Kai Wu, Yanrong Zhang, Xiangming Kong, Shuang Zhang, Liang Gao
Floor‐tiling robotics are increasingly employed in on‐site building constructions owing to their remarkable benefits on rising working efficiency and reducing labor costs. In this study, a fluid–structure interaction (FSI) model of robotic tiling was established for the first time, construction parameters and adhesive properties were modified, and their influences on the quality of robotic floor‐tiling were systematically investigated by tracking the mechanical behaviors of tiles and adhesive during tiling and the interfacial defects after tiling. Results indicated that the established FSI model was feasible for assessing robotic tiling quality with a deviation of less than 2%. The adhesive extruded horizontally was evenly distributed in cylindrical strips. An increase in the number of extrusion pipes slightly improved the tiling quality. Compared with the leveling loads of compression and vertical vibration, shear vibration could effectively eliminate tile rebounding and enlarge the contact area of tile–adhesive by up to 135.85%. Moderate increases in the amplitude and frequency of shear vibration resulted in lower rebounding and larger contact areas. An appropriate increase of yield stress heightened tiling quality by keeping the extrusive appearance of the adhesive, increasing slightly tile rebounding and enlarging the contact area of tile–adhesive to 0.625 m2. As yield stress was excessively high, tremendous elastic deformations of adhesive led to remarkable tile rebounding and small contact areas of 0.375 m2.
{"title":"Quality control of robotic floor‐tiling by the modifications on technology parameters and adhesive properties","authors":"Kai Wu, Yanrong Zhang, Xiangming Kong, Shuang Zhang, Liang Gao","doi":"10.1002/rob.22413","DOIUrl":"https://doi.org/10.1002/rob.22413","url":null,"abstract":"Floor‐tiling robotics are increasingly employed in on‐site building constructions owing to their remarkable benefits on rising working efficiency and reducing labor costs. In this study, a fluid–structure interaction (FSI) model of robotic tiling was established for the first time, construction parameters and adhesive properties were modified, and their influences on the quality of robotic floor‐tiling were systematically investigated by tracking the mechanical behaviors of tiles and adhesive during tiling and the interfacial defects after tiling. Results indicated that the established FSI model was feasible for assessing robotic tiling quality with a deviation of less than 2%. The adhesive extruded horizontally was evenly distributed in cylindrical strips. An increase in the number of extrusion pipes slightly improved the tiling quality. Compared with the leveling loads of compression and vertical vibration, shear vibration could effectively eliminate tile rebounding and enlarge the contact area of tile–adhesive by up to 135.85%. Moderate increases in the amplitude and frequency of shear vibration resulted in lower rebounding and larger contact areas. An appropriate increase of yield stress heightened tiling quality by keeping the extrusive appearance of the adhesive, increasing slightly tile rebounding and enlarging the contact area of tile–adhesive to 0.625 m<jats:sup>2</jats:sup>. As yield stress was excessively high, tremendous elastic deformations of adhesive led to remarkable tile rebounding and small contact areas of 0.375 m<jats:sup>2</jats:sup>.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"68 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142223734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
While visual Simultaneous Localization and Mapping systems are well studied and achieve impressive results in indoor and urban settings, natural, outdoor, and open‐field environments are much less explored and still present relevant research challenges. Visual navigation and local mapping have shown a relatively good performance in open‐field environments. However, globally consistent mapping and long‐term localization still depend on the robustness of loop detection and closure, for which the literature is scarce. In this work, we propose a novel method to pave the way towards robust loop detection in open fields, particularly in agricultural settings, based on local feature search and stereo geometric refinement, with a final stage of relative pose estimation. Our method consistently achieves good loop detections, with a median error of 15 cm. We aim to characterize open fields as a novel environment for loop detection, understanding the limitations and problems that arise when dealing with them. Code is available at: https://github.com/CIFASIS/StereoLoopDetector
{"title":"Addressing the challenges of loop detection in agricultural environments","authors":"Soncini Nicolas, Civera Javier, Pire Taihú","doi":"10.1002/rob.22414","DOIUrl":"https://doi.org/10.1002/rob.22414","url":null,"abstract":"While visual Simultaneous Localization and Mapping systems are well studied and achieve impressive results in indoor and urban settings, natural, outdoor, and open‐field environments are much less explored and still present relevant research challenges. Visual navigation and local mapping have shown a relatively good performance in open‐field environments. However, globally consistent mapping and long‐term localization still depend on the robustness of loop detection and closure, for which the literature is scarce. In this work, we propose a novel method to pave the way towards robust loop detection in open fields, particularly in agricultural settings, based