Wheel loaders are construction machines that are mainly used for excavating and loading sedimented ground into dump trucks. The objects to be excavated range from large materials, such as blast rock and crushed stone, to small materials, such as gravel, slag, and coal ash. Therefore, the excavation operation of wheel loaders requires a high skill level to cope with various terrains and soil types. As worker numbers at quarry sites decline, developing highly automated technology to replace operators is crucial. In particular, the geometry of the ground to be excavated by the wheel loader changes with each excavation, so the control parameters must be adapted sequentially during automated excavation. In this study, we proposed an online learning method using Bayesian optimization to search for control parameters from multiple trials and modify them sequentially. In particular, we formulate a multi-objective optimization problem maximizing a weighted linear combination of the payload and workload as an objective function. To validate the proposed method, we constructed an environment in which repeated digging tests can be performed using a robot manipulator with a bucket attached. Through comparative tests between feed-forward control, in which the robot moves along a fixed trajectory independent of the digging reaction force, and off-line control, in which the robot modifies the digging trajectory in response to the digging reaction force, we compared the ability of these methods to cope with terrain volume that is different from that of the optimization trial.
{"title":"Bayesian Optimization for Digging Control of Wheel-Loader Using Robot Manipulator","authors":"Motoki Koyama, Hiroaki Muranaka, Masato Ishikawa, Yuki Takagi","doi":"10.20965/jrm.2024.p0273","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0273","url":null,"abstract":"Wheel loaders are construction machines that are mainly used for excavating and loading sedimented ground into dump trucks. The objects to be excavated range from large materials, such as blast rock and crushed stone, to small materials, such as gravel, slag, and coal ash. Therefore, the excavation operation of wheel loaders requires a high skill level to cope with various terrains and soil types. As worker numbers at quarry sites decline, developing highly automated technology to replace operators is crucial. In particular, the geometry of the ground to be excavated by the wheel loader changes with each excavation, so the control parameters must be adapted sequentially during automated excavation. In this study, we proposed an online learning method using Bayesian optimization to search for control parameters from multiple trials and modify them sequentially. In particular, we formulate a multi-objective optimization problem maximizing a weighted linear combination of the payload and workload as an objective function. To validate the proposed method, we constructed an environment in which repeated digging tests can be performed using a robot manipulator with a bucket attached. Through comparative tests between feed-forward control, in which the robot moves along a fixed trajectory independent of the digging reaction force, and off-line control, in which the robot modifies the digging trajectory in response to the digging reaction force, we compared the ability of these methods to cope with terrain volume that is different from that of the optimization trial.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140679344","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}
The exploration and utilization of water resources on the Moon are of substantial global interest. To utilize lunar resources and construct bases, the construction machinery should travel over the lunar surface (which is mainly covered with powdery regolith) and excavate the regolith. However, various technical issues should be resolved to achieve this efficiently. In this study, a new platform rover was developed, and its motion behavior was analyzed to better understand the traveling and excavation behaviors of construction machinery on the Moon. The rover is a four-track vehicle equipped with a robotic arm consisting of a boom, arm, and bucket. To analyze the rover’s motion behavior in sandy terrain, we first developed a simulator based on terramechanics and performed a numerical analysis. Subsequently, various experiments were conducted using the rover in the JAXA Space Exploration Field, which simulates the lunar environment. In the experiments, the rover traveled over level and sloped terrains and excavated the ground. The simulation and experimental results revealed similar trends in the traveling and excavation behaviors of the rover. These results can serve as basic guidelines for the design and operation of construction machinery on the Moon.
