Robotic Intelligence and Automation最新文献

{"title":"Indoor fixed-point hovering control for UAVs based on visual inertial SLAM","authors":"Zhiyu Li, Hongguang Li, Yang Liu, Lingyun Jin, Congqing Wang","doi":"10.1108/ria-06-2023-0081","DOIUrl":"https://doi.org/10.1108/ria-06-2023-0081","url":null,"abstract":"Purpose\u0000Autonomous flight of unmanned aerial vehicles (UAVs) in global position system (GPS)-denied environments has become an increasing research hotspot. This paper aims to realize the indoor fixed-point hovering control and autonomous flight for UAVs based on visual inertial simultaneous localization and mapping (SLAM) and sensor fusion algorithm based on extended Kalman filter.\u0000\u0000Design/methodology/approach\u0000The fundamental of the proposed method is using visual inertial SLAM to estimate the position information of the UAV and position-speed double-loop controller to control the UAV. The motion and observation models of the UAV and the fusion algorithm are given. Finally, experiments are performed to test the proposed algorithms.\u0000\u0000Findings\u0000A position-speed double-loop controller is proposed, by fusing the position information obtained by visual inertial SLAM with the data of airborne sensors. The experiment results of the indoor fixed-points hovering show that UAV flight control can be realized based on visual inertial SLAM in the absence of GPS.\u0000\u0000Originality/value\u0000A position-speed double-loop controller for UAV is designed and tested, which provides a more stable position estimation and enabled UAV to fly autonomously and hover in GPS-denied environment.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"41 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141639847","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}

{"title":"Design and performance analysis of different cambered wings for flapping-wing aerial vehicles based on wind tunnel test","authors":"Min Zhao, Wei He, Xiuyu He, Liang Zhang, Hongxue Zhao","doi":"10.1108/ria-01-2024-0006","DOIUrl":"https://doi.org/10.1108/ria-01-2024-0006","url":null,"abstract":"\u0000Purpose\u0000Bionic flapping-wing aerial vehicles (FWAVs) mimic natural flyers to generate the lift and thrust, such as birds, bats and insects. As an important component of the FWAVs, the flapping wings are crucial for the flight performance. The aim of this paper is to study the effects of different wings on aerodynamic performance.\u0000\u0000\u0000Design/methodology/approach\u0000Inspired by the wings structure of birds, the authors design four cambered wings to analyze the effect of airfoils on the FWAVs aerodynamic performance. The authors design the motor-driven mechanism of flapping wings, and realize the control of flapping frequency. Combined with the wind tunnel equipment, the authors build the FWAVs force test platform to test the static and dynamic aerodynamic performance of different flapping wings under the state variables of flapping frequency, wind speed and inclined angle.\u0000\u0000\u0000Findings\u0000The results show that the aerodynamic performance of flapping wing with a camber of 20 mm is the best. Compared with flat wing, the average lift can be improved by 59.5%.\u0000\u0000\u0000Originality/value\u0000Different from the traditional flat wing design of FWAVs, different cambered flapping wings are given in this paper. The influence of airfoils on aerodynamic performance of FWAVs is analyzed and the optimal flapping wing is obtained.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"48 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141644594","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}

{"title":"A novel framework inspired by human behavior for peg-in-hole assembly","authors":"Peng Guo, Weiyong Si, Chenguang Yang","doi":"10.1108/ria-01-2024-0019","DOIUrl":"https://doi.org/10.1108/ria-01-2024-0019","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to enhance the performance of robots in peg-in-hole assembly tasks, enabling them to swiftly and robustly accomplish the task. It also focuses on the robot’s ability to generalize across assemblies with different hole sizes.\u0000\u0000\u0000Design/methodology/approach\u0000Human behavior in peg-in-hole assembly serves as inspiration, where individuals visually locate the hole firstly and then continuously adjust the peg pose based on force/torque feedback during the insertion process. This paper proposes a novel framework that integrate visual servo and adjustment based on force/torque feedback, the authors use deep neural network (DNN) and image processing techniques to determine the pose of hole, then an incremental learning approach based on a broad learning system (BLS) is used to simulate human learning ability, the number of adjustments required for insertion process is continuously reduced.\u0000\u0000\u0000Findings\u0000The author conducted experiments on visual servo, adjustment based on force/torque feedback, and the proposed framework. Visual servo inferred the pixel position and orientation of the target hole in only about 0.12 s, and the robot achieved peg insertion with 1–3 adjustments based on force/torque feedback. The success rate for peg-in-hole assembly using the proposed framework was 100%. These results proved the effectiveness of the proposed framework.\u0000\u0000\u0000Originality/value\u0000This paper proposes a framework for peg-in-hole assembly that combines visual servo and adjustment based on force/torque feedback. The assembly tasks are accomplished using DNN, image processing and BLS. To the best of the authors’ knowledge, no similar methods were found in other people’s work. Therefore, the authors believe that this work is original.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"45 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141652892","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}