on local feature search and stereo geometric refinement, with a final stage of relative pose estimation. Our method consistently achieves good loop detections, with a median error of 15 cm. We aim to characterize open fields as a novel environment for loop detection, understanding the limitations and problems that arise when dealing with them. Code is available at: <jats:ext-link xmlns:xlink=\"http://www.w3.org/1999/xlink\" xlink:href=\"https://github.com/CIFASIS/StereoLoopDetector\">https://github.com/CIFASIS/StereoLoopDetector</jats:ext-link>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"62 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142223735","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In recent years, with the continuous development of human exploration of the natural world, there has been a growing demand across various fields for robots capable of free movement in diverse environments. In this study, we address the issue of compliant control for a hexapod robot in diverse environments and propose a novel control method based on an adaptive impedance model for position control. Our approach enables the hexapod robot to stabilize foot force on complex terrains while preserving balance and body height. Specifically, we analyze the algorithm's parameters and stability by establishing the hexapod robot's structural and impedance control models. To tackle this challenge, we introduce an adaptive impedance control algorithm that estimates environmental parameters using Lyapunov's asymptotic stability theorem and achieves tracking of actual foot‐end forces to desired foot forces. Furthermore, to ensure body stability and height, we incorporate attitude feedback and body feedback. Experimental results from foot force control experiments conducted on a multilegged robot demonstrate that our proposed algorithm enhances the adaptability and robustness of the robot. This research holds significant implications for the stable control of hexapod robots in complex environments and has promising practical applications.
{"title":"Active impedance control based adaptive locomotion for a bionic hexapod robot","authors":"Yaguang Zhu, Chunchao Liu, Pengfei Yuan, Dong Li","doi":"10.1002/rob.22412","DOIUrl":"https://doi.org/10.1002/rob.22412","url":null,"abstract":"In recent years, with the continuous development of human exploration of the natural world, there has been a growing demand across various fields for robots capable of free movement in diverse environments. In this study, we address the issue of compliant control for a hexapod robot in diverse environments and propose a novel control method based on an adaptive impedance model for position control. Our approach enables the hexapod robot to stabilize foot force on complex terrains while preserving balance and body height. Specifically, we analyze the algorithm's parameters and stability by establishing the hexapod robot's structural and impedance control models. To tackle this challenge, we introduce an adaptive impedance control algorithm that estimates environmental parameters using Lyapunov's asymptotic stability theorem and achieves tracking of actual foot‐end forces to desired foot forces. Furthermore, to ensure body stability and height, we incorporate attitude feedback and body feedback. Experimental results from foot force control experiments conducted on a multilegged robot demonstrate that our proposed algorithm enhances the adaptability and robustness of the robot. This research holds significant implications for the stable control of hexapod robots in complex environments and has promising practical applications.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"10 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142178558","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Congcong Chen, Yulei Liao, Xiaoyu Tang, Jiaqi Sun, Junlin Gu, Haohan Li, Zijia Ren, Zizheng Zhai, Ye Li, Bo Wang, Shuo Pang
Replacing manned ships with unmanned surface vehicle (USV) for oil spill containment can reduce the consumption of manpower and resources. This article studies the formation control method of dual USVs during the process of capturing oil spill, based on the engineering background of towing oil boom by dual USVs oil spill recovery system. To calculate the drag force of the oil boom acting on the USV, the shape of the oil boom is simplified into a catenary, the oil boom is modeled, and the hydrodynamic numerical simulation is carried out. To address the issue of “winding” phenomenon and “towing separation,” the formation behavior is designed when double USVs are towing oil fences to capture oil spill. In response to the problem of low task execution efficiency caused by fixed behavior priority in traditional null‐space‐based (NSB) behavior fusion methods, a fuzzy‐priority NSB (FNSB) behavior fusion formation method is proposed by combining fuzzy control with NSB behavior fusion method. In the FNSB behavior fusion formation control method, a smooth transition rule is introduced to make the behavior priority change, USVs can still maintain good formation performance, ensuring the smooth execution of oil spill recovery tasks. Simulation shows that FNSB behavior fusion formation method based on flexible transition rules can improve the rounding efficiency by 26.6% in the environment without obstacles and 37.2% in the environment with multiple obstacles compared with the NSB method. The effectiveness and practicality of this method have been verified through simulation experiments and field experiments on the “Dolphin” series of small USVs.