{"title":"Development and Evaluation of Mobility and Excavation Rover Toward Lunar Base Construction","authors":"M. Sutoh","doi":"10.20965/jrm.2024.p0334","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0334","url":null,"abstract":"The exploration and utilization of water resources on the Moon are of substantial global interest. To utilize lunar resources and construct bases, the construction machinery should travel over the lunar surface (which is mainly covered with powdery regolith) and excavate the regolith. However, various technical issues should be resolved to achieve this efficiently. In this study, a new platform rover was developed, and its motion behavior was analyzed to better understand the traveling and excavation behaviors of construction machinery on the Moon. The rover is a four-track vehicle equipped with a robotic arm consisting of a boom, arm, and bucket. To analyze the rover’s motion behavior in sandy terrain, we first developed a simulator based on terramechanics and performed a numerical analysis. Subsequently, various experiments were conducted using the rover in the JAXA Space Exploration Field, which simulates the lunar environment. In the experiments, the rover traveled over level and sloped terrains and excavated the ground. The simulation and experimental results revealed similar trends in the traveling and excavation behaviors of the rover. These results can serve as basic guidelines for the design and operation of construction machinery on the Moon.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140681198","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}
Dynamic human movements are achieved by appropriate constraints on the degrees of freedom of the complex and flexible human body. The anatomy trains (ATs) theory explains such constraints with whole-body muscular connections called ATs. This paper proposes the design of a quasi-passive dynamic walker with whole-body viscoelastic connections inspired by the ATs theory and investigates the contributions of these long-distance connections to the achievement of gait. We designed a biped robot with a trunk and head, whose passive joints were supported by rubber fiber bands. The robot, named “PEARL III,” is equipped with an antagonistic pair of McKibben pneumatic actuators for each leg at the human hamstring and rectus femoris positions. The most important feature of this robot is that fabric wires mechanically connect its rubber bands and actuators on the back side from the head to the foot, modeled after one of the human ATs, the superficial back lines (SBLs). In an experiment, PEARL III achieved 2D quasi-passive dynamic walking on an inclined plane by contracting and relaxing its actuators using periodic feedforward control. This result suggests that in both the robot and human cases, when a controller contracts the SBL only in the stance phase during passive dynamic walking, the SBL can achieve whole-body posture control and weight support. In addition, the SBL appears to achieve this function depending on their mode of attachment to bones and the presence or absence of antagonistic muscles (or ATs). In the future, by introducing various ATs into robots while recognizing the importance of the appropriate attachment of ATs and the presence of their antagonistic muscles (or ATs), we can expect similar effects in various 3D movements.
{"title":"Design of a Quasi-Passive Dynamic Walking Robot Based on Anatomy Trains Theory","authors":"Hiroki Nishii, Shoei Hattori, Akira Fukuhara, Hisashi Ishihara, Takeshi Kano, Akio Ishiguro, Koichi Osuka","doi":"10.20965/jrm.2024.p0458","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0458","url":null,"abstract":"Dynamic human movements are achieved by appropriate constraints on the degrees of freedom of the complex and flexible human body. The anatomy trains (ATs) theory explains such constraints with whole-body muscular connections called ATs. This paper proposes the design of a quasi-passive dynamic walker with whole-body viscoelastic connections inspired by the ATs theory and investigates the contributions of these long-distance connections to the achievement of gait. We designed a biped robot with a trunk and head, whose passive joints were supported by rubber fiber bands. The robot, named “PEARL III,” is equipped with an antagonistic pair of McKibben pneumatic actuators for each leg at the human hamstring and rectus femoris positions. The most important feature of this robot is that fabric wires mechanically connect its rubber bands and actuators on the back side from the head to the foot, modeled after one of the human ATs, the superficial back lines (SBLs). In an experiment, PEARL III achieved 2D quasi-passive dynamic walking on an inclined plane by contracting and relaxing its actuators using periodic feedforward control. This result suggests that in both the robot and human cases, when a controller contracts the SBL only in the stance phase during passive dynamic walking, the SBL can achieve whole-body posture control and weight support. In addition, the SBL appears to achieve this function depending on their mode of attachment to bones and the presence or absence of antagonistic muscles (or ATs). In the future, by introducing various ATs into robots while recognizing the importance of the appropriate attachment of ATs and the presence of their antagonistic muscles (or ATs), we can expect similar effects in various 3D movements.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140680607","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}
Automatic operation is one of the main research topics in the field of construction for solving labor shortages. However, workers still perform manual work at construction sites and there is an urgent need to automate this. To automate manual work at construction sites, construction machinery requires force control that absorbs external shock impact forces and provides appropriate forces along with environmental forces. In this study, the boom/arm/bucket joints of a 0.06 m3 class excavator were electrically driven, and a series elastic actuator (SEA) was applied to satisfy these two requirements. There are few examples of SEA studies on its application in large machines with high outputs, such as excavators. We designed the structure of the SEA, conducted the control design, and fabricated an actual bench simulating a 0.06 m3 class excavator to verify its performance. The results of the bench tests show that our SEA system achieves a control accuracy and responsiveness suitable for use in manual work.
