International Journal of Advanced Robotic Systems最新文献_第3页

Visual localization with a monocular camera for unmanned aerial vehicle based on landmark detection and tracking using YOLOv5 and DeepSORT 基于YOLOv5和DeepSORT的地标检测和跟踪的无人机单目相机视觉定位

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-05-01 DOI: 10.1177/17298806231164831

Liqun Ma, Dongyuan Meng, Shuaihe Zhao, Binbin An

{"title":"Visual localization with a monocular camera for unmanned aerial vehicle based on landmark detection and tracking using YOLOv5 and DeepSORT","authors":"Liqun Ma, Dongyuan Meng, Shuaihe Zhao, Binbin An","doi":"10.1177/17298806231164831","DOIUrl":"https://doi.org/10.1177/17298806231164831","url":null,"abstract":"Absolute visual localization is of significant importance for unmanned aerial vehicles when the satellite-based localization system is not available. With the rapid evolution in the field of deep learning, the real-time visual detection and tracking of landmarks by an unmanned aerial vehicle could be implemented onboard. This study demonstrates a landmark-based visual localization framework for unmanned aerial vehicles flying at low altitudes. YOLOv5 and DeepSORT are used for multi-object detection and tracking, respectively. The unmanned aerial vehicle localization is achieved according to the geometric similarity between the geotagged transmission towers and the annotated images captured by a monocular camera. The validation is accomplished both in the Rflysim-based simulation and the quadrotor-based real flight. The localization precision is about 10 m, and the location update frequency reaches 5 Hz with a commercially available entry-level edge artificial intelligence platform. The proposed visual localization strategy needs no satellite image as a reference map, which saves a significant amount of the GPU memory and makes possible the end-to-end implementation on small unmanned aerial vehicles.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43442932","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 3

A hybrid thrusting system for increasing the endurance time of multirotor unmanned aerial vehicles 一种提高多旋翼无人机续航时间的混合推力系统

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-05-01 DOI: 10.1177/17298806231172335

Jawad Bdour, B. Sababha

{"title":"A hybrid thrusting system for increasing the endurance time of multirotor unmanned aerial vehicles","authors":"Jawad Bdour, B. Sababha","doi":"10.1177/17298806231172335","DOIUrl":"https://doi.org/10.1177/17298806231172335","url":null,"abstract":"One of the most significant disadvantages of electric multirotor unmanned aerial vehicles is their short flight time compared to fuel-powered unmanned aerial vehicles. This is mainly due to the low energy density of electric batteries. Fuel has much more energy density when compared to batteries. Electric-powered motors in multirotor unmanned aerial vehicles cannot be replaced with fuel-based engines because the stability and control of multirotor unmanned aerial vehicles rely on the high response rates of electric motors. One of the possible solutions to overcome this problem of short endurance times is by using hybrid thrusting systems that combine the advantages of both fuel and electrical propulsion systems, where high maneuverability and long endurance flight time could be achieved. In this work, hybrid thrusting and power systems for multirotor unmanned aerial vehicles are studied. Targeted hybrid thrusting systems consist of combustion engines, electric motors, and their power sources. Then a hybrid thrusting system-based quadrotor unmanned aerial vehicle model is developed. The article presents the altitude and attitude control systems of the developed hybrid thrusting system-based unmanned aerial vehicle. The presented hybrid quadcopter model comprises four electric motors and one fuel engine. The fuel engine used in this work is a 4.07 cc internal combustion engine targeting 2–3 kg unmanned aerial vehicles with up to 5 kg maximum takeoff weight. The developed hybrid quadrotor unmanned aerial vehicle achieved a 139% improvement in flight time when compared with traditional electric-based quadrotor unmanned aerial vehicles. The article also reports on other flight time-related issues such as the optimal fuel mass to battery size ratio to maximize the endurance time of the quadrotor unmanned aerial vehicles.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48770242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 1