{"title":"Research on double‐USVs fuzzy‐priority NSB behavior fusion formation control method for oil spill recovery","authors":"Congcong Chen, Yulei Liao, Xiaoyu Tang, Jiaqi Sun, Junlin Gu, Haohan Li, Zijia Ren, Zizheng Zhai, Ye Li, Bo Wang, Shuo Pang","doi":"10.1002/rob.22404","DOIUrl":"https://doi.org/10.1002/rob.22404","url":null,"abstract":"Replacing manned ships with unmanned surface vehicle (USV) for oil spill containment can reduce the consumption of manpower and resources. This article studies the formation control method of dual USVs during the process of capturing oil spill, based on the engineering background of towing oil boom by dual USVs oil spill recovery system. To calculate the drag force of the oil boom acting on the USV, the shape of the oil boom is simplified into a catenary, the oil boom is modeled, and the hydrodynamic numerical simulation is carried out. To address the issue of “winding” phenomenon and “towing separation,” the formation behavior is designed when double USVs are towing oil fences to capture oil spill. In response to the problem of low task execution efficiency caused by fixed behavior priority in traditional null‐space‐based (NSB) behavior fusion methods, a fuzzy‐priority NSB (FNSB) behavior fusion formation method is proposed by combining fuzzy control with NSB behavior fusion method. In the FNSB behavior fusion formation control method, a smooth transition rule is introduced to make the behavior priority change, USVs can still maintain good formation performance, ensuring the smooth execution of oil spill recovery tasks. Simulation shows that FNSB behavior fusion formation method based on flexible transition rules can improve the rounding efficiency by 26.6% in the environment without obstacles and 37.2% in the environment with multiple obstacles compared with the NSB method. The effectiveness and practicality of this method have been verified through simulation experiments and field experiments on the “Dolphin” series of small USVs.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"16 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142178563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents the design and optimization of a climbing robot. The design of a ladder‐climbing robot is done with fundamental mathematical considerations. The designed robot is robust enough to manage all environmental calamities, and at the same time, it is optimized for lightweight to reduce the actuator's cost and ease of transportation. An analytical evaluation is carried out for both static and dynamic conditions to determine strength and motion characteristics. The multiobjective optimization of the design parameters of a ladder‐climbing robot is done to obtain optimized values of design parameters. The formulation of an optimization problem that considers the minimization of weight and natural frequency is performed. Using an evolutionary genetic algorithm (GA) for the multicriteria optimization problem is solved, and a Pareto front solution is obtained. The optimal values of the parameters are decided based on the knee selection technique. As both objective functions are contradictory, the optimum results significantly improve the robot's performance. Controlling the proportional–integral–derivative (PID) parameters is crucial as the robot climbs with a two‐point contact gait pattern. The controlling parameters impart stability to the robot. PID parameters like proportional, integral and derivative gain are tunned using the GA. Finally, the developed prototype is tested on the ladders of the tower, and satisfactory climbing motion is achieved.