{"title":"Study of Force Control for Construction Automation","authors":"Toshifumi Hiramatsu, Miyuki Saiki, Naohiro Hara, Masaki Yamada, Hisashi Sugiura","doi":"10.20965/jrm.2024.p0284","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0284","url":null,"abstract":"Automatic operation is one of the main research topics in the field of construction for solving labor shortages. However, workers still perform manual work at construction sites and there is an urgent need to automate this. To automate manual work at construction sites, construction machinery requires force control that absorbs external shock impact forces and provides appropriate forces along with environmental forces. In this study, the boom/arm/bucket joints of a 0.06 m3 class excavator were electrically driven, and a series elastic actuator (SEA) was applied to satisfy these two requirements. There are few examples of SEA studies on its application in large machines with high outputs, such as excavators. We designed the structure of the SEA, conducted the control design, and fabricated an actual bench simulating a 0.06 m3 class excavator to verify its performance. The results of the bench tests show that our SEA system achieves a control accuracy and responsiveness suitable for use in manual work.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140680274","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}
In recent years, the labor shortage caused by the decline in the working-age population has become increasingly severe across various industries. The construction industry is also facing an urgent situation. Improving productivity is critical in response to this situation. In addition, domestic infrastructure is aging, and climate-change-related incidents such as heavy rainfall and landslides are becoming more common on a global scale. To address these challenges, digital transformation (DX) deployment must be accelerated, and robotic technologies must be efficiently utilized. Although various construction robot technologies have been developed to date, the robotization of construction and inspection work cannot be achieved using standalone technologies, regardless of their technological superiority. Today’s construction robots must function not only as standalone tools but also as part of a system integrated into construction and inspection methods, or even as a robotic system that operates throughout the construction site. From this perspective, we published a special issue titled “Advanced Robotic Technology and System for DX in Construction Industry.” It includes papers and development reports on robotics, mechatronics, and information system technologies relevant to the construction industry. We hope that this special issue will arouse interest in construction robots among researchers and engineers and accelerate the development of construction robots, related technologies, and DX in the construction industry. Finally, we express our sincere gratitude to the editorial board of the Journal of Robotics and Mechatronics, the editorial team at Fuji Technology Press Ltd., and all of the reviewers.
