","doi":"10.1109/CYBER55403.2022.9907466","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907466","url":null,"abstract":"At present, most of the cleaning of oil storage tanks is in the manual cleaning stage. On the one hand, manual cleaning has high labor intensity and high-risk factor, on the other hand, low cleaning efficiency leads to high cleaning costs. In response to the urgent needs and actual operating conditions of the oil tank cleaning industry, the crawler hydraulic sludge cleaning robot is developed in this paper which can replace the manual cleaning of oil tanks to a certain extent. This article mainly introduces the structure and working process of the robot as well as the strength check of the key components. Afterwards, the kinematics analysis of the robot in the working state is carried out.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"10 1","pages":"1247-1252"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87529032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on Human Features Semantic Segmentation Based on Laser Point Cloud 基于激光点云的人体特征语义分割研究
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907384
Tianyi Ma, Bokai Xuan, Jian Li, Yuexuan Xu, Minghe Liu, Qingsong Ding, Jianwen Wang, Hao Sun
{"title":"Research on Human Features Semantic Segmentation Based on Laser Point Cloud","authors":"Tianyi Ma, Bokai Xuan, Jian Li, Yuexuan Xu, Minghe Liu, Qingsong Ding, Jianwen Wang, Hao Sun","doi":"10.1109/CYBER55403.2022.9907384","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907384","url":null,"abstract":"In view of the problems of health care for the semi-disabled elderly, this paper studies the semantic segmentation of human features in a bathing environment with a scrubbing device. Firstly three-dimensional point cloud data of different types to construct a human model is collected by the lidar. Secondly, overcome the influence of the water fog environment on the modeling by the hybrid filtering algorithm, and the human point cloud area is extracted. Finally, the human semantic segmentation model fusing the spatial feature extraction module and the channel attention module is proposed based on PointNet improvement. After training and testing on the target data set, the results show that the algorithm can accurately identify feature information for 3D human models of different types. The segmentation rate reaches 95.7%, which is 4.5% higher than the PointNet network, significantly improves the segmentation of human features, and has high engineering application value.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"10 1","pages":"876-881"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88450395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Evaluation and Comparison of Gmapping and Karto SLAM Systems Gmapping与Karto SLAM系统的评价与比较
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907154
Shengshu Liu, Y. Lei, Xin Dong
{"title":"Evaluation and Comparison of Gmapping and Karto SLAM Systems","authors":"Shengshu Liu, Y. Lei, Xin Dong","doi":"10.1109/CYBER55403.2022.9907154","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907154","url":null,"abstract":"Gmapping and Karto are two classic laser-based SLAM algorithms widely used in various applications. This paper evaluated and compared the performances of these two algorithms. A series of experiments were conducted within the self-built outdoor environments. The parameters of algorithms were tuned, the performances of different parameter settings were evaluated and compared, and the pros and cons regarding mapping and localization accuracy and computational cost of two algorithms were discussed.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"1 1","pages":"295-300"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90840915","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of a Crawling Robot for Large Steel Structure Welding 大型钢结构焊接爬行机器人的研制
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907070
Xiaoteng Wang, Gang Chen
{"title":"Development of a Crawling Robot for Large Steel Structure Welding","authors":"Xiaoteng Wang, Gang Chen","doi":"10.1109/CYBER55403.2022.9907070","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907070","url":null,"abstract":"The welding process of large steel components is mainly manual, with high labour intensity, high risk factor and low operational efficiency, which cannot meet the requirements of modern enterprise manufacturing. This paper proposed a crawling robot, which is combined with a 6-axis robot through a magnetic suction mobile chassis, and uses a laser tracking system to guide the crawling robot to walk, which solves the problem of the restricted working space of the traditional crawling robot. The crawler welding robot has good mobility and high degrees of freedom, and can be adapted to automated welding of large steel components.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"23 1","pages":"1212-1217"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72584928","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Camera Movement Guidance Method based on Multi-Object Tracking 一种基于多目标跟踪的摄像机运动引导方法
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907417
Puchun Liu, Bo Li, Sheng Bi, Muye Li, Chen Zheng