{"title":"An MS-TCN based spatiotemporal model with three-axis tactile for enhancing flexible printed circuit assembly","authors":"Zengxin Kang, Jing Cui, Yijie Wang, Zhikai Hu, Zhongyi Chu","doi":"10.1108/ria-10-2023-0136","DOIUrl":"https://doi.org/10.1108/ria-10-2023-0136","url":null,"abstract":"Purpose\u0000Current flexible printed circuit (FPC) assembly relies heavily on manual labor, limiting capacity and increasing costs. Small FPC size makes automation challenging as terminals can be visually occluded. The purpose of this study is to use 3D tactile sensing to mimic human manual mating skills for enabling sensing offset between FPC terminals (FPC-t) and FPC mating slots (FPC-s) under visual occlusion.\u0000\u0000Design/methodology/approach\u0000The proposed model has three stages: spatial encoding, offset estimation and action strategy. The spatial encoder maps sparse 3D tactile data into a compact 1D feature capturing valid spatial assembly information to enable temporal processing. To compensate for low sensor resolution, consecutive spatial features are input to a multistage temporal convolutional network which estimates alignment offsets. The robot then performs alignment or mating actions based on the estimated offsets.\u0000\u0000Findings\u0000Experiments are conducted on a Redmi Note 4 smartphone assembly platform. Compared to other models, the proposed approach achieves superior offset estimation. Within limited trials, it successfully assembles FPCs under visual occlusion using three-axis tactile sensing.\u0000\u0000Originality/value\u0000A spatial encoder is designed to encode three-axis tactile data into feature maps, overcoming multistage temporal convolution network’s (MS-TCN) inability to directly process such input. Modifying the output to estimate assembly offsets with related motion semantics overcame MS-TCN’s segmentation points output, unable to meet assembly monitoring needs. Training and testing the improved MS-TCN on an FPC data set demonstrated accurate monitoring of the full process. An assembly platform verified performance on automated FPC assembly.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"124 37","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141666314","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}

{"title":"Development of vision–based SLAM: from traditional methods to multimodal fusion","authors":"Zengrui Zheng, Kainan Su, Shifeng Lin, Zhiquan Fu, Chenguang Yang","doi":"10.1108/ria-10-2023-0142","DOIUrl":"https://doi.org/10.1108/ria-10-2023-0142","url":null,"abstract":"Purpose\u0000Visual simultaneous localization and mapping (SLAM) has limitations such as sensitivity to lighting changes and lower measurement accuracy. The effective fusion of information from multiple modalities to address these limitations has emerged as a key research focus. This study aims to provide a comprehensive review of the development of vision-based SLAM (including visual SLAM) for navigation and pose estimation, with a specific focus on techniques for integrating multiple modalities.\u0000\u0000Design/methodology/approach\u0000This paper initially introduces the mathematical models and framework development of visual SLAM. Subsequently, this paper presents various methods for improving accuracy in visual SLAM by fusing different spatial and semantic features. This paper also examines the research advancements in vision-based SLAM with respect to multi-sensor fusion in both loosely coupled and tightly coupled approaches. Finally, this paper analyzes the limitations of current vision-based SLAM and provides predictions for future advancements.\u0000\u0000Findings\u0000The combination of vision-based SLAM and deep learning has significant potential for development. There are advantages and disadvantages to both loosely coupled and tightly coupled approaches in multi-sensor fusion, and the most suitable algorithm should be chosen based on the specific application scenario. In the future, vision-based SLAM is evolving toward better addressing challenges such as resource-limited platforms and long-term mapping.\u0000\u0000Originality/value\u0000This review introduces the development of vision-based SLAM and focuses on the advancements in multimodal fusion. It allows readers to quickly understand the progress and current status of research in this field.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"107 17","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141665899","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}