{"title":"Special Issue on Advanced Robotic Technology and System for DX in Construction Industry","authors":"Takayuki Tanaka, Fumihiro Inoue, Hisashi Osumi, Hiroki Murakami","doi":"10.20965/jrm.2024.p0261","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0261","url":null,"abstract":"In recent years, the labor shortage caused by the decline in the working-age population has become increasingly severe across various industries. The construction industry is also facing an urgent situation. Improving productivity is critical in response to this situation. In addition, domestic infrastructure is aging, and climate-change-related incidents such as heavy rainfall and landslides are becoming more common on a global scale. To address these challenges, digital transformation (DX) deployment must be accelerated, and robotic technologies must be efficiently utilized.\u0000 Although various construction robot technologies have been developed to date, the robotization of construction and inspection work cannot be achieved using standalone technologies, regardless of their technological superiority. Today’s construction robots must function not only as standalone tools but also as part of a system integrated into construction and inspection methods, or even as a robotic system that operates throughout the construction site.\u0000 From this perspective, we published a special issue titled “Advanced Robotic Technology and System for DX in Construction Industry.” It includes papers and development reports on robotics, mechatronics, and information system technologies relevant to the construction industry.\u0000 We hope that this special issue will arouse interest in construction robots among researchers and engineers and accelerate the development of construction robots, related technologies, and DX in the construction industry.\u0000 Finally, we express our sincere gratitude to the editorial board of the Journal of Robotics and Mechatronics, the editorial team at Fuji Technology Press Ltd., and all of the reviewers.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140679808","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}
We developed a two-finger robot that can grasp, rotate in-hand, and place an uneven object. To improve the success rate of in-hand rotation, three pressure sensors were mounted on each finger to detect the center of pressure (CoP) on each finger. Two approaches, called object on-the-fly adjustment and re-grasp object movement (ROM), were proposed to use the obtained CoP information to adjust the position of each finger before performing in-hand rotation and were compared with a general in-hand rotation movement. Evaluation experiments were conducted on several objects, and the effectiveness of the proposed approaches was demonstrated with the highest success rate of 93% for ROM compared with 63% for general in-hand rotation.
我们开发了一种双指机器人，它可以抓取、徒手旋转和放置不平整的物体。为了提高徒手旋转的成功率，我们在每个手指上安装了三个压力传感器，以检测每个手指上的压力中心（CoP）。研究人员提出了两种方法，分别称为 "物体即时调整 "和 "重新抓取物体运动（ROM）"，利用获得的 CoP 信息在进行手部旋转之前调整每个手指的位置，并与一般的手部旋转运动进行了比较。对多个物体进行了评估实验，结果表明了所建议方法的有效性，其中 ROM 的成功率最高，达到 93%，而一般手部旋转的成功率仅为 63%。
{"title":"Development of Two-Finger Robot that Performs In-Hand Rotation Using Center of Pressure Information","authors":"Aulia Khilmi Rizgi, Ryohei Kurata, N. Takesue, Yoshiyuki Toso, Shinichi Kawabata, Akira Tsunoda, Daichi Suzuki","doi":"10.20965/jrm.2024.p0396","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0396","url":null,"abstract":"We developed a two-finger robot that can grasp, rotate in-hand, and place an uneven object. To improve the success rate of in-hand rotation, three pressure sensors were mounted on each finger to detect the center of pressure (CoP) on each finger. Two approaches, called object on-the-fly adjustment and re-grasp object movement (ROM), were proposed to use the obtained CoP information to adjust the position of each finger before performing in-hand rotation and were compared with a general in-hand rotation movement. Evaluation experiments were conducted on several objects, and the effectiveness of the proposed approaches was demonstrated with the highest success rate of 93% for ROM compared with 63% for general in-hand rotation.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140679613","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}
At unmanned construction sites, machinery generally stops functioning or tele-operation is interrupted owing to the problems related to wireless communication. However, the entry of human workers into such sites is often restricted, making it extremely difficult for workers to resolve problems or restore connections in wireless communication. In this study, we interviewed personnel from relevant industries to identify common issues in wireless communication. To address these issues, we focused on improving the availability of wireless communication and proposed a wireless communication status monitoring function. The results from a prototype of the proposed function are also presented.