本文介绍了爬梯机器人的设计和优化。爬梯机器人的设计基于基本的数学考虑。所设计的机器人坚固耐用，足以应对各种环境灾害，同时还对其轻量化进行了优化，以降低执行器的成本并方便运输。对静态和动态条件进行了分析评估，以确定强度和运动特性。对爬梯机器人的设计参数进行了多目标优化，以获得设计参数的优化值。优化问题的制定考虑了重量和固有频率的最小化。使用进化遗传算法（GA）解决多标准优化问题，并获得帕累托前沿解。参数的最佳值是根据膝选择技术决定的。由于两个目标函数是相互矛盾的，最优结果大大提高了机器人的性能。控制比例积分派生（PID）参数至关重要，因为机器人以两点接触的步态爬行。控制参数可增强机器人的稳定性。PID参数，如比例、积分和导数增益，可通过 GA 进行调整。最后，在塔梯上对开发的原型进行了测试，结果令人满意。
{"title":"Design and multiobjective optimization of a two‐point contact ladder‐climbing robot using a genetic algorithm","authors":"Darshita Shah, Jatin Dave, Mihir Chauhan, Vijay Ukani, Suhani Patel","doi":"10.1002/rob.22403","DOIUrl":"https://doi.org/10.1002/rob.22403","url":null,"abstract":"This paper presents the design and optimization of a climbing robot. The design of a ladder‐climbing robot is done with fundamental mathematical considerations. The designed robot is robust enough to manage all environmental calamities, and at the same time, it is optimized for lightweight to reduce the actuator's cost and ease of transportation. An analytical evaluation is carried out for both static and dynamic conditions to determine strength and motion characteristics. The multiobjective optimization of the design parameters of a ladder‐climbing robot is done to obtain optimized values of design parameters. The formulation of an optimization problem that considers the minimization of weight and natural frequency is performed. Using an evolutionary genetic algorithm (GA) for the multicriteria optimization problem is solved, and a Pareto front solution is obtained. The optimal values of the parameters are decided based on the knee selection technique. As both objective functions are contradictory, the optimum results significantly improve the robot's performance. Controlling the proportional–integral–derivative (PID) parameters is crucial as the robot climbs with a two‐point contact gait pattern. The controlling parameters impart stability to the robot. PID parameters like proportional, integral and derivative gain are tunned using the GA. Finally, the developed prototype is tested on the ladders of the tower, and satisfactory climbing motion is achieved.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"86 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141934362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Screw‐driven robot possesses outstanding omnidirectional mobility. Due to the friction between wheels and the ground, the screw‐driven robot can traverse rough terrain flexibly. This paper proposes a screw‐driven robot, which is equipped with four screws wheels. The directions of thread between adjacent screws are opposite to each other. By controlling the rotating speed and direction of the wheels, the omnidirectional traction could be generated, so the robot possesses the omnidirectional mobility in the field. The robot can work in two locomotion modes, the screw‐driven mode and the wheel‐driven mode. In addition, the robot can be used for the forestry information‐collecting tasks, which improve the efficiency of the forestry task. Two prototypes are fabricated. A series of experiments and field tests are conducted, and the results verify that the robot can traverse rough terrain with the omnidirectional mobility.
