Pub Date : 2023-11-01DOI: 10.1007/s10846-023-01997-x
Maciej Podsȩdkowski, Rafał Konopiński, Michał Lipian
Abstract This paper presents an analysis of acoustic emission and performance data of a UAV rotor equipped with a variable pitch propeller. The proposed study aims to show propeller noise features that indicate stall flow regime on the blade. Analysis of the noise characteristics around the propeller in terms of power spectral density allow to detect the stall. The study shows that a microphone located at different angles around the propeller can provide data sufficient to determine if the blade angle of attack has forced the propeller into the stall regime. In this range, the propeller’s efficiency in hover decreases and leads to an increase in power consumption. The reresearch is a suggests a method of data treatment to obtain a single parameter indicating a blade stall.
{"title":"Acoustic Stall Detection of Variable Pitch Propeller for Unmanned Aerial Vehicles","authors":"Maciej Podsȩdkowski, Rafał Konopiński, Michał Lipian","doi":"10.1007/s10846-023-01997-x","DOIUrl":"https://doi.org/10.1007/s10846-023-01997-x","url":null,"abstract":"Abstract This paper presents an analysis of acoustic emission and performance data of a UAV rotor equipped with a variable pitch propeller. The proposed study aims to show propeller noise features that indicate stall flow regime on the blade. Analysis of the noise characteristics around the propeller in terms of power spectral density allow to detect the stall. The study shows that a microphone located at different angles around the propeller can provide data sufficient to determine if the blade angle of attack has forced the propeller into the stall regime. In this range, the propeller’s efficiency in hover decreases and leads to an increase in power consumption. The reresearch is a suggests a method of data treatment to obtain a single parameter indicating a blade stall.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"59 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135664641","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}
Pub Date : 2023-11-01DOI: 10.1007/s10846-023-01988-y
Aditya Singh, Kislay Raj, Arunabha M. Roy
{"title":"Efficient Deep Learning-based Semantic Mapping Approach using Monocular Vision for Resource-Limited Mobile Robots","authors":"Aditya Singh, Kislay Raj, Arunabha M. Roy","doi":"10.1007/s10846-023-01988-y","DOIUrl":"https://doi.org/10.1007/s10846-023-01988-y","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"48 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135665027","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}
Pub Date : 2023-11-01DOI: 10.1007/s10846-023-01990-4
Haoran Zhang, Wei He, Ruohan Yang, Zhichao Feng
{"title":"Performance Assessment for Leader-Following Multi-Agent Systems with Unpredictable Disturbances and Switching Topologies Via Belief Rule Base","authors":"Haoran Zhang, Wei He, Ruohan Yang, Zhichao Feng","doi":"10.1007/s10846-023-01990-4","DOIUrl":"https://doi.org/10.1007/s10846-023-01990-4","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"38 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135455816","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}
Pub Date : 2023-11-01DOI: 10.1007/s10846-023-01984-2
Xingmao Shao, Lun Xie, Chiqin Li, Zhiliang Wang
{"title":"A Study on Networked Industrial Robots in Smart Manufacturing: Vulnerabilities, Data Integrity Attacks and Countermeasures","authors":"Xingmao Shao, Lun Xie, Chiqin Li, Zhiliang Wang","doi":"10.1007/s10846-023-01984-2","DOIUrl":"https://doi.org/10.1007/s10846-023-01984-2","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135411882","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}
Pub Date : 2023-10-31DOI: 10.1007/s10846-023-01981-5
Rodrigo Munguia, Juan-Carlos Trujillo, Guillermo Obregón-Pulido, Carlos I. Aldana
{"title":"Monocular-Based SLAM for Mobile Robots: Filtering-Optimization Hybrid Approach","authors":"Rodrigo Munguia, Juan-Carlos Trujillo, Guillermo Obregón-Pulido, Carlos I. Aldana","doi":"10.1007/s10846-023-01981-5","DOIUrl":"https://doi.org/10.1007/s10846-023-01981-5","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135870252","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}
Pub Date : 2023-10-31DOI: 10.1007/s10846-023-01977-1
Mika Okuhara, Torleiv Håland Bryne, Kristoffer Gryte, Tor Arne Johansen
