To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration the entire scene local objects within it. In this work, we propose novel approach, which provides object-aware guidance for autoscanning, exploring, reconstructing, understanding an navigation pass. Our approach interleaves object analysis identify next best (NBO) exploration, information gain plan view (NBV) scanning. First, objectness-based...

ABSTRACT To solve the problems of low signal to noise ratio (SNR), poor processing effect, and long times for traditional image algorithms, an algorithm agricultural Internet Things platform based on big data analysis was designed. The method used low-quality recognition, uses sparse representation a complete dictionary denoising with improved histogram equalization enhance result get high-quality image. Through this, design completed. Experimental results show that has high SNR good time is...

In this paper, the dynamics and control aspects of longitudinal motion pendulum-driven spherical robots are investigated. A simplified dynamic model is established for a robot, which an underactuated mechanical system. Based on model, hierarchical sliding mode controller proposed. The stability whole system verified through Lyapunov analysis, asymptotic sub-sliding surfaces proved with mathematical techniques. validity proposed illustrated simulation study.

In this paper, a kind of multi-objective trajectory optimization method based on non-dominated sorting genetic algorithm II (NSGA-II) is proposed for free-floating space manipulator. The aim to optimize the motion path manipulator with joint angle constraints and velocity constraints. Firstly, kinematics dynamics model are built. Secondly, 3-5-3 piecewise polynomial selected as interpolation planning space. Thirdly, three objective functions established simultaneously minimize execution...

This paper presents a dynamic parameter identification method of the base free-flying space robot. Since parameters play significant role in control robot system, it is necessary to identify First are identified based on principle momentum conservation this paper. Then gravity gradient torque used product inertia for that has effect attitude The and experimental process introduced feasibility verified by simulation.

This paper presents a novel computing method of spatial arc to solve the problem large amount calculation in traditional trajectories plan. First, position planning is computed based on three given points Cartesian space. Second, axis-angle relationships used for orientation planning. Finally, simulation 7-DOF manipulator clearly demonstrates effectiveness proposed method.

Land-air amphibious vehicles (LAVs) have been increasingly used in complex scenes and tasks recent years due to their multi-domain mobility. In this context, the attitude stability control of flight system disturbance environment has become a common problem be solved improved, especially relatively weak yaw channel. This paper focuses on improvement capability under external wind from two aspects configuration optimization adaptive augmentation control. Firstly, mechanism torque increasement...

3D Gaussian Splatting (3DGS) has recently attracted wide attentions in various areas such as navigation, Virtual Reality (VR) and simulation, due to its photorealistic efficient rendering performance. High-quality reconstrution of 3DGS relies on sufficient splats a reasonable distribution these fit real geometric surface texture details, which turns out be challenging problem. We present GeoTexDensifier, novel geometry-texture-aware densification strategy reconstruct high-quality better...

In this paper, a model predictive controller for the position tracking of flexible robot joints with harmonic drive gears is presented. The control methodology enables drive's safety and physical constraints on torque speed variables while guaranteeing stability system. effect horizon performance examined. Moreover, influence parameter changes tested in paper. Experimental results demonstrate proposed very effective references meeting demanding requirements during operation.

To solve problem of bearing fault for parcel sorting machine (PSM) induction station system (ISS), a method based on the Rigid-Flexible Coupling and Virtual Prototyping is proposed. Firstly, ISS structure analyzed, then built model Respectively. Finally, several typical faults are simulated compared with theoretical values. Simulation results show that can improve diagnosis accuracy decrease recognition uncertainty.

A novel structure design method to improve the output performance in course of modular robot is presented this paper. The new parameter joint defined based on analysis existing joint. Output torque and Max speed increased by means different Brushless DC-Servomotor harmonic reducer limited interspace. repeated positioning accuracy not reduced when are increased. And parts process parameters improved. show that feasible.