{"title":"A Camera Movement Guidance Method based on Multi-Object Tracking","authors":"Puchun Liu, Bo Li, Sheng Bi, Muye Li, Chen Zheng","doi":"10.1109/CYBER55403.2022.9907417","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907417","url":null,"abstract":"Multi-object tracking (MOT) attracts great attention in computer vision while playing an increasingly essential role in manufacturing and life. There is currently an urgent requirement for practical implementation of MOT algorithms to guide production in industry. Nevertheless, the algorithm guiding camera movement is prone to be naive in reality to some degree, which is not conducive to handle complex situations and may cause damage. In this paper, we propose a deep-learning-based MOT method to guide camera movement. In particular, jointly learnt detector and embedding model (JDE) is adopted to extract the features of live stream through data preprocessing and training, which detects the spacial and temporal information of objects, for instance, pedestrians. Moreover, we propose a cognitive-based network segmentation method which makes edge-cloud collaboration possible. Additionally, object location information provided by deep learning allows object clustering and weight allocation, followed by utilizing PID algorithm to guide camera motion. Our method is compared with conventional model through several metrics, especially Euclidean Average Distance, which indicates the effectiveness, reliability and robustness of our model.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"24 10","pages":"150-155"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72412747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Scheduling Optimization of Automatic Biochemical Analyzer based on Particle Swarm Optimization 基于粒子群算法的自动生化分析仪调度优化
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907708
Mingyue Zhao, M. Lin, W. Fan, Q. Xie, Bo Wang
{"title":"Scheduling Optimization of Automatic Biochemical Analyzer based on Particle Swarm Optimization","authors":"Mingyue Zhao, M. Lin, W. Fan, Q. Xie, Bo Wang","doi":"10.1109/CYBER55403.2022.9907708","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907708","url":null,"abstract":"Automatic biochemical immune analyzer is often used in clinical examination and diagnosis, and its efficiency is very important. At present, most automatic biochemical analyzers use fixed period algorithm for scheduling, which has long detection time, low efficiency and intermittency. In this paper, a scheduling method based on particle swarm optimization (PSO) algorithm is proposed. The algorithm adopts sequence coding method, and approximates the scheduling problem of automatic biochemical analyzer to ATSP, and establishes ATSP model suitable for the scheduling problem of fully automatic biochemical analyzer, so as to optimize the scheduling of automatic biochemical analyzer.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"116 1","pages":"1028-1031"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79562552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on Variable Workspace of Continuum Robot for Organ Protection and Multi-arm Cooperation 连续体机器人器官保护与多臂协作的可变工作空间研究
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907628
Fuhao Wang, Hongbo Wang, Jingjing Luo, Xiaoyang Kang, Xueze Zhang, Jiawei Wang, Qiqi Pan
{"title":"Research on Variable Workspace of Continuum Robot for Organ Protection and Multi-arm Cooperation","authors":"Fuhao Wang, Hongbo Wang, Jingjing Luo, Xiaoyang Kang, Xueze Zhang, Jiawei Wang, Qiqi Pan","doi":"10.1109/CYBER55403.2022.9907628","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907628","url":null,"abstract":"Minimally invasive surgery (MIS) has gradually become the preferred method of surgery due to its advantages of less trauma and faster recovery. However, the small and complex surgical area places high demands on the performance of the robot and the skill level of the doctor. In order to avoid the damage of other healthy organs with surgical instruments during the operation, a variable workspace of a continuum robot is designed in this paper. The information of the dynamic transformation of the surgical environment is used to continuously update the workspace of the continuum robot. For healthy vital organs, the workspace can actively shield its corresponding posture. Experiments have verified that for a variety of complex surgical scenarios, the variable workspace can simply and effectively implement the safety protection of healthy organs, and can avoid interference when multiple arms work together.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"156 1","pages":"978-982"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76799833","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops 基于全局和第一人称视角融合的AGV状态监测
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907186
Sichao Zhang, Wei Liang, Gengyu Li, Xudong Yuan, Haibo An, Yinlong Zhang
{"title":"AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops","authors":"Sichao Zhang, Wei Liang, Gengyu Li, Xudong Yuan, Haibo An, Yinlong Zhang","doi":"10.1109/CYBER55403.2022.9907186","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907186","url":null,"abstract":"AGV state monitoring is becoming increasingly important for production system safety in digital workshops. This paper develops a global and first-person view fusion to monitor the AGV (Automated Guided Vehicle) running state in the complex digital workshops. Based on the affine transformation model, the AGV running states, i.e., position, velocity and orientation are estimated by the global camera with the assistance of ArUco markers, which are pasted on the front side of the AGV. Besides, the first-person view camera is used to implement pedestrian detection and distance measurement based on the YOLOv3 model. It is noticeable that the pitch angle is considered for distance measurement, and an improved triangular model for distance measurement is proposed. The effectiveness of the proposed method has been verified in our built platform.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"18 1","pages":"99-104"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85959099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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