Abstract Global Navigation Satellite Systems (GNSS) has been the primary positioning solution for Unmanned Aerial Vehicles (UAVs) due to their worldwide coverage, high precision and lightweight receivers. However, GNSS is prone to electromagnetic interference and malicious assaults, including jamming or spoofing because of its low signal-to-noise ratio (SNR). To ensure the continuity and protection of UAV operations, using redundant navigation systems is essential. In recent years, the phased array radio system (PARS) has established itself as a local navigation solution. PARS is robust towards malicious assaults because of an much higher SNR than GNSS regarding directed and encrypted transmission. An essential factor of PARS is that the orientation of the radio antenna at a ground station needs to be precisely determined to obtain the correct positioning of UAVs. This paper presents a method for extending a previously proposed calibration algorithm to estimate the ground antenna orientation with an inertial navigation system (INS) aided by redundant positioning sensors (GNSS, PARS or barometer) using a multiplicative extended Kalman filter (MEKF) so that the calibration can be activated during flights whenever GNSS is available. In other words, the proposed navigation system is essentially an aided-INS which switches between two modes depending on the availability of GNSS: calibration and GNSS aiding mode when GNSS is available (Mode 1) and PARS and barometer aiding mode when GNSS is unavailable (Mode 2). Considering that the navigation system needs to include the effect of Earth’s curvature for a long-distance flight, PARS horizontal measurement and the barometer measurement were treated independently, and the navigation equations were propagated in Earth Centred Earth Fixed (ECEF) frame. The independent treatment of barometer measurement, and the propagation in ECEF frame were also beneficial when using multiple ground antennas to have a common reference point and reference frame. The proposed method was validated using data (Inertial Measurement Unit (IMU), GNSS, PARS, Pixhawk autopilot (including barometer) measurements) collected during a field test. In the validation, GNSS was made available at the middle of the flight and the calibration mode was activated for 200s. The proposed navigation system successfully estimated the precise orientation of multiple ground antennas and the navigation solutions were verified using GNSS and Pixhawk autopilot solutions as ground truth.
{"title":"Phased Array Radio Navigation System on UAVs: In-Flight Calibration","authors":"Mika Okuhara, Torleiv Håland Bryne, Kristoffer Gryte, Tor Arne Johansen","doi":"10.1007/s10846-023-01977-1","DOIUrl":"https://doi.org/10.1007/s10846-023-01977-1","url":null,"abstract":"Abstract Global Navigation Satellite Systems (GNSS) has been the primary positioning solution for Unmanned Aerial Vehicles (UAVs) due to their worldwide coverage, high precision and lightweight receivers. However, GNSS is prone to electromagnetic interference and malicious assaults, including jamming or spoofing because of its low signal-to-noise ratio (SNR). To ensure the continuity and protection of UAV operations, using redundant navigation systems is essential. In recent years, the phased array radio system (PARS) has established itself as a local navigation solution. PARS is robust towards malicious assaults because of an much higher SNR than GNSS regarding directed and encrypted transmission. An essential factor of PARS is that the orientation of the radio antenna at a ground station needs to be precisely determined to obtain the correct positioning of UAVs. This paper presents a method for extending a previously proposed calibration algorithm to estimate the ground antenna orientation with an inertial navigation system (INS) aided by redundant positioning sensors (GNSS, PARS or barometer) using a multiplicative extended Kalman filter (MEKF) so that the calibration can be activated during flights whenever GNSS is available. In other words, the proposed navigation system is essentially an aided-INS which switches between two modes depending on the availability of GNSS: calibration and GNSS aiding mode when GNSS is available (Mode 1) and PARS and barometer aiding mode when GNSS is unavailable (Mode 2). Considering that the navigation system needs to include the effect of Earth’s curvature for a long-distance flight, PARS horizontal measurement and the barometer measurement were treated independently, and the navigation equations were propagated in Earth Centred Earth Fixed (ECEF) frame. The independent treatment of barometer measurement, and the propagation in ECEF frame were also beneficial when using multiple ground antennas to have a common reference point and reference frame. The proposed method was validated using data (Inertial Measurement Unit (IMU), GNSS, PARS, Pixhawk autopilot (including barometer) measurements) collected during a field test. In the validation, GNSS was made available at the middle of the flight and the calibration mode was activated for 200s. The proposed navigation system successfully estimated the precise orientation of multiple ground antennas and the navigation solutions were verified using GNSS and Pixhawk autopilot solutions as ground truth.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"77 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135869368","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}
Pub Date : 2023-10-31DOI: 10.1007/s10846-023-01996-y
Li, Junfei, Yang, Simon X.