In order to improve the adaptability and moving stabilization of flexible squirm robot in pipe, its key structures, including brake wheels, spring axle guide head, are optimized. For new designed robot, ability trafficability straight pipe L-shape analyzed. Proceed with robot's qualification, mechanical model is established squirming qualifications proposed. Finally, a developed verify validity proposed method.

The obstacle surmounting capability of traditional spherical mobile robot is limited, especially when the comes across vertical barrier. In this paper we design a new kind with two-mass-one-spring mechanism based on tradition robot. This could not only move agility and zero turning radius like but also jump in three-dimensional space. build mathematical model jumping friction. Numeric simulations are carried out for using Matlab ADAMS, get similar curve. These simulation results verify...

This paper studies the impact of two rigid bodies considering tangential friction in three dimensional space. It extends Stronge’s spring-based planar contact structure to dimensions by introducing orthogonal virtual springs. Impact analysis is carried out using normal impulse rather than time as only independent variable, unlike previous work on impulse. makes algorithm more compact. At last, collision governed a system differential equations. Modularity model it easy be integrated into...

In order to improve the response effectiveness, extend workspace of parallel manipulator and make it more conveniently be used in realistic tasks, this paper has introduced an improved mechanism based on traditional 6-PUS, which applied rails leaning outside linear motor as its driving system. This optimized initial parameters mechanism, analyzed software Matlab using method cylindrical coordinate search. The result a guiding significance optimization manipulators manufacturing new prototype.

This paper presents a dynamic parameter identification method of the unknown object handled by manipulator. Since load will change characteristic space robot system, it is necessary to identify parameters object. The are identified based on principle momentum conservation in this paper. and experimental process introduced feasibility verified simulation.

Two kinds of dynamic load-carrying capacity (DLCC) evaluation methods for free-floating space manipulators (FFSM) in two typical on-orbit operating missions are proposed this paper. DLCC is transformed into nonlinear programming problem (NPP) by introducing coefficient to measure DLCC: point-to-point task, penalty function method adopted approach the boundary feasible region rapidly, then can be obtained through following iterations; trajectory tracking NPP solved using multiple...

Aiming at on-orbit capture task, a Genetic Algorithm based approach for pre-collision trajectory optimization with multi-targets is proposed in this paper. Through the analysis of task characteristics, before collision are presented, which contain point-to-point manoeuvre, impact pose control and impulse minimization. algorithm employed to optimize after integrating by setting weight. At last, simulation results verify effectiveness method.

In this paper, we derive the dynamics of a spherical rolling robot, called BYQ-III, without slipping on an inclined plane through constrained Lagrange method. We present state space realization system, and develop control algorithm for stabilizing robot to track desired trajectory based input-output feedback linearization. The validity proposed scheme is then verified simulation study.

This paper is concerned with the modeling and simulation of two- three-dimensional impact in presence friction. Single impacts are considered, equations solved algebraically. Impact generates impulsive normal frictional forces direction sliding can change during impact. A procedure developed to estimate The modes impact, such as sliding, sticking, or classified for both Simulations conducted analyze energy lost, direction, stick-slip conditions, where different models restitution compared....

The vibration of the induction synchronization segment (ISS) have an important influence on parcel loading accuracy and service life sorting machine (PSM). model ISS is established by using finite element method. And analysis structural design impact natural frequency provided. relationship between operation obtained means modal simulation analysis. characteristics can provide reference frame for design.

The bilateral PD control method for teleoperation robot has some defects, such as poor tracking performance and force feedback performance. This paper, based on traditional method, adds an impedance controller to the master slave, deduces stability condition according absolute criterion. simulation shows that this can assure system improve

The virtual prototype model is established for the induction station system of parcel sorting machine. key problems belt modeling and constraint between bearing are solved. dynamical simulation analysis carried out using ADAMS software. Based on position velocity changes contact point parcel, dynamic performances gained. This research saves development costs time, provides theoretical basis working parameter design system.