{"title":"An omnidirectional screw‐driven forestry robot","authors":"Shun Yao, Xi Cheng, Zhuoni Liu, Jiangming Kan","doi":"10.1002/rob.22408","DOIUrl":"https://doi.org/10.1002/rob.22408","url":null,"abstract":"Screw‐driven robot possesses outstanding omnidirectional mobility. Due to the friction between wheels and the ground, the screw‐driven robot can traverse rough terrain flexibly. This paper proposes a screw‐driven robot, which is equipped with four screws wheels. The directions of thread between adjacent screws are opposite to each other. By controlling the rotating speed and direction of the wheels, the omnidirectional traction could be generated, so the robot possesses the omnidirectional mobility in the field. The robot can work in two locomotion modes, the screw‐driven mode and the wheel‐driven mode. In addition, the robot can be used for the forestry information‐collecting tasks, which improve the efficiency of the forestry task. Two prototypes are fabricated. A series of experiments and field tests are conducted, and the results verify that the robot can traverse rough terrain with the omnidirectional mobility.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"38 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141934359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Dong Ma, Teng Ma, Ye Li, Qiang Zhang, Yu Ling, Yulei Liao
Terrain‐aided navigation (TAN) is a viable method to achieve long‐term underwater navigation for long‐range autonomous underwater vehicles (AUVs). However, the high‐accuracy positioning results of most TAN systems rely on precise a priori seabed terrain maps, which restricts their applicability to a few areas with accurate bathymetric measurements of the seabed terrain. This article introduces a TAN system based on the General Bathymetric Chart of the Oceans (GEBCO) data set for global marine applications. Specifically, to address the low accuracy and poor robustness of the TAN system with imprecise bathymetric measurement and low‐resolution data from the GEBCO data set, this article proposes a multizonotope TAN method based on set‐membership filter (SMF) theory. The SMF theory is employed to handle the unknown distribution of the measurement noise from the GEBCO data set, introducing a multizonotope measurement update model to achieve more precise navigational results while addressing the perceptual ambiguity caused by self‐similar terrain. The smoothness of the terrain is incorporated as a parameter in the generation ranges of multizonotope, enabling adaptive adjustment based on terrain smoothness to reduce costs and enhance navigational performance. The accuracy and robustness of the proposed method are verified through all shipboard experiments, publicly available data sets, and AUV experiments. Compared with state‐of‐the‐art TAN methods, the average and maximum positioning errors have decreased by 64.83% and 48.84%, respectively. Finally, based on the experimental results, a preliminary distribution of suitable areas in the oceans is provided.
地形辅助导航（TAN）是远距离自主潜水器（AUV）实现长期水下导航的一种可行方法。然而，大多数 TAN 系统的高精度定位结果都依赖于精确的先验海底地形图，这就将其适用范围限制在对海底地形进行精确水深测量的少数地区。本文介绍了基于大洋深度图（GEBCO）数据集的全球海洋应用 TAN 系统。具体而言，针对 TAN 系统在使用 GEBCO 数据集的不精确测深和低分辨率数据时精度低、鲁棒性差的问题，本文提出了一种基于集合成员滤波（SMF）理论的多区位 TAN 方法。利用 SMF 理论处理来自 GEBCO 数据集的测量噪声的未知分布，引入多区位测量更新模型，以获得更精确的导航结果，同时解决自相似地形造成的感知模糊问题。地形的平滑度被作为一个参数纳入多区角的生成范围，从而实现基于地形平滑度的自适应调整，以降低成本并提高导航性能。通过所有舰载实验、公开数据集和自动潜航器实验，验证了所提方法的准确性和鲁棒性。与最先进的 TAN 方法相比，平均和最大定位误差分别降低了 64.83% 和 48.84%。最后，在实验结果的基础上，提供了海洋合适区域的初步分布。
{"title":"Underwater multizonotope terrain‐aided navigation method with coarse map based on set‐membership filter","authors":"Dong Ma, Teng Ma, Ye Li, Qiang Zhang, Yu Ling, Yulei Liao","doi":"10.1002/rob.22407","DOIUrl":"https://doi.org/10.1002/rob.22407","url":null,"abstract":"Terrain‐aided navigation (TAN) is a viable method to achieve long‐term underwater navigation for long‐range autonomous underwater vehicles (AUVs). However, the high‐accuracy positioning results of most TAN systems rely on precise a priori seabed terrain maps, which restricts their applicability to a few areas with accurate bathymetric measurements of the seabed terrain. This article introduces a TAN system based on the General Bathymetric Chart of the Oceans (GEBCO) data set for global marine applications. Specifically, to address the low accuracy and poor robustness of the TAN system with imprecise bathymetric measurement and low‐resolution data from the GEBCO data set, this article proposes a multizonotope TAN method based on set‐membership filter (SMF) theory. The SMF theory is employed to handle the unknown distribution of the measurement noise from the GEBCO data set, introducing a multizonotope measurement update model to achieve more precise navigational results while addressing the perceptual ambiguity caused by self‐similar terrain. The smoothness of the terrain is incorporated as a parameter in the generation ranges of multizonotope, enabling adaptive adjustment based on terrain smoothness to reduce costs and enhance navigational performance. The accuracy and robustness of the proposed method are verified through all shipboard experiments, publicly available data sets, and AUV experiments. Compared with state‐of‐the‐art TAN methods, the average and maximum positioning errors have decreased by 64.83% and 48.84%, respectively. Finally, based on the experimental results, a preliminary distribution of suitable areas in the oceans is provided.