Aiming at the problem that the robot is difficult to locate in the oil-immersed transformer, a visual positioning of the robot is proposed for internal inspection. First, in order to solve the problem of blur, distortion, and low contrast of the image obtained by the camera in the deteriorated and discolored transformer oil, an image enhancement algorithm based on multiscale fusion is developed to provide a reliable data source for robot localization. Then, the FAST key points are extracted and the BRIEF descriptors are calculated from the enhanced images, and the pose transformation of the robot between image frames is calculated by using polar constraint and EPnP method. A pose optimization model of the robot is designed to improve the positioning accuracy. Finally, to verify the effectiveness of the proposed methods, function tests are carried out by using the real continuous image sequence acquired by the robot in Mitsubishi transformer. The experimental results show that the trajectory of the robot in the transformer can be accurately drawn, the position data of the robot can be efficiently obtained, and autonomous positioning of the robot in the transformer can be well achieved.
针对机器人在油浸式变压器中难以定位的问题，提出了一种机器人视觉定位的内部检测方法。首先，为了解决变质变色变压器油中摄像头获取的图像模糊、失真和对比度低的问题，开发了一种基于多尺度融合的图像增强算法，为机器人定位提供可靠的数据源。然后，从增强后的图像中提取 FAST 关键点并计算 BRIEF 描述符，利用极性约束和 EPnP 方法计算机器人在图像帧间的姿态变换。设计了机器人姿态优化模型，以提高定位精度。最后，为了验证所提方法的有效性，使用机器人在三菱变压器中获取的真实连续图像序列进行了功能测试。实验结果表明，机器人在变压器中的运动轨迹可以精确绘制，机器人的位置数据可以有效获取，机器人在变压器中的自主定位可以很好地实现。
{"title":"Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer","authors":"Yingbin Feng, Yahui Kou, Yanju Liu","doi":"10.1155/2023/6699265","DOIUrl":"https://doi.org/10.1155/2023/6699265","url":null,"abstract":"Aiming at the problem that the robot is difficult to locate in the oil-immersed transformer, a visual positioning of the robot is proposed for internal inspection. First, in order to solve the problem of blur, distortion, and low contrast of the image obtained by the camera in the deteriorated and discolored transformer oil, an image enhancement algorithm based on multiscale fusion is developed to provide a reliable data source for robot localization. Then, the FAST key points are extracted and the BRIEF descriptors are calculated from the enhanced images, and the pose transformation of the robot between image frames is calculated by using polar constraint and EPnP method. A pose optimization model of the robot is designed to improve the positioning accuracy. Finally, to verify the effectiveness of the proposed methods, function tests are carried out by using the real continuous image sequence acquired by the robot in Mitsubishi transformer. The experimental results show that the trajectory of the robot in the transformer can be accurately drawn, the position data of the robot can be efficiently obtained, and autonomous positioning of the robot in the transformer can be well achieved.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139143124","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}
{"title":"Retracted: Online Control Method of Small- and Medium-Sized Electromechanical Equipment Based on Deep Neural Network","authors":"Journal of Robotics","doi":"10.1155/2023/9827679","DOIUrl":"https://doi.org/10.1155/2023/9827679","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138954220","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}
{"title":"Retracted: Application of 5G Mobile Communication Technology Integrating Robot Controller Communication Method in Communication Engineering","authors":"Journal of Robotics","doi":"10.1155/2023/9780273","DOIUrl":"https://doi.org/10.1155/2023/9780273","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955824","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}
{"title":"Retracted: Machinery Changes and Challenges of Architecture and Landscape Design in the Virtual Reality Perspective","authors":"Journal of Robotics","doi":"10.1155/2023/9824265","DOIUrl":"https://doi.org/10.1155/2023/9824265","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138954560","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}
{"title":"Retracted: The Application of Multimedia Visualization Platform in Business Management from the Perspective of Supply Chain Management","authors":"Journal of Robotics","doi":"10.1155/2023/9852312","DOIUrl":"https://doi.org/10.1155/2023/9852312","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138956967","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}
{"title":"Retracted: Designing and Manufacturing of Industrial Robots with Dual-Angle Sensors Taking into Account Vibration Signal Fusion","authors":"Journal of Robotics","doi":"10.1155/2023/9768015","DOIUrl":"https://doi.org/10.1155/2023/9768015","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138956700","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}
{"title":"Retracted: Analysis and Evaluation of Ecological Environment Monitoring Based on PIE Remote Sensing Image Processing Software","authors":"Journal of Robotics","doi":"10.1155/2023/9874013","DOIUrl":"https://doi.org/10.1155/2023/9874013","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139169301","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}
Aiming at the problems of slow convergence speed and low tracking accuracy in attitude control and position tracking of quadrotor unmanned aerial vehicles (UAVs). This paper combines the fractional-order calculus theory with the backstepping sliding mode control algorithm, using the backstepping control to compensate for the nonlinearity of the system and the fractional-order theory to eliminate the jitter brought about by the sliding mode control, and proposes a new fractional-order backstepping sliding mode control strategy for the trajectory tracking control of the quadrotor UAV. The proposed fractional-order sliding mode surface increases the control flexibility and improves the robustness and anti-interference ability of the system to some extent. The stability analysis of the system is carried out using the Lyapunov stability theory, and the results prove the stability of the proposed controller. Finally, the effectiveness and feasibility of the proposed method are verified by comparing it with the traditional backstepping sliding mode controller. The simulation results show that the fractional-order reverse-step sliding mode control algorithm proposed in this paper is significantly better than other control algorithms in terms of convergence speed and also has a certain degree of superiority in terms of error elimination.