{"title":"Geodesic algorithm: new approach to optimization of temporary fastener arrangement in airframe assembly process","authors":"S. Lupuleac, Tatiana Pogarskaia","doi":"10.1108/ria-08-2023-0099","DOIUrl":"https://doi.org/10.1108/ria-08-2023-0099","url":null,"abstract":"\u0000Purpose\u0000The purpose of the current study is development of effective and fast algorithm for optimization the arrangement of temporary fasteners during aircraft assembly.\u0000\u0000\u0000Design/methodology/approach\u0000Combinatorial nature, uncertain input data, sensitivity to mechanical properties and geometric tolerances are the specific features of the fastening optimization problem. These characteristics make the problem-solving by standard methods very resource-intensive because the calculation of the objective function requires multiple solution of contact problems. The work provides an extended description of the geodesic algorithm (GA) which is a novel non-iterative optimization approach avoiding multiple objective function calculations.\u0000\u0000\u0000Findings\u0000The GA makes it possible to optimize the arrangement of temporary fasteners during the different stages of the assembly process. The objective functions for the optimization are number of installed fasteners and quality of contact between joined parts. The mentioned properties of the GA also make it possible to introduce an automatic procedure for optimizing fastener arrangement into everyday practice of aircraft manufacturing.\u0000\u0000\u0000Practical implications\u0000The algorithm has been applied to optimization of the assembly process in Airbus company.\u0000\u0000\u0000Originality/value\u0000Performance of the GA is orders of magnitude greater than standard optimization algorithms while maintaining the quality of results. The use of the assembly process specifics is the main limitation of the GA, because it cannot be automatically applied to optimization problems in other areas. High speed of work and quality of the results make it possible to use it for real optimization problems on assembly line in the production of commercial airliners.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"112 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141666910","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}

{"title":"Robust and transferable end-to-end navigation against disturbances and external attacks: an adversarial training approach","authors":"Zhiwei Zhang, Saasha Nair, Zhe Liu, Yanzi Miao, Xiaoping Ma","doi":"10.1108/ria-08-2023-0109","DOIUrl":"https://doi.org/10.1108/ria-08-2023-0109","url":null,"abstract":"Purpose\u0000This paper aims to facilitate the research and development of resilient navigation approaches, explore the robustness of adversarial training to different interferences and promote their practical applications in real complex environments.\u0000\u0000Design/methodology/approach\u0000In this paper, the authors first summarize the real accidents of self-driving cars and develop a set of methods to simulate challenging scenarios by introducing simulated disturbances and attacks into the input sensor data. Then a robust and transferable adversarial training approach is proposed to improve the performance and resilience of current navigation models, followed by a multi-modality fusion-based end-to-end navigation network to demonstrate real-world performance of the methods. In addition, an augmented self-driving simulator with designed evaluation metrics is built to evaluate navigation models.\u0000\u0000Findings\u0000Synthetical experiments in simulator demonstrate the robustness and transferability of the proposed adversarial training strategy. The simulation function flow can also be used for promoting any robust perception or navigation researches. Then a multi-modality fusion-based navigation framework is proposed as a light-weight model to evaluate the adversarial training method in real-world.\u0000\u0000Originality/value\u0000The adversarial training approach provides a transferable and robust enhancement for navigation models both in simulation and real-world.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"47 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141265192","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}

{"title":"Advanced AI-driven image fusion techniques in lung cancer diagnostics: systematic review and meta-analysis for precisionmedicine","authors":"Meiling Sun, Changlei Cui","doi":"10.1108/ria-01-2024-0008","DOIUrl":"https://doi.org/10.1108/ria-01-2024-0008","url":null,"abstract":"\u0000Purpose\u0000This paper aims to critically evaluate the role of advanced artificial intelligence (AI)-enhanced image fusion techniques in lung cancer diagnostics within the context of AI-driven precision medicine.\u0000\u0000\u0000Design/methodology/approach\u0000We conducted a systematic review of various studies to assess the impact of AI-based methodologies on the accuracy and efficiency of lung cancer diagnosis. The focus was on the integration of AI in image fusion techniques and their application in personalized treatment strategies.\u0000\u0000\u0000Findings\u0000The review reveals significant improvements in diagnostic precision, a crucial aspect of the evolution of AI in healthcare. These AI-driven techniques substantially enhance the accuracy of lung cancer diagnosis, thereby influencing personalized treatment approaches. The study also explores the broader implications of these methodologies on healthcare resource allocation, policy formation, and epidemiological trends.\u0000\u0000\u0000Originality/value\u0000This study is notable for both emphasizing the clinical importance of AI-integrated image fusion in lung cancer treatment and illuminating the profound influence these technologies have in the future AI-driven healthcare systems.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"42 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141265208","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}

