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This paper describes the development of an autonomous mapping system (AMS) for basic terrain mapping and quantifies it's performance relative to conventional survey instruments. The AMS platform is an off-the-shelf robotic chassis equipped with wheel encoders, IMU and a survey-grade GNSS RTK receiver. The AMS is autonomously controlled by the Robot Operating System (ROS) using open-source and purpose-written...
Hyperspectral Image (HSI) segmentation is one of the key prepossessing steps for subsequent applications and analysis. Unsupervised Segmentation without dimension reduction is a pervasive problem in Computer vision and a more challenging problem in HSI. A novel unsupervised spectral-spatial adaptive boundary adjustment/movement-based model and a framework is devised for HSI segmentation, which is...
In this paper, a humanoid grinding robot with two 6-DOF manipulators is proposed. The robot is equipped with force/torque sensors and binocular vision cameras, through which the interaction between the robot and the environment can be recognized and serves as a feedback for adaptive grinding control. Kinematics of the dual-arm robot is analyzed. Simulation of a grinding movement is carried out in...
This paper proposes a novel method which uses online measurement data to create robot path for 3D grinding of workpieces with complex surfaces. The surface is measured as point cloud by a 3D scanner. The point cloud data is processed by filtering and smoothing, and then used for path planning. The grinding paths are generated by creating a series of planes to intersect with the target surface. A point...
This paper presents an experimental study on utilizing visual odometry (VO) for pose estimation of mobile robots in outdoor GPS-denied environments. The experiments have been done using two different stereo VO algorithms implemented in Robot Operating System (ROS). The results have been compared with ground truth and drift has been identified. Sensor integration has been successfully used to minimize...
This paper presents the design of a novel, noninvasive, low cost (< $70), low voltage (< 46 V maximum output, 3 V power supply), functional electrical stimulation (FES) circuit aimed at upper-limb stroke rehabilitation. The novel component of the circuit is the unique topology. This circuit uses a boost converter in series with an H-bridge to produce the required biphasic pulses. The stimulator...
As soft computing techniques are more and more widely used in machining process, Artificial Neural Network (ANN) has become an effective way to construct predicting model in grinding process. The present paper reviews the efforts made in recent two decades on modeling grinding process via ANN in a sequence as input and output parameters, ANN topology and the details of the ANN training algorithm....
With smart buildings becoming popular, it is important to track the wastage of energy in public shared buildings to save energy. Current monitoring systems do not provide real-time visibility into the impact of occupants' actions on energy consumption of a building. We propose a system that tracks the energy consumed by users in shared spaces such as offices thereby making them aware and accountable...
A novel brachiating, biped mobility platform for tree to tree traversal is analyzed by its kinematics and dynamics. The machine performs brachiation in the horizontal plane. Firstly, the kinematic model is derived then used to investigate the workspace of the end effector. The optimal grasping location is identified through the Yoshikawa manipulability measure. Secondly, actuator performance and limitations...
This paper provides an overview of literature in recent five years on the state of the art of in-pipe inspection and cleaning robots. Firstly the overview explains the reasons why inpipe robots play a very important role in the rapid development of modern industry. Secondly, according to existent researches, type and feature of the traditional in-pipe robots have been systematically generalized which...
In recent decades, a lot of research has been done on snake-like robots. There has been a new revolution in theory and implementation of snake-like robots. It enlarges the field of robotic application. A literature survey of researches on snake-like robots theory is provided biomechanical studies of biological snakes, kinematics and dynamics modeling, control system analysis. The research theory results...
To successfully fell a tree, semi-autonomous robotic devices must be capable of identifying the position, size and orientation of trees in the environment of a plantation forest. An approach is proposed to identify the aforementioned tree properties using data gathered from a Light Detection And Ranging (LiDAR) scanner. Trees are detected from the gathered point cloud by searching for horizontally...
This paper introduces a novel vision based obstacle avoidance technique for indoor navigation of autonomous mobile robots. The indoor environment is considered as office environment with homogenous surfaces. In this technique, a color image taken by a monocular vision camera is clustered by mean-shift algorithm, then the clustered image is classified by a novel classification technique based on graph...
This paper presents a novel vision based technique for navigation of agricultural mobile robots in orchards. In this technique, the captured color image is clustered by mean-shift algorithm, then a novel classification technique based on graph partitioning theory classifies clustered image into defined classes including terrain, trees and sky. Then, Hough transform is applied to extract the features...
This paper outlines the design of a novel teleoperated robotic system that is proposed for the felling process of Pinus Radiata on steep terrain. The system uses arboreal locomotion similar to that used by monkeys for the method of traversal between trees which has not been used in this manner previously. Machine vision for tree recognition and optimal path planning are used to maximize the efficiency...
The study of quadruped robots is an important branch of robotics. As is known to all, quadruped robots can go through the rough terrain easily and they are useful in field operation. Whether quadruped robot can interact softly with the environment is an important index to value its property. This paper presents the preliminary research of a quadruped robot, mainly focus on the mechanical design and...
Robotisation of forestry harvesting in New Zealand has the potential to achieve great productivity benefits and support the timber industry in the face of global market competition. Recognition and localization of tree trunks is the first critical operation for an autonomous forestry harvesting robot and is a challenging task due to variations of illumination under normal forestry harvesting conditions...
Combining teleoperation and haptic feedback is a challenging task. Haptic feedback makes a teleoperation system bilateral, introducing sensitivity to communication system delays. Delays are a common cause of control system instability, but with haptic feedback another source of instability is introduced due to the interaction between force and velocity which adds energy to the system. TCP/IP equipment...
This paper describes the experimental testing of an actuated lower-limb exoskeleton. The exoskeleton is designed to alleviate the loading at the knee joint by supplying assistive torque. It is hypothesised that the support provided will reduce the muscular effort required to perform activities of daily living and thus facilitate the execution of these movements by those who previously had limited...
Mechanization of forestry harvesting has significant and proven cost, productivity and safety benefits. However, safety concerns mean conventional mechanised harvesting cannot be used in steep terrain (>22° slope) in New Zealand. This means that manual harvesting must still be used in the most dangerous conditions. This paper outlines a project being run by the University of Canterbury in partnership...
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