人工智能技术学报(英文)最新文献_第7页

Electric Window Regulator Based on Intelligent Control 基于智能控制的电动车窗调节器

人工智能技术学报(英文) Pub Date : 2021-09-10 DOI: 10.37965/jait.2020.0045

Yang Xu, Yun Li, Chao Li

引用次数: 11

Introduction to the Special Issue on Mobile Service Robotics and Associated Technologies 移动服务机器人及其相关技术特刊简介

人工智能技术学报(英文) Pub Date : 2021-07-20 DOI: 10.37965/JAIT.2021.0020

Manuel Silva

{"title":"Introduction to the Special Issue on Mobile Service Robotics and Associated Technologies","authors":"Manuel Silva","doi":"10.37965/JAIT.2021.0020","DOIUrl":"https://doi.org/10.37965/JAIT.2021.0020","url":null,"abstract":"aaa The popularity of mobile service robotics is steadily growing, and over the last two decades, there has been a significant increase in the application of these machines in distinct fields, indoors, and outdoors. To become truly effective in performing their assigned tasks, these machines involve several associated technologies, namely sensors, actuators, and control systems. With these considerations in mind, this special issue of the Journal of Artificial Intelligence and Technology presents six stateof-the-art peer-reviewed contributions, ranging from theory to prototyping, and down to the final product development. The six papers included in this special issue cover distinct application topics: (i) legged robotics, including the definition of the optimal leg transfer modes for walking robots and the proposal of walking gait for a planetary exploration legged rover to prevent falls, (ii) inspection robots for different tasks, namely the inspection of wind turbine blades, subsea flexible risers, and reinforced concrete structures, detailing the associated inspection subsystems, and (iii) wearable systems, through the presentation of a sensitivity adjustment technique for an exoskeleton control system. The guest editor would like to thank the reviewers for their efforts in reviewing the papers, and the authors for their positive responses to the reviewers’ comments and suggestions. Also, special thanks are due to the journal editor, Prof. Yinong Chen, and to the members of the editorial board, for their support of this special issue, which is hoped to constitute a valuable addition to scientific and developmental knowledge in mobile service robotics and its associated technologies. Finally, a word of appreciation and acknowledgment is also due to Prof. M. Osman Tokhi, from London South Bank University, for all his collaboration and help in preparing this special issue.","PeriodicalId":70996,"journal":{"name":"人工智能技术学报(英文)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42715185","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: 2

Proposal of walking to prevent a fall of a planetary exploration legged rover using effect of loose soil caused by a propagation of vibration 利用振动传播引起的松散土壤效应，步行防止行星探测腿漫游车坠落的建议

人工智能技术学报(英文) Pub Date : 2021-07-15 DOI: 10.37965/JAIT.2021.0007

Tomohiro Watanabe, K. Iizuka

引用次数: 1

Development of a Robot for In-service Radiography Inspection of Subsea Flexible Risers 海底柔性立管在役射线照相检测机器人的研制

人工智能技术学报(英文) Pub Date : 2021-07-13 DOI: 10.37965/JAIT.2021.0015

A. Kaur, T. Sattar, R. Anvo, M. Tokhi

{"title":"Development of a Robot for In-service Radiography Inspection of Subsea Flexible Risers","authors":"A. Kaur, T. Sattar, R. Anvo, M. Tokhi","doi":"10.37965/JAIT.2021.0015","DOIUrl":"https://doi.org/10.37965/JAIT.2021.0015","url":null,"abstract":"The extreme operational environmental conditions and aging conditions of subsea structures pose a risk to their structural integrity and is critical to their safety. Nondestructive testing is essential to identify defects developing within the structure, allowing repair in a timely manner to mitigate against failures that cause damage to the environment and pose a hazard to human operators. However, to be cost effective, inspections must be carried out without taking the risers out of service. This poses significant safety risks if undertaken manually. This paper presents the development of an automated inspection system for flexible risers that are used to connect wellheads on the seafloor to the offshore production and storage facility. Due to the complex structure of risers, radiography is considered as the best technique to inspect multiple layers of the risers. However, radiography inspection, in turn, requires a robotic system for in-situ inspection with higher payload capacity, precise movement of source and detector which is able to withstand an extreme operational environment. The deployment of a radiography inspection system has been achieved by developing a customized subsea robotic system called RiserSure that can provide precise scanning motion of a gamma ray source and digital detector moving in alignment. The prototype has been tested on a flexible riser during shallow water sea trials with the system placed around a riser by a remotely operated vehicle. The results from the trials show that the internal inner and outer tensile armor layer and defects in the riser can be successfully imaged in real operational conditions.","PeriodicalId":70996,"journal":{"name":"人工智能技术学报(英文)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44994905","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: 4

A Compact Laser Shearography System for On-Site Robotic Inspection of Wind Turbine Blades 用于风力涡轮机叶片现场机器人检测的紧凑型激光剪切成像系统