{"title":"Development of Wireless Communication Status Monitor Function for Mobile Robot Tele-Operation","authors":"Fumiya Shibukawa, Shunichi Yamazaki, Y. Kaneshima, Hiroki Murakami, Daisuke Endo, Takeshi Hashimoto, Genki Yamauchi","doi":"10.20965/jrm.2024.p0365","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0365","url":null,"abstract":"At unmanned construction sites, machinery generally stops functioning or tele-operation is interrupted owing to the problems related to wireless communication. However, the entry of human workers into such sites is often restricted, making it extremely difficult for workers to resolve problems or restore connections in wireless communication. In this study, we interviewed personnel from relevant industries to identify common issues in wireless communication. To address these issues, we focused on improving the availability of wireless communication and proposed a wireless communication status monitoring function. The results from a prototype of the proposed function are also presented.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140679094","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}
Research and development efforts have been undertaken to develop a method for accurately localizing construction vehicles in various environments using multiple 3D-LiDARs installed in the work environment. In this approach, it is important to calibrate the installed positions and orientations of the multiple LiDARs as accurately as possible to achieve high-accuracy localization. Currently, calibration is performed manually, which results in accuracy variance depending on the operator. Furthermore, manual calibration becomes more time consuming as the number of installed LiDARs increases. Conventional automatic calibration methods require the use of dedicated land markers because stable features are difficult to acquire in civil engineering sites in which the environment is altered by work. This paper proposes an automatic calibration method that calibrates the positions and orientations of 3D-LiDARs installed in the field using multiple construction vehicles on the construction site as land markers. To validate the proposed method, we conducted calibration experiments on a group of 3D-LiDARs installed on uneven ground using actual construction vehicles, and verified the calibration accuracy using a newly proposed accuracy evaluation formula. The results showed that the proposed method can perform sufficiently accurate calibration without the use of dedicated land markers in civil engineering sites, which increase costs and make features difficult to acquire.
人们一直在努力研发一种方法，利用安装在工作环境中的多个 3D 激光雷达在各种环境中准确定位工程车辆。在这种方法中，必须尽可能精确地校准多个激光雷达的安装位置和方向，以实现高精度定位。目前，校准是手动进行的，这会导致精度差异，具体取决于操作员。此外，随着已安装激光雷达数量的增加，手动校准变得更加耗时。传统的自动校准方法需要使用专用的土地标记，因为在土木工程现场很难获取稳定的地物，因为施工会改变环境。本文提出了一种自动校准方法，利用施工现场的多辆施工车辆作为土地标记，校准现场安装的三维激光雷达的位置和方向。为了验证所提出的方法，我们使用实际施工车辆对一组安装在不平整地面上的 3D-LiDAR 进行了校准实验，并使用新提出的精度评估公式验证了校准精度。结果表明，在土木工程现场，无需使用专门的土地标记，所提出的方法就能进行足够精确的校准。
{"title":"Automatic Calibration of Environmentally Installed 3D-LiDAR Group Used for Localization of Construction Vehicles","authors":"Masahiro Inagawa, Keiichi Yoshizawa, Tomohito Kawabe, Toshinobu Takei","doi":"10.20965/jrm.2024.p0320","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0320","url":null,"abstract":"Research and development efforts have been undertaken to develop a method for accurately localizing construction vehicles in various environments using multiple 3D-LiDARs installed in the work environment. In this approach, it is important to calibrate the installed positions and orientations of the multiple LiDARs as accurately as possible to achieve high-accuracy localization. Currently, calibration is performed manually, which results in accuracy variance depending on the operator. Furthermore, manual calibration becomes more time consuming as the number of installed LiDARs increases. Conventional automatic calibration methods require the use of dedicated land markers because stable features are difficult to acquire in civil engineering sites in which the environment is altered by work. This paper proposes an automatic calibration method that calibrates the positions and orientations of 3D-LiDARs installed in the field using multiple construction vehicles on the construction site as land markers. To validate the proposed method, we conducted calibration experiments on a group of 3D-LiDARs installed on uneven ground using actual construction vehicles, and verified the calibration accuracy using a newly proposed accuracy evaluation formula. The results showed that the proposed method can perform sufficiently accurate calibration without the use of dedicated land markers in civil engineering sites, which increase costs and make features difficult to acquire.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140681562","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}
The objective of this study is to achieve high efficiency in autonomous hydraulic excavators by imitating the bucket trajectory operated by an expert. For this purpose, bucket trajectories of experts were collected, and a trajectory was planned using machine learning of a model that relates measured soil shapes to the bucket trajectories of the experts. In this study, we proposed a hierarchical model consisting of a model for estimating movement and a trajectory, with a focus on the fact that different trajectories are generated for the same soil shape as a result of the analysis of the skilled persons’ movements. The trajectory output from the model was replanned to have a smooth trajectory using numerical optimization. For the backfilling task, the error from the target shape and the amount of soil transported per movement were compared with those of an expert. The proposed method increased the error from the target shape by approximately 66%, while the amount of soil transported was approximately 58% of that of the experts.
