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Journal of Robotics最新文献

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Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer 油浸式变压器内部检测机器人的可视化定位系统
IF 1.8
Journal of Robotics Pub Date : 2023-12-29 DOI: 10.1155/2023/6699265
Yingbin Feng, Yahui Kou, Yanju Liu
{"title":"Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer","authors":"Yingbin Feng, Yahui Kou, Yanju Liu","doi":"10.1155/2023/6699265","DOIUrl":"https://doi.org/10.1155/2023/6699265","url":null,"abstract":"Aiming at the problem that the robot is difficult to locate in the oil-immersed transformer, a visual positioning of the robot is proposed for internal inspection. First, in order to solve the problem of blur, distortion, and low contrast of the image obtained by the camera in the deteriorated and discolored transformer oil, an image enhancement algorithm based on multiscale fusion is developed to provide a reliable data source for robot localization. Then, the FAST key points are extracted and the BRIEF descriptors are calculated from the enhanced images, and the pose transformation of the robot between image frames is calculated by using polar constraint and EPnP method. A pose optimization model of the robot is designed to improve the positioning accuracy. Finally, to verify the effectiveness of the proposed methods, function tests are carried out by using the real continuous image sequence acquired by the robot in Mitsubishi transformer. The experimental results show that the trajectory of the robot in the transformer can be accurately drawn, the position data of the robot can be efficiently obtained, and autonomous positioning of the robot in the transformer can be well achieved.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139143124","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
Retracted: Online Control Method of Small- and Medium-Sized Electromechanical Equipment Based on Deep Neural Network 撤回：基于深度神经网络的中小型机电设备在线控制方法
IF 1.8
Journal of Robotics Pub Date : 2023-12-20 DOI: 10.1155/2023/9827679
Journal of Robotics
{"title":"Retracted: Online Control Method of Small- and Medium-Sized Electromechanical Equipment Based on Deep Neural Network","authors":"Journal of Robotics","doi":"10.1155/2023/9827679","DOIUrl":"https://doi.org/10.1155/2023/9827679","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138954220","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
Retracted: Application of 5G Mobile Communication Technology Integrating Robot Controller Communication Method in Communication Engineering 撤回：结合机器人控制器通信方法的 5G 移动通信技术在通信工程中的应用
IF 1.8
Journal of Robotics Pub Date : 2023-12-20 DOI: 10.1155/2023/9780273
Journal of Robotics
{"title":"Retracted: Application of 5G Mobile Communication Technology Integrating Robot Controller Communication Method in Communication Engineering","authors":"Journal of Robotics","doi":"10.1155/2023/9780273","DOIUrl":"https://doi.org/10.1155/2023/9780273","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955824","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
Retracted: Machinery Changes and Challenges of Architecture and Landscape Design in the Virtual Reality Perspective 撤回：虚拟现实视角下建筑与景观设计的机械变革与挑战
IF 1.8
Journal of Robotics Pub Date : 2023-12-20 DOI: 10.1155/2023/9824265
Journal of Robotics
{"title":"Retracted: Machinery Changes and Challenges of Architecture and Landscape Design in the Virtual Reality Perspective","authors":"Journal of Robotics","doi":"10.1155/2023/9824265","DOIUrl":"https://doi.org/10.1155/2023/9824265","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138954560","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
Retracted: The Application of Multimedia Visualization Platform in Business Management from the Perspective of Supply Chain Management 撤回：从供应链管理角度看多媒体可视化平台在企业管理中的应用
IF 1.8
Journal of Robotics Pub Date : 2023-12-20 DOI: 10.1155/2023/9852312
Journal of Robotics
{"title":"Retracted: The Application of Multimedia Visualization Platform in Business Management from the Perspective of Supply Chain Management","authors":"Journal of Robotics","doi":"10.1155/2023/9852312","DOIUrl":"https://doi.org/10.1155/2023/9852312","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138956967","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
Retracted: Designing and Manufacturing of Industrial Robots with Dual-Angle Sensors Taking into Account Vibration Signal Fusion 撤回：考虑振动信号融合因素，设计和制造带双角传感器的工业机器人
IF 1.8
Journal of Robotics Pub Date : 2023-12-20 DOI: 10.1155/2023/9768015
Journal of Robotics
{"title":"Retracted: Designing and Manufacturing of Industrial Robots with Dual-Angle Sensors Taking into Account Vibration Signal Fusion","authors":"Journal of Robotics","doi":"10.1155/2023/9768015","DOIUrl":"https://doi.org/10.1155/2023/9768015","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138956700","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