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"16 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141934296","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper aims to develop a miniature mobile robot suitable to assist archeologists in their first exploration of unknown underground tombs. Due to the rather complex and irregular terrains in the tombs and inspired by the classic RHex design, we have developed a two‐segment articulated robot (A‐RHex) with two RHex design units. The robot is compact and lightweight, with dimensions of 25 cm long, 6.5 cm wide, 7 cm high, and weighs 283 g. To assist the robot in entering the tomb, we have also designed a deployment platform that can take the robots underground through a 10‐cm exploration hole. We introduce the overall design, control, and communication methods of A‐RHex, and theoretically analyze how the articulated design can improve the stability of the robot on slopes. Laboratory experiments and field testings at two real archeological excavation sites in China have validated A‐RHex's mechanical design, control strategies, communications, and capabilities for pre‐exploration of open and closed tombs. We believe that this kind of robot with high terrain adaptability and a small profile may become an important tool for field archeology in the future.
{"title":"Unearthing the history with A‐RHex: Leveraging articulated hexapod robots for archeological pre‐exploration","authors":"Qi Shao, Qixing Xia, Zhonghan Lin, Xuguang Dong, Xin An, Haoqi Zhao, Zhangyi Li, Xin‐Jun Liu, Wenqiang Dong, Huichan Zhao","doi":"10.1002/rob.22410","DOIUrl":"https://doi.org/10.1002/rob.22410","url":null,"abstract":"This paper aims to develop a miniature mobile robot suitable to assist archeologists in their first exploration of unknown underground tombs. Due to the rather complex and irregular terrains in the tombs and inspired by the classic RHex design, we have developed a two‐segment articulated robot (A‐RHex) with two RHex design units. The robot is compact and lightweight, with dimensions of 25 cm long, 6.5 cm wide, 7 cm high, and weighs 283 g. To assist the robot in entering the tomb, we have also designed a deployment platform that can take the robots underground through a 10‐cm exploration hole. We introduce the overall design, control, and communication methods of A‐RHex, and theoretically analyze how the articulated design can improve the stability of the robot on slopes. Laboratory experiments and field testings at two real archeological excavation sites in China have validated A‐RHex's mechanical design, control strategies, communications, and capabilities for pre‐exploration of open and closed tombs. We believe that this kind of robot with high terrain adaptability and a small profile may become an important tool for field archeology in the future.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"131 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141934360","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Wenliao Du, Xinlong Yu, Zhen Guo, Hongchao Wang, Ziqiang Pu, Chuan Li
Given the demanding and unpredictable operational conditions, autonomous underwater vehicles (AUVs) often encounter different propulsion faults, leading to significant economic losses and mission impairments. To address this challenge, vibratory time‐series features can be extracted for the precise propulsion fault diagnosis of AUVs. A squeeze‐and‐excitation (SE) attention residual network (SEResNet) is therefore put forward to enhance the feature extraction for AUV propulsion fault diagnosis. By leveraging the vibratory time‐series data obtained from the AUV, an SE attention mechanism is embedded into a residual network. This integration facilitates the extraction of pertinent vibratory fault features, subsequently utilized for accurate diagnosis of any propulsion faults. The effectiveness of the proposed SEResNet was validated through its application to an actual experimental AUV, with comparison against the state‐of‐the‐arts. The results reveal that the present SEResNet outperforms all other comparison methods in terms of diagnosis performance for AUV propulsion faults.
