We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation map-building. LIO-SAM formulates lidar-inertial atop factor graph, allowing multitude of relative absolute measurements, including loop closures, to be incorporated from different sources as factors into the system. The estimated motion measurement unit (IMU) pre-integration de-skews point clouds produces an initial...

Modern energy systems are experiencing the transition towards renewable-powered ones. Some conventional thermal units based on synchronous machines gradually decommissioned and replaced by power electronics interfaced renewables. Thus, lack of natural inertia governor damping, which features machines, raises significant concern about system frequency stability, including faster rate change lower nadir point frequency. Meanwhile, with rapid development communication Internet Things...

Within the next several years, there will be a high level of autonomous technology that available for widespread use, which reduce labor costs, increase safety, save energy, enable difficult unmanned tasks in harsh environments, and eliminate human error. Compared to software development other vehicles, maritime development, especially aging but still functional fleets, is described as being very early emerging phase. This presents great challenges opportunities researchers engineers develop...

In this paper, we present the design, modeling, and real-time nonlinear model predictive control (NMPC) of an autonomous robotic boat. The robot is easy to manufacture, highly maneuverable, capable accurate trajectory tracking in both indoor outdoor environments. particular, a cross type four-thruster configuration proposed for boat produce efficient holonomic motions. prototype rapidly 3D-printed then sealed by adhering several layers fiberglass. To achieve control, formulate NMPC strategy...

Unmanned surface vehicles (USVs) are typically designed for open area marine applications. In this paper, we present a new autonomy system (Roboat) urban waterways which requires robust localization, perception, planning, and control. A novel localization system, based on the extended Kalman filter (EKF), is proposed USVs, utilizes LiDAR, camera, IMU to provide decimeter-level precision in dynamic GPS-attenuated waterways. Area shape filters crop water reflections street obstacles from...

Revealing the evolved mechanisms that give rise to collective behavior is a central objective in study of cellular and organismal systems. In addition, understanding algorithmic basis social interactions causal quantitative way offers an important foundation for subsequently quantifying deficits. Here, with virtual reality technology, we used robot fish reverse engineer sensory-motor control response during schooling vertebrate model: juvenile zebrafish (Danio rerio). addition providing...

This paper focuses on the development of an online high-precision probabilistic localization approach for miniature underwater robots equipped with limited computational capacities and low-cost sensing devices. The system takes Monte Carlo (MCL) as main framework utilizes onboard camera inertial measurement unit (IMU) information acquisition to provide a decimeter-level precision 5-Hz refreshing rate in small space several artificial landmarks. Specifically, novel image processing algorithm...

Dynamical model is always an important factor in controller design for robots. Existing models of robotic fish typically incorporate only planar motion, rarely considering spatial motion. This paper formulates a complete three-dimensional (3-D) dynamic the actuated by pectoral and caudal fins, which fluid forces mainly contain quasi-steady lift drag, gravity buoyancy, waterjet strike force. The critical drag flapping fins are derived with explicit 3-D angle attack. Taking bioinspired central...

A lateral line system is a flow-responsive organ system, with which fish can effectively sense the surrounding flow field, thus serving functions in flow-aided behaviors. Inspired by such biological characteristic, artificial systems (ALLSs) have been developed for promoting technological innovations of underwater robots. In this article, we focus on investigating state estimation freely swimming robotic multiple motions, including rectilinear motion, turning gliding and spiral motion. The...

This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control estimation, path planning. designed to maximize the internal space transport, can carry payloads several times its own weight. Moreover, it holonomic motions facilitate transporting, docking, inter-connectivity between boats. The proposed SLAM system receives sensor data from 3D LiDAR, an...

Real-time monitoring of ships is crucial for inland navigation management. Under complex conditions, it difficult to balance accuracy, real-time performance, and practicality in ship detection tracking. We propose a lightweight model, YOLOv8-FAS, address this issue First, FasterNet the attention mechanism are integrated introduced achieve feature extraction simply efficiently. Second, GSConv convolution method one-shot aggregation module construct an efficient network neck enhance fusion....

Autonomous gait optimization is an essential survival ability for mobile robots. However, it remains a challenging task underwater This paper addresses this problem the locomotion of bio-inspired robotic fish and aims at identifying fast swimming autonomously by robot. Our approach learning controllers mainly uses three components: 1) biological concept central pattern generator to obtain specific gaits; 2) onboard sensory processing center discover environment evaluate gait; 3) evolutionary...

This paper focuses on a Central Pattern Generator (CPG)-based locomotion controller design for boxfish-like robot. The bio-inspired is aimed at flexible switching in multiple 3D swimming patterns and exact attitude control of yaw roll such that the robot will swim more like real boxfish. CPG network comprises two layers, lower layer coupled linear oscillators upper transition where lower-dimensional stimuli are transformed into higher-dimensional parameters serving all oscillators. Based...

Six Sigma as a framework for eliminating defects at the project level and improving performance customer satisfaction corporate has been generally recognised. This case-oriented paper reports an important management case study world’s largest cold rolling mill situated in China. The descriptions of measures taken company level, well that exemplary application experience this company, would constitute most comprehensive account impact brought about by to company. A Black Belt was conducted...

Purpose To ensure the safety of electric power supply, it is necessary to inspect substation equipment. With dramatic increase in number substations, especially indoor intelligent robot inspection has become an important development direction. This paper aims describe design a trackless with robotic arm, which capable navigating autonomously and inspecting equipment narrow complex substation. Design/methodology/approach A robust four-wheel platform powered by motors used carry robot. By...