{"title":"Development of a Highly Efficient Trajectory Planning Algorithm in Backfilling Task for Autonomous Excavators by Imitation of Experts and Numerical Optimization","authors":"Ryuji Tsuzuki, Kosuke Hara, Dotaro Usui","doi":"10.20965/jrm.2024.p0263","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0263","url":null,"abstract":"The objective of this study is to achieve high efficiency in autonomous hydraulic excavators by imitating the bucket trajectory operated by an expert. For this purpose, bucket trajectories of experts were collected, and a trajectory was planned using machine learning of a model that relates measured soil shapes to the bucket trajectories of the experts. In this study, we proposed a hierarchical model consisting of a model for estimating movement and a trajectory, with a focus on the fact that different trajectories are generated for the same soil shape as a result of the analysis of the skilled persons’ movements. The trajectory output from the model was replanned to have a smooth trajectory using numerical optimization. For the backfilling task, the error from the target shape and the amount of soil transported per movement were compared with those of an expert. The proposed method increased the error from the target shape by approximately 66%, while the amount of soil transported was approximately 58% of that of the experts.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140679411","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}
Yuto Watanabe, Naoki Ogawa, Keisuke Maeda, Takahiro Ogawa, M. Haseyama
This study proposes an automatic findings generation method that performs in-context few-shot learning of a visual language model. The automatic generation of findings can reduce the burden of creating inspection records for infrastructure facilities. However, the findings must include the opinions and judgments of engineers, in addition to what is recognized from the image; therefore, the direct generation of findings is still challenging. With this background, we introduce in-context few-short learning that focuses on image similarity and text diversity in the visual language model, which enables text output with a highly accurate understanding of both vision and language. Based on a novel in-context few-shot learning strategy, the proposed method comprehensively considers the characteristics of the distress image and diverse findings and can achieve high accuracy in generating findings. In the experiments, the proposed method outperformed the comparative methods in generating findings for distress images captured during bridge inspections.
{"title":"Automatic Findings Generation for Distress Images Using In-Context Few-Shot Learning of Visual Language Model Based on Image Similarity and Text Diversity","authors":"Yuto Watanabe, Naoki Ogawa, Keisuke Maeda, Takahiro Ogawa, M. Haseyama","doi":"10.20965/jrm.2024.p0353","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0353","url":null,"abstract":"This study proposes an automatic findings generation method that performs in-context few-shot learning of a visual language model. The automatic generation of findings can reduce the burden of creating inspection records for infrastructure facilities. However, the findings must include the opinions and judgments of engineers, in addition to what is recognized from the image; therefore, the direct generation of findings is still challenging. With this background, we introduce in-context few-short learning that focuses on image similarity and text diversity in the visual language model, which enables text output with a highly accurate understanding of both vision and language. Based on a novel in-context few-shot learning strategy, the proposed method comprehensively considers the characteristics of the distress image and diverse findings and can achieve high accuracy in generating findings. In the experiments, the proposed method outperformed the comparative methods in generating findings for distress images captured during bridge inspections.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140681062","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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