Retracted: Analysis and Evaluation of Ecological Environment Monitoring Based on PIE Remote Sensing Image Processing Software 撤回：基于 PIE 遥感图像处理软件的生态环境监测分析与评估
IF 1.8
Journal of Robotics Pub Date : 2023-12-20 DOI: 10.1155/2023/9874013
Journal of Robotics
{"title":"Retracted: Analysis and Evaluation of Ecological Environment Monitoring Based on PIE Remote Sensing Image Processing Software","authors":"Journal of Robotics","doi":"10.1155/2023/9874013","DOIUrl":"https://doi.org/10.1155/2023/9874013","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139169301","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
Backstepping Sliding Mode Control Algorithm for Unmanned Aerial Vehicles Based on Fractional-Order Theory 基于分数阶理论的无人机反步进滑模控制算法
IF 1.8
Journal of Robotics Pub Date : 2023-11-30 DOI: 10.1155/2023/1388072
Yanzhu Zhang, Bo Zhuang, Chunhao Ma, Cheng Zhang
{"title":"Backstepping Sliding Mode Control Algorithm for Unmanned Aerial Vehicles Based on Fractional-Order Theory","authors":"Yanzhu Zhang, Bo Zhuang, Chunhao Ma, Cheng Zhang","doi":"10.1155/2023/1388072","DOIUrl":"https://doi.org/10.1155/2023/1388072","url":null,"abstract":"Aiming at the problems of slow convergence speed and low tracking accuracy in attitude control and position tracking of quadrotor unmanned aerial vehicles (UAVs). This paper combines the fractional-order calculus theory with the backstepping sliding mode control algorithm, using the backstepping control to compensate for the nonlinearity of the system and the fractional-order theory to eliminate the jitter brought about by the sliding mode control, and proposes a new fractional-order backstepping sliding mode control strategy for the trajectory tracking control of the quadrotor UAV. The proposed fractional-order sliding mode surface increases the control flexibility and improves the robustness and anti-interference ability of the system to some extent. The stability analysis of the system is carried out using the Lyapunov stability theory, and the results prove the stability of the proposed controller. Finally, the effectiveness and feasibility of the proposed method are verified by comparing it with the traditional backstepping sliding mode controller. The simulation results show that the fractional-order reverse-step sliding mode control algorithm proposed in this paper is significantly better than other control algorithms in terms of convergence speed and also has a certain degree of superiority in terms of error elimination.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139205438","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
The Parallel Solving Method of Robot Kinematic Equations Based on FPGA 基于FPGA的机器人运动方程并行求解方法
Journal of Robotics Pub Date : 2023-11-03 DOI: 10.1155/2023/2426982
Deli Zhang, Shaohua Jiang, Liu Zhe
{"title":"The Parallel Solving Method of Robot Kinematic Equations Based on FPGA","authors":"Deli Zhang, Shaohua Jiang, Liu Zhe","doi":"10.1155/2023/2426982","DOIUrl":"https://doi.org/10.1155/2023/2426982","url":null,"abstract":"In the implementation of robot motion control, complex kinematic computations consume too much central processing unit (CPU) time and affect the responsiveness of robot motion. To solve this problem, this paper proposes a parallel method for solving kinematic equations of articulated robots based on the coordinate rotation digital computer (CORDIC) algorithm. The method completes the fast calculation of the transcendental function based on the CORDIC algorithm, adopts the tree structure method to optimize the key computational paths of forward and inverse solutions, and designs a parallel pipeline to realize the low latency and high throughput of the kinematic equations. The experiments of the proposed method are validated based on the field-programmable gate array (FPGA) hardware experimental platform, and the experimental results demonstrate that the computational time to complete the entire kinematic equations is 4.68 μs, of which the computational time for the kinematic positive solution is 0.52 μs and the computational time for the kinematic inverse solution is 4.16 μs.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135818749","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
Retracted: Research on Clue Mining in Criminal Cases of Smart Phone Trojan Horse under the Background of Information Security 撤下:信息安全背景下智能手机特洛伊木马犯罪案件线索挖掘研究
Journal of Robotics Pub Date : 2023-10-18 DOI: 10.1155/2023/9785409
Journal of Robotics
{"title":"Retracted: Research on Clue Mining in Criminal Cases of Smart Phone Trojan Horse under the Background of Information Security","authors":"Journal of Robotics","doi":"10.1155/2023/9785409","DOIUrl":"https://doi.org/10.1155/2023/9785409","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135824619","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
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