Distilled neural state-dependent Riccati equation feedback controller for dynamic control of a cable-driven continuum robot 索驱动连续体机器人动态控制的提取神经状态相关Riccati方程反馈控制器

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-05-01 DOI: 10.1177/17298806231174737

Mohammadamin Samadi Khoshkho, Zahra Samadikhoshkho, M. Lipsett

引用次数: 0

Research on configuration design and intelligent compliance control of reconfigurable modular flexible upper limb rehabilitation robot 可重构模块化柔性上肢康复机器人构型设计与智能柔顺控制研究

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-05-01 DOI: 10.1177/17298806231175600

Kunming Zheng, Qiuju Zhang

{"title":"Research on configuration design and intelligent compliance control of reconfigurable modular flexible upper limb rehabilitation robot","authors":"Kunming Zheng, Qiuju Zhang","doi":"10.1177/17298806231175600","DOIUrl":"https://doi.org/10.1177/17298806231175600","url":null,"abstract":"The upper limb exoskeleton rehabilitation robot can realize the partial functional compensation of upper limb and complete the various types of rehabilitation training for each joint of upper limb. However, the existing upper limb exoskeleton rehabilitation robots are lack of flexible reconfigurability, which are difficult to meet the diversified patient objects and rehabilitation needs, and have some problems, such as insufficient motion compliance, poor portability, and wearing comfort. To effectively solve the above problems and improve the effect of upper limb rehabilitation training, this project plans to carry out the following research: Firstly, analyze the structural characteristic and movement mechanism of upper limb, clarify the configuration theory of the modular flexible upper limb exoskeleton rehabilitation robot with reconfigurable, and design and optimize the mechanism form and structural parameters of the reconfigurable modular flexible upper limb exoskeleton rehabilitation robot. Secondly, based on the perspective of rigid–flexible coupling integration of bone–muscle–robot, the integrated equivalent mechanism model is constructed and the integrated dynamics model is established to plan compliance motion and develop intelligent compliance control strategy. Finally, the simulation experimental platform is built for simulation experimental demonstration of upper limb rehabilitation training. The implementation of this study will provide new idea and method for realizing the effect of flexible, compliance, light, and comfortable of upper limb rehabilitation training.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44022017","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Research on the influence of the baby schema effect on the cuteness and trustworthiness of social robot faces 婴儿图式效应对社交机器人面孔可爱度和可信度的影响研究

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-05-01 DOI: 10.1177/17298806231168486

Chien-Hsiung Chen, Xiaoyu Jia

{"title":"Research on the influence of the baby schema effect on the cuteness and trustworthiness of social robot faces","authors":"Chien-Hsiung Chen, Xiaoyu Jia","doi":"10.1177/17298806231168486","DOIUrl":"https://doi.org/10.1177/17298806231168486","url":null,"abstract":"Exploring people’s attitudes toward the appearance design of social robots in a low-cost and efficient way, and enhancing the experience of human–robot interaction have always been topics of concern for robot developers and interaction designers. This study aimed to explore the influence of the baby schema effect on users’ perceptions of cuteness and trustworthiness pertinent to social robot faces through two experiments. Experiment 1 used 100 uniformly processed pictures of robot faces in the real world to help explore the linear relationship among the degree of baby face, cuteness, and trustworthiness, and received a total of 98 valid questionnaires via the Internet. Experiment 2 was a 5 × 3 within-subjects factorial design. The research variables were robot type (i.e. MAKI, RoboThespian, Flobi, Pepper, and iCat) and baby schema (low schema, uncontrolled, and high schema); their impact on users’ perceptions of cuteness and trustworthiness was investigated. A total of 175 valid questionnaires were collected via the Internet. The generated results are as follows: (1) The degree of baby face and perceived emotion of social robot faces had a positive impact on trustworthiness for most real-world robots. (2) This study obtained the correlation formula of baby face, cuteness, and trustworthiness from a quantitative point of view, thus providing a reference for research on the related credibility of communication robots. (3) In general, baby schema effect also existed in the cuteness evaluation of most real-world robots. Faces with high schema were considered cuter and more trustworthy than uncontrolled or low schema faces. (4) Robot type and baby schema had a significant interaction with cuteness and trustworthiness. (5) However, for certain types of robots, baby schema effect may also have a counter-effect, that is, an overly high baby schema may reduce users’ perceptions of the cuteness and trustworthiness of social robots.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46985782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 1