{"title":"Squeeze‐and‐excitation attention residual learning of propulsion fault features for diagnosing autonomous underwater vehicles","authors":"Wenliao Du, Xinlong Yu, Zhen Guo, Hongchao Wang, Ziqiang Pu, Chuan Li","doi":"10.1002/rob.22405","DOIUrl":"https://doi.org/10.1002/rob.22405","url":null,"abstract":"Given the demanding and unpredictable operational conditions, autonomous underwater vehicles (AUVs) often encounter different propulsion faults, leading to significant economic losses and mission impairments. To address this challenge, vibratory time‐series features can be extracted for the precise propulsion fault diagnosis of AUVs. A squeeze‐and‐excitation (SE) attention residual network (SEResNet) is therefore put forward to enhance the feature extraction for AUV propulsion fault diagnosis. By leveraging the vibratory time‐series data obtained from the AUV, an SE attention mechanism is embedded into a residual network. This integration facilitates the extraction of pertinent vibratory fault features, subsequently utilized for accurate diagnosis of any propulsion faults. The effectiveness of the proposed SEResNet was validated through its application to an actual experimental AUV, with comparison against the state‐of‐the‐arts. The results reveal that the present SEResNet outperforms all other comparison methods in terms of diagnosis performance for AUV propulsion faults.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"37 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141869887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This work presents an investigation of robotic technologies' effectiveness in construction activities. Sixty‐four highly relevant publications were identified from the database. By systematically reviewing the publications, the secondary data that are of interest to the review theme were retrieved and further evaluated. It is found that robotic technologies for automated construction is a growing field, where the taxonomy of robot was reflected in a diversified manner in the existing studies, ranging from the muscular guy—robotic manipulator—to the dexterous ones—unmanned aerial vehicle, autonomous mobile robot, automated guided vehicle, autonomous construction machinery and quadruped robot. In addition, the existing studies have provided substantial evidence to reveal the robotic technologies' effectiveness against traditional human methods in construction scenarios, and the measures for effectiveness consisted of productivity, precision, and success rate. With the evidence, it seems that the construction sector could benefit from robotic technologies to achieve intelligent workflows. Furthermore, based on the existing knowledge foundation in the current literature, a theoretical framework for future research direction is proposed. The framework envisages the integration of large models with construction robots to address operational inefficiencies, reduce costs, and simplify management.
{"title":"From muscular to dexterous: A systematic review to understand the robotic taxonomy in construction and effectiveness","authors":"Yifan Gao, Jiangpeng Shu, Zhe Xia, Yaozhi Luo","doi":"10.1002/rob.22409","DOIUrl":"https://doi.org/10.1002/rob.22409","url":null,"abstract":"This work presents an investigation of robotic technologies' effectiveness in construction activities. Sixty‐four highly relevant publications were identified from the database. By systematically reviewing the publications, the secondary data that are of interest to the review theme were retrieved and further evaluated. It is found that robotic technologies for automated construction is a growing field, where the taxonomy of robot was reflected in a diversified manner in the existing studies, ranging from the muscular guy—robotic manipulator—to the dexterous ones—unmanned aerial vehicle, autonomous mobile robot, automated guided vehicle, autonomous construction machinery and quadruped robot. In addition, the existing studies have provided substantial evidence to reveal the robotic technologies' effectiveness against traditional human methods in construction scenarios, and the measures for effectiveness consisted of productivity, precision, and success rate. With the evidence, it seems that the construction sector could benefit from robotic technologies to achieve intelligent workflows. Furthermore, based on the existing knowledge foundation in the current literature, a theoretical framework for future research direction is proposed. The framework envisages the integration of large models with construction robots to address operational inefficiencies, reduce costs, and simplify management.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"44 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141869899","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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