Based on the fifth generation of mobile communication (5G), 5G open grid computing environment (5G OGCE), in order to realize the exploitation and utilization of marine resources and energy, this paper presents an air and sea robot, which can fly and dive in the sea and air at the same time, and it is called an air and sea (air-sea) Manta Ray robot. Its purpose is to carry out resources and energy exploitation and development under the support of 5G OGCE, and perform the tasks of different air and sea operation areas: (1) quickly implement underwater operations, operate in the underwater operation area during long voyage, monitor deep-sea oil exploitation, exploitation and utilization of seabed resources and energy, seabed rare earth and combustible ice mining and ocean current power generation; (2) fly over the ocean during long voyage to track the migration of Marine organisms and Marine migratory birds; (3) build manned air-sea vehicle that can act as the personnel and material transfer machine for the undersea space station. When undersea mining is carried out, it can complete adaptive control, and monitor the work of undersea underwater equipment. (4) Perform work and assignments in a large area of underwater and above water, as well as over the sea, in a swarm working mode and distributed working mode. By using the control-cloud architecture in 5G OGCE, the exploitation of seabed resources and the production of submarine intelligent factories centered on the submarine space station can be realized.
{"title":"An AirSea Manta-Ray Robot in 5G OGCE","authors":"Zhi-Ying Lv, Zhongfeng Wang, Yi Lv, M. Yuan","doi":"10.1145/3325693.3325704","DOIUrl":"https://doi.org/10.1145/3325693.3325704","url":null,"abstract":"Based on the fifth generation of mobile communication (5G), 5G open grid computing environment (5G OGCE), in order to realize the exploitation and utilization of marine resources and energy, this paper presents an air and sea robot, which can fly and dive in the sea and air at the same time, and it is called an air and sea (air-sea) Manta Ray robot. Its purpose is to carry out resources and energy exploitation and development under the support of 5G OGCE, and perform the tasks of different air and sea operation areas: (1) quickly implement underwater operations, operate in the underwater operation area during long voyage, monitor deep-sea oil exploitation, exploitation and utilization of seabed resources and energy, seabed rare earth and combustible ice mining and ocean current power generation; (2) fly over the ocean during long voyage to track the migration of Marine organisms and Marine migratory birds; (3) build manned air-sea vehicle that can act as the personnel and material transfer machine for the undersea space station. When undersea mining is carried out, it can complete adaptive control, and monitor the work of undersea underwater equipment. (4) Perform work and assignments in a large area of underwater and above water, as well as over the sea, in a swarm working mode and distributed working mode. By using the control-cloud architecture in 5G OGCE, the exploitation of seabed resources and the production of submarine intelligent factories centered on the submarine space station can be realized.","PeriodicalId":114622,"journal":{"name":"Proceedings of the 2019 2nd International Conference on Service Robotics Technologies - ICSRT 2019","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132615947","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}
This paper has proposed a new design of active lower limb orthosis which is called as oneDHALO (one-actuator Drive Hip and Ankle Linked Orthosis). The oneDHALO has a linking mechanism which connects both ankle joints with a medial hip joint and an actuator which drives the rotation angle. The joints linkage mechanism keeps feet always in parallel with the floor to avoid stumbling and assists swinging of the leg. In addition, one servo motor has been introduced to assist and control the movement constrained by the mechanism. To match the active movement to walking phase, optical sensors have been introduced at soles of the feet. The control device which consists of internal communication system, sensor interfaces and a single board computer (Raspberry Pi) is designed for all in one with the mechanical part of the orthosis. This presentation reveals the preliminary experimental results of the system to show the good points of the design.
本文提出了一种新型的主动下肢矫形器，称为oneDHALO (one-actuator Drive Hip and Ankle Linked orthosis)。oneDHALO有一个连接机构，连接两个踝关节和髋关节内侧，还有一个驱动旋转角度的驱动器。关节联动机构使脚始终与地面平行，以避免绊倒，并协助摆动腿。此外，还引入了一个伺服电机来辅助和控制受机构约束的运动。为了使主动运动与行走阶段相匹配，在脚底引入了光学传感器。控制装置由内部通信系统、传感器接口和单板计算机(树莓派)组成，与矫形器的机械部分设计为一体。本文介绍了该系统的初步实验结果，以展示该设计的优点。
{"title":"A New Design of Active Lower Limb Orthosis with One Degree of Freedom for Paraplegia","authors":"G. Obinata, Takuhiro Sunada, Yanling Pei","doi":"10.1145/3325693.3325707","DOIUrl":"https://doi.org/10.1145/3325693.3325707","url":null,"abstract":"This paper has proposed a new design of active lower limb orthosis which is called as oneDHALO (one-actuator Drive Hip and Ankle Linked Orthosis). The oneDHALO has a linking mechanism which connects both ankle joints with a medial hip joint and an actuator which drives the rotation angle. The joints linkage mechanism keeps feet always in parallel with the floor to avoid stumbling and assists swinging of the leg. In addition, one servo motor has been introduced to assist and control the movement constrained by the mechanism. To match the active movement to walking phase, optical sensors have been introduced at soles of the feet. The control device which consists of internal communication system, sensor interfaces and a single board computer (Raspberry Pi) is designed for all in one with the mechanical part of the orthosis. This presentation reveals the preliminary experimental results of the system to show the good points of the design.","PeriodicalId":114622,"journal":{"name":"Proceedings of the 2019 2nd International Conference on Service Robotics Technologies - ICSRT 2019","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117224629","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}
Fang Sun, Xiangyi Sun, Banglei Guan, Tao Li, Cong Sun, Yingchao Liu
Simultaneous Localization and Mapping (SLAM) is a popular topic in autonomous robots navigation. It has been studied for decades in both computer vision and robotics communities. Monocular systems is more cost effective compared to RGBD or Stereo systems; however, it is relatively complicated to initialize due to scale uncertainty. Under certain conditions, it is assumed that the camera only moves in a planar scene, which provides us with homography constraints. In this paper, the efficiency of monocular initialization was improved based on the open source platform ORB-SLAM2, employing the algorithm based on planar homography constraints. We compared the improved algorithm with the source code of ORB-SLAM2 on the public datasets. It showed that our algorithm has better stability and robustness in the planar scene dataset and more initializing map points.
{"title":"Planar Homography based Monocular SLAM Initialization Method","authors":"Fang Sun, Xiangyi Sun, Banglei Guan, Tao Li, Cong Sun, Yingchao Liu","doi":"10.1145/3325693.3325700","DOIUrl":"https://doi.org/10.1145/3325693.3325700","url":null,"abstract":"Simultaneous Localization and Mapping (SLAM) is a popular topic in autonomous robots navigation. It has been studied for decades in both computer vision and robotics communities. Monocular systems is more cost effective compared to RGBD or Stereo systems; however, it is relatively complicated to initialize due to scale uncertainty. Under certain conditions, it is assumed that the camera only moves in a planar scene, which provides us with homography constraints. In this paper, the efficiency of monocular initialization was improved based on the open source platform ORB-SLAM2, employing the algorithm based on planar homography constraints. We compared the improved algorithm with the source code of ORB-SLAM2 on the public datasets. It showed that our algorithm has better stability and robustness in the planar scene dataset and more initializing map points.","PeriodicalId":114622,"journal":{"name":"Proceedings of the 2019 2nd International Conference on Service Robotics Technologies - ICSRT 2019","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123092538","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}
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