A sensor review for human detection with robotic systems in regular and smoky environments 在规则和烟雾环境中使用机器人系统进行人体检测的传感器综述

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-05-01 DOI: 10.1177/17298806231175238

S. Gelfert

引用次数: 0

Medicaroid robotic assisted surgery system: A feasibility study 类药物机器人辅助手术系统的可行性研究

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-05-01 DOI: 10.1177/17298806231152704

G. Capovilla, E. Tagkalos, Caterina Froiio, E. Hadzijusufoviç, F. Berlth, P. Grimminger

{"title":"Medicaroid robotic assisted surgery system: A feasibility study","authors":"G. Capovilla, E. Tagkalos, Caterina Froiio, E. Hadzijusufoviç, F. Berlth, P. Grimminger","doi":"10.1177/17298806231152704","DOIUrl":"https://doi.org/10.1177/17298806231152704","url":null,"abstract":"The hinotori™ surgical robotic system, by Medicaroid (Medicaroid Corporation, Kobe, Japan), is a new robotic system for minimally invasive surgery. We aimed at evaluating its usability and accessibility in a preclinical setting. This was a preclinical feasibility study. Two groups of surgeons, one with three experienced robotic surgeons (group 1) and one with three robotic-surgery naive participants (group 2), performed the following tasks using the hinotori™ system in a simulated preclinical setting: console setup, docking, instrument exchange, undocking, and suturing. Each participant repeated each task three times. The time required for performing each repetition and the count of failed repetitions were the primary outcomes of the study. The subjectively perceived workload in performing the tasks, as measured by the NASA-TLX score, was the secondary outcome. The improvement of participants within the three repetitions as well as a comparison between the performances of group 1 and 2 were evaluated. The time required to perform each task decreased with repetitions for both groups, so did the subjective workload score. The time measures required to perform the tasks and the mental effort scores were comparable between the two groups for the console setup, docking, instrument exchange, and undocking tasks. The NASA-TLX score was also comparable between the two groups for the console setup and the emergency undocking tasks and decreased significantly within all tasks after the third repetition. The incidence of failed repetitions was higher in group 2 for the suturing task, however the difference was not statistically significant. The results confirmed the usability of the hinotori™ system in a preclinical setting for both highly trained surgeons and nonexperienced operators and its accessibility for both long-time users of other systems and first-time users.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45471119","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Simulation of suspended cable-driven parallel robot on SimulationX 悬索驱动并联机器人的SimulationX仿真

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231161463

A. Jomartov, A. Tuleshov, A. Kamal, A. Abduraimov

{"title":"Simulation of suspended cable-driven parallel robot on SimulationX","authors":"A. Jomartov, A. Tuleshov, A. Kamal, A. Abduraimov","doi":"10.1177/17298806231161463","DOIUrl":"https://doi.org/10.1177/17298806231161463","url":null,"abstract":"Currently, research is being carried out on a new type of parallel robots, such as cable-driven parallel robot. The cable-driven parallel robot are parallel robots with flexible (cables), with a large workspace, with high speeds and accelerations of the end effector. In the cable-driven parallel robot, cables can only work in tension, and cable-driven parallel robot lose their performance when they are compressed. This feature severely limits the development and application of cable-driven parallel robots and requires further development of cable-driven parallel robot modeling on various software systems. Currently, Adams multibody dynamics software is widely used to create and test virtual prototypes of mechanical systems. But for cable-driven parallel robot modeling, the Adams program is quite complex and expensive to use. In this article, the simulation of the cable-driven parallel robot is carried out on the SimulationX software. Unlike other software packages, SimulationX is more accessible and cheaper and is well suited for cable-driven parallel robot simulation. Cable-driven parallel robot modeling on SimulationX allows you to identify the main design flaws even before its prototype is made. A model on the SimulationX software of a suspended cable-driven parallel robot with a point mass end effector, taking into account the elastic-dissipative properties of cables, was developed. The prototype of suspended cable-driven parallel robot with a point mass end effector was manufactured. Experimental researches of the prototype of the suspended cable-driven parallel robot with a point mass end effector confirmed the correctness of the application of the model on SimulationX for practical calculations.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41910330","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Design and analysis of a multi-configuration wheel-leg hybrid drive robot machine 多结构轮腿混合驱动机器人的设计与分析