{"title":"An integrated hybrid approach for assembly tolerance transfer and allocation","authors":"Maroua Ghali, N. Aifaoui","doi":"10.1108/ria-06-2022-0157","DOIUrl":"https://doi.org/10.1108/ria-06-2022-0157","url":null,"abstract":"\u0000Purpose\u0000This study aims to develop an optimal tolerance allocation strategy involves integrating the unique transfer (UT) approach and the difficulty coefficient evaluation (DCE) routine in an interactive hybrid method. This method combines the strengths of both UT and DCE, ensuring simultaneous utilization for enhanced performance. The proposed tolerancing model manifests an integrated computer-aided design (CAD) tool.\u0000\u0000\u0000Design/methodology/approach\u0000By combining UT and DCE based on failure mode, effects and criticality analysis (FMECA) tool and the Ishikawa diagram, the proposed collaborative hybrid tool ensures an efficient and optimal tolerance allocation approach. The integration of these methodologies not only addresses specific transfer challenges through UT but also conducts a thorough evaluation of difficulty coefficients via DCE routine using reliability analysis tools as FMECA tool and the Ishikawa diagram. This comprehensive framework contributes to a robust and informed decision-making process in tolerance allocation, ultimately optimizing the design and manufacturing processes.\u0000\u0000\u0000Findings\u0000The presented methodology is implemented with the aim of generating allocated tolerances that align with specific difficulty requirements, facilitating the creation of a mechanical assembly characterized by high quality and low cost. To substantiate and validate the conceptual framework and methods, an integrated tool has been developed, featuring a graphical user interface (GUI) designed in MATLAB. This interface serves as a platform to showcase various interactive and integrated tolerance allocation approaches that adhere to both functional and manufacturing prerequisites. The proposed integrated tool, designed with a GUI in MATLAB, offers the capability to execute various examples that effectively demonstrate the benefits of the developed tolerance transfer and allocation methodology.\u0000\u0000\u0000Originality/value\u0000The originality of the proposed approach is the twining between the UT and DCE simultaneous in an integrated and concurrent tolerance transfer and allocation model. Therefore, the proposed approach is named an integrated CAD/tolerance model based on the manufacturing difficulty tool. The obtained results underscore the tangible advantages stemming from the integration of this innovative tolerance transfer and allocation approach. These benefits include a notable reduction in total cost and a concurrent enhancement in product quality.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"2 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141265704","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}

{"title":"Distributed real-time control architecture for electrohydraulic humanoid robots","authors":"Subhi Jleilaty, A. Ammounah, G. Abdulmalek, L. Nouvelière, Hang Su, S. Alfayad","doi":"10.1108/ria-01-2024-0013","DOIUrl":"https://doi.org/10.1108/ria-01-2024-0013","url":null,"abstract":"\u0000Purpose\u0000This paper aims to develop an adaptable control architecture for electrohydraulic humanoid robots (HYDROïD) that emulate the functionality of the human nervous system. The developed control architecture overcomes the limitations of classical centralized and decentralized systems by distributing intelligence across controllers.\u0000\u0000\u0000Design/methodology/approach\u0000The proposed solution is a distributed real-time control architecture with robot operating system (ROS). The joint controllers have the intelligence to make decisions, dominate their actuators and publish their state. The real-time capabilities are ensured in the master controller by using a Preempt-RT kernel beside open robot control software middleware to operate the real-time tasks and in the customized joint controllers by free real-time operating systems firmware. Systems can be either centralized, where all components are connected to a central unit or decentralized, where distributed units act as interfaces between the I/Os and the master controller when the master controller is without the ability to make decisions.\u0000\u0000\u0000Findings\u0000The proposed architecture establishes a versatile and adaptive control framework. It features a centralized hardware topology with a master PC and distributed joint controllers, while the software architecture adapts based on the task. It operates in a distributed manner for precise, force-independent motions and in a decentralized manner for tasks requiring compliance and force control. This design enables the examination of the sensorimotor loop at both low-level joint controllers and the high-level master controller.\u0000\u0000\u0000Originality/value\u0000It developed a control architecture emulating the functionality of the human nervous system. The experimental validations were performed on the HYDROïD. The results demonstrated 50% advancements in the update rate compared to other humanoids and 30% in the latency of the master processor and the control tasks.\u0000","PeriodicalId":501194,"journal":{"name":"Robotic Intelligence and Automation","volume":"5 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141267532","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}