人工智能技术学报(英文) Pub Date : 2021-07-08 DOI: 10.37965/JAIT.2021.0008

Zhiyao Li, M. Tokhi, Zhanfang Zhao, Hai-Jun Zheng

{"title":"A Compact Laser Shearography System for On-Site Robotic Inspection of Wind Turbine Blades","authors":"Zhiyao Li, M. Tokhi, Zhanfang Zhao, Hai-Jun Zheng","doi":"10.37965/JAIT.2021.0008","DOIUrl":"https://doi.org/10.37965/JAIT.2021.0008","url":null,"abstract":"Shearography is an optical technique in the field of non-destructive evaluation (NDE) of various materials. Its main advantages are that it is non-contact type and can cover a large area in a single inspection. As a result, although it has been widely acknowledged as an effective technique particularly for NDE of composite materials to detect subsurface defects such as delamination, disbond, cracks and impact damages, the use of shearography for on-site inspection of wind turbine blades (WTBs) has not been reported. This is due to wind causing structural vibration in the WTB. The solution in this paper is to make the shearography sit on the WTB during inspection when the WTB is parked, so that the relative motion between the shearography and the WTB is minimized within the tolerance of the shearography system. The ultimate goal of the solution is to enable a robot assisted shearography system to inspect the WTB on-site. This paper presents the research work on a new shearography design for integration with a robotic climber for on-site WTB inspection. The approach is tested and evaluated in experimental settings, and comparative assessment of the approach with other robotic NDE techniques is carried out. The results demonstrate the potential benefits and suitability of the approach for on-site robotic inspection of WTBs.","PeriodicalId":70996,"journal":{"name":"人工智能技术学报(英文)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48593501","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: 3

An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR 用于钢筋混凝土结构检测的自主爬墙机器人SIRCAUR

人工智能技术学报(英文) Pub Date : 2021-07-07 DOI: 10.37965/JAIT.2021.0016

G. Garrido, T. Sattar

引用次数: 5

The Sensitivity Adjustment Technique Within the Exoskeleton Control System 外骨骼控制系统中的灵敏度调节技术

人工智能技术学报(英文) Pub Date : 2021-06-25 DOI: 10.37965/jait.2021.0002

I. Ermolov, M. Knyazkov, E. Semenov, A. N. Sukhanov

{"title":"The Sensitivity Adjustment Technique Within the Exoskeleton Control System","authors":"I. Ermolov, M. Knyazkov, E. Semenov, A. N. Sukhanov","doi":"10.37965/jait.2021.0002","DOIUrl":"https://doi.org/10.37965/jait.2021.0002","url":null,"abstract":"An exoskeleton system contains a human operator in the control loop, which imposes restrictions on the applied control algorithms and movement speed. \u0000\u0000Robotics is the central topic of the latest physical artificial intelligence that links computing, biology, chemistry, material science, mechanical engineering. This study explores the robotic exoskeleton system that contains a human operator in the control loop, which imposes restrictions on the applied control algorithms and movement speed. At the moment, there are a number of tasks in research projects towards exoskeleton control algorithms. These tasks include consideration of fatigue of a person arising from the control of the exoskeleton over long period of time. Operator’s fatigue, as a result of the monotonous operations, leads to the fact that the control efficiency decreases, and the positioning error will increase over time. Another task when controlling using human biopotentials is compensation of the influence of the operator's tremor on the control signal. Also, a very important factor is the adaptation of actuators to a change in the transient characteristics of external and internal forces. \u0000\u0000This article describes the results of tests of an arm exoskeleton device with DC drive located in the elbow joint and a control algorithm based on an electromyogram of the biceps brachii and triceps brachii of the operator. The structure and features of the experimental stand developed in the laboratory of robotics and mechatronics of IPMech RAS are shown. The sensitivity adjustment technique within the exoskeleton control system is proposed.","PeriodicalId":70996,"journal":{"name":"人工智能技术学报(英文)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42143815","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

Explainable AI for Workflow Verification in VIPLE VIPLE中用于工作流验证的可解释人工智能

人工智能技术学报(英文) Pub Date : 2020-12-28 DOI: 10.37965/jait.2020.0023

G. Luca, Yinong Chen

引用次数: 1

Kinematics Modeling and Motion Planning of Tendon Driven Continuum Manipulators 肌腱驱动连续体机械臂的运动学建模与运动规划

人工智能技术学报(英文) Pub Date : 2020-12-28 DOI: 10.37965/jait.2020.0041

J. Zhang, K. Lu, Junjie Yuan, J. Di, Guangpin He

引用次数: 6

Human Activity Recognition and Embedded Application Based on Convolutional Neural Network 基于卷积神经网络的人体活动识别及其嵌入式应用

人工智能技术学报(英文) Pub Date : 2020-12-28 DOI: 10.37965/jait.2020.0051

Yang Xu, T. Qiu

{"title":"Human Activity Recognition and Embedded Application Based on Convolutional Neural Network","authors":"Yang Xu, T. Qiu","doi":"10.37965/jait.2020.0051","DOIUrl":"https://doi.org/10.37965/jait.2020.0051","url":null,"abstract":"With the improvement of people's living standards, the demand for health monitoring and exercise detection is increasing. It is of great significance to study human activity recognition methods that are different from traditional feature extraction methods. This article uses convolutional neural network algorithms in deep learning to automatically extract features of activities related to human life. It uses a stochastic gradient descent algorithm to optimize the parameters of the convolutional neural network. The trained network model is compressed on STM32CubeMX-AI. Finally, this article introduces the use of neural networks on embedded devices to recognize six human activities of daily life, such as sitting, standing, walking, jogging, upstairs and downstairs. The acceleration sensor related to human activity information is used to obtain the relevant characteristics of the activity, thereby solving the human activity recognition (HAR) problem. The network structure of the constructed CNN model is shown in Figure 1, including an input layer, two convolutional layers and two pooling layers. After comparing the average accuracy of each set of experiments and the test set of the best model obtained from it, the best model is then selected.","PeriodicalId":70996,"journal":{"name":"人工智能技术学报(英文)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47153336","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: 61