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231163828

Feng Hou, Jiwei Yuan, Kunpeng Li, Zhouyi Wang

{"title":"Design and analysis of a multi-configuration wheel-leg hybrid drive robot machine","authors":"Feng Hou, Jiwei Yuan, Kunpeng Li, Zhouyi Wang","doi":"10.1177/17298806231163828","DOIUrl":"https://doi.org/10.1177/17298806231163828","url":null,"abstract":"The use of robots to perform tasks in extreme environments instead of humans has gradually become important. For wider applications, robots should be able to adapt to complex environments, such as typical height/width-restricted motion spaces, raised obstacles, and ravines. The structure is the foundation of robot to move and perform tasks. In this study, a variable-attitude robot mechanism is designed and analyzed. With the link leg drive and Mecanum wheel drive, the robot has various configurations and omnidirectional motion capabilities. First, the design and analysis of the wheel drive system are performed, and the mapping relationship between the velocity of the robot and the velocity of the Mecanum wheel is clarified. Second, kinematics of the linkage drive system is analyzed, including the motion space, trajectory characteristics, and the effect of variable axle spacing on the robot motion performance. Subsequently, a simulation is used to verify the rationality of the three motion modes of the robot: walking, wheel drive, and hybrid drive. Finally, a motion simulation of several typical configuration changes in the robot is observed, and the feasibility of the robot mechanism to adapt to a complex environment is verified. This study contributes to the development and application of special advanced robots.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45326303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 1

Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot 基于超宽带的移动机器人绑架恢复自适应蒙特卡罗定位

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231163950

R. Lin, Shuai Dong, Wei-wei Zhao, Yu-hui Cheng

{"title":"Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot","authors":"R. Lin, Shuai Dong, Wei-wei Zhao, Yu-hui Cheng","doi":"10.1177/17298806231163950","DOIUrl":"https://doi.org/10.1177/17298806231163950","url":null,"abstract":"In the article, a global localization algorithm based on improved ultra-wide-band-based adaptive Monte Carlo localization is proposed for quick and robust kidnap recovery of mobile robot. First, two ultra-wide-band modules, the tag installed inside the mobile robot and the anchor installed inside charging station, are used to obtain the relative distance between the mobile robot and the charging station. Second, the global grid map is converted into a map with obstacle noise given the ranging accuracy of the ultra-wide-band modules with different obstacles. Third, while the robot is kidnapped, matching grids are screened based on the range information of ultra-wide-band modules and the obstacle noise of the grids. Finally, global localization algorithm is performed based on ultra-wide-band-based adaptive Monte Carlo localization to convert randomly generated particles from the whole map into randomly generated particles in the local map. Experimental results based on gazebo simulation and a real scenario showed that our global localization algorithm based on improved ultra-wide-band-based adaptive Monte Carlo localization not only significantly helped to improve the chances of the robot global pose recovery from lost or kidnapped state but also enabled the robot kidnap recovery with a smaller number of randomly generated particles, thus reducing the time to recover its accurate global localization. The algorithm was also more effective especially for kidnap recovery in a similar and large scenario.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":"149 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41283546","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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