{"title":"Backstepping Sliding Mode Control Algorithm for Unmanned Aerial Vehicles Based on Fractional-Order Theory","authors":"Yanzhu Zhang, Bo Zhuang, Chunhao Ma, Cheng Zhang","doi":"10.1155/2023/1388072","DOIUrl":"https://doi.org/10.1155/2023/1388072","url":null,"abstract":"Aiming at the problems of slow convergence speed and low tracking accuracy in attitude control and position tracking of quadrotor unmanned aerial vehicles (UAVs). This paper combines the fractional-order calculus theory with the backstepping sliding mode control algorithm, using the backstepping control to compensate for the nonlinearity of the system and the fractional-order theory to eliminate the jitter brought about by the sliding mode control, and proposes a new fractional-order backstepping sliding mode control strategy for the trajectory tracking control of the quadrotor UAV. The proposed fractional-order sliding mode surface increases the control flexibility and improves the robustness and anti-interference ability of the system to some extent. The stability analysis of the system is carried out using the Lyapunov stability theory, and the results prove the stability of the proposed controller. Finally, the effectiveness and feasibility of the proposed method are verified by comparing it with the traditional backstepping sliding mode controller. The simulation results show that the fractional-order reverse-step sliding mode control algorithm proposed in this paper is significantly better than other control algorithms in terms of convergence speed and also has a certain degree of superiority in terms of error elimination.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139205438","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 the implementation of robot motion control, complex kinematic computations consume too much central processing unit (CPU) time and affect the responsiveness of robot motion. To solve this problem, this paper proposes a parallel method for solving kinematic equations of articulated robots based on the coordinate rotation digital computer (CORDIC) algorithm. The method completes the fast calculation of the transcendental function based on the CORDIC algorithm, adopts the tree structure method to optimize the key computational paths of forward and inverse solutions, and designs a parallel pipeline to realize the low latency and high throughput of the kinematic equations. The experiments of the proposed method are validated based on the field-programmable gate array (FPGA) hardware experimental platform, and the experimental results demonstrate that the computational time to complete the entire kinematic equations is 4.68 μs, of which the computational time for the kinematic positive solution is 0.52 μs and the computational time for the kinematic inverse solution is 4.16 μs.
{"title":"The Parallel Solving Method of Robot Kinematic Equations Based on FPGA","authors":"Deli Zhang, Shaohua Jiang, Liu Zhe","doi":"10.1155/2023/2426982","DOIUrl":"https://doi.org/10.1155/2023/2426982","url":null,"abstract":"In the implementation of robot motion control, complex kinematic computations consume too much central processing unit (CPU) time and affect the responsiveness of robot motion. To solve this problem, this paper proposes a parallel method for solving kinematic equations of articulated robots based on the coordinate rotation digital computer (CORDIC) algorithm. The method completes the fast calculation of the transcendental function based on the CORDIC algorithm, adopts the tree structure method to optimize the key computational paths of forward and inverse solutions, and designs a parallel pipeline to realize the low latency and high throughput of the kinematic equations. The experiments of the proposed method are validated based on the field-programmable gate array (FPGA) hardware experimental platform, and the experimental results demonstrate that the computational time to complete the entire kinematic equations is 4.68 μs, of which the computational time for the kinematic positive solution is 0.52 μs and the computational time for the kinematic inverse solution is 4.16 μs.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135818749","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}
{"title":"Retracted: Research on Clue Mining in Criminal Cases of Smart Phone Trojan Horse under the Background of Information Security","authors":"Journal of Robotics","doi":"10.1155/2023/9785409","DOIUrl":"https://doi.org/10.1155/2023/9785409","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135824619","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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