Intelligent escape is an interdisciplinary field that employs artificial intelligence (AI) techniques to enable robots with the capacity to intelligently react to potential dangers in dynamic, intricate, and unpredictable scenarios. As the emphasis on safety becomes increasingly paramount and advancements in robotic technologies continue to advance, a wide range of intelligent escape methodologies has been developed in recent years. This paper presents a comprehensive survey of state-of-the-art research work on intelligent escape of robotic systems. Four main methods of intelligent escape are reviewed, including planning-based methodologies, partitioning-based methodologies, learning-based methodologies, and bio-inspired methodologies. The strengths and limitations of existing methods are summarized. In addition, potential applications of intelligent escape are discussed in various domains, such as search and rescue, evacuation, military security, and healthcare. In an effort to develop new approaches to intelligent escape, this survey identifies current research challenges and provides insights into future research trends in intelligent escape.
{"title":"Intelligent Escape of Robotic Systems: A Survey of Methodologies, Applications, and Challenges","authors":"Li, Junfei, Yang, Simon X.","doi":"10.1007/s10846-023-01996-y","DOIUrl":"https://doi.org/10.1007/s10846-023-01996-y","url":null,"abstract":"Intelligent escape is an interdisciplinary field that employs artificial intelligence (AI) techniques to enable robots with the capacity to intelligently react to potential dangers in dynamic, intricate, and unpredictable scenarios. As the emphasis on safety becomes increasingly paramount and advancements in robotic technologies continue to advance, a wide range of intelligent escape methodologies has been developed in recent years. This paper presents a comprehensive survey of state-of-the-art research work on intelligent escape of robotic systems. Four main methods of intelligent escape are reviewed, including planning-based methodologies, partitioning-based methodologies, learning-based methodologies, and bio-inspired methodologies. The strengths and limitations of existing methods are summarized. In addition, potential applications of intelligent escape are discussed in various domains, such as search and rescue, evacuation, military security, and healthcare. In an effort to develop new approaches to intelligent escape, this survey identifies current research challenges and provides insights into future research trends in intelligent escape.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"31 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135769022","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}
Pub Date : 2023-10-31DOI: 10.1007/s10846-023-01975-3
Imad El Bouazzaoui, Mohammed Chghaf, Sergio Rodriguez, Dai Duong Nguyen, Abdelhafid El Ouardi
{"title":"An Extended HOOFR SLAM Algorithm Using IR-D Sensor Data for Outdoor Autonomous Vehicle Localization","authors":"Imad El Bouazzaoui, Mohammed Chghaf, Sergio Rodriguez, Dai Duong Nguyen, Abdelhafid El Ouardi","doi":"10.1007/s10846-023-01975-3","DOIUrl":"https://doi.org/10.1007/s10846-023-01975-3","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"16 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135813349","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}
Pub Date : 2023-10-31DOI: 10.1007/s10846-023-01982-4
Wangjiang Li, Hui Yu
{"title":"Event-Triggered Consensus Tracking for Time-Delay Multi-Agent Systems with Input Saturation Via Dynamic Output Feedback","authors":"Wangjiang Li, Hui Yu","doi":"10.1007/s10846-023-01982-4","DOIUrl":"https://doi.org/10.1007/s10846-023-01982-4","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"59 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135863549","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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