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1 – 10 of 51Jun Tian, Xungao Zhong, Xiafu Peng, Huosheng Hu and Qiang Liu
Visual feedback control is a promising solution for robots work in unstructured environments, and this is accomplished by estimation of the time derivative relationship between…
Abstract
Purpose
Visual feedback control is a promising solution for robots work in unstructured environments, and this is accomplished by estimation of the time derivative relationship between the image features and the robot moving. While some of the drawbacks associated with most visual servoing (VS) approaches include the vision–motor mapping computation and the robots’ dynamic performance, the problem of designing optimal and more effective VS systems still remains challenging. Thus, the purpose of this paper is to propose and evaluate the VS method for robots in an unstructured environment.
Design/methodology/approach
This paper presents a new model-free VS control of a robotic manipulator, for which an adaptive estimator aid by network learning is proposed using online estimation of the vision–motor mapping relationship in an environment without the knowledge of statistical noise. Based on the adaptive estimator, a model-free VS schema was constructed by introducing an active disturbance rejection control (ADRC). In our schema, the VS system was designed independently of the robot kinematic model.
Findings
The various simulations and experiments were conducted to verify the proposed approach by using an eye-in-hand robot manipulator without calibration and vision depth information, which can improve the autonomous maneuverability of the robot and also allow the robot to adapt its motion according to the image feature changes in real time. In the current method, the image feature trajectory was stable in the camera field range, and the robot’s end motion trajectory did not exhibit shock retreat. The results showed that the steady-state errors of image features was within 19.74 pixels, the robot positioning was stable within 1.53 mm and 0.0373 rad and the convergence rate of the control system was less than 7.21 s in real grasping tasks.
Originality/value
Compared with traditional Kalman filtering for image-based VS and position-based VS methods, this paper adopts the model-free VS method based on the adaptive mapping estimator combination with the ADRC controller, which is effective for improving the dynamic performance of robot systems. The proposed model-free VS schema is suitable for robots’ grasping manipulation in unstructured environments.
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Zengrui Zheng, Kainan Su, Shifeng Lin, Zhiquan Fu and Chenguang Yang
Visual simultaneous localization and mapping (SLAM) has limitations such as sensitivity to lighting changes and lower measurement accuracy. The effective fusion of information…
Abstract
Purpose
Visual simultaneous localization and mapping (SLAM) has limitations such as sensitivity to lighting changes and lower measurement accuracy. The effective fusion of information from multiple modalities to address these limitations has emerged as a key research focus. This study aims to provide a comprehensive review of the development of vision-based SLAM (including visual SLAM) for navigation and pose estimation, with a specific focus on techniques for integrating multiple modalities.
Design/methodology/approach
This paper initially introduces the mathematical models and framework development of visual SLAM. Subsequently, this paper presents various methods for improving accuracy in visual SLAM by fusing different spatial and semantic features. This paper also examines the research advancements in vision-based SLAM with respect to multi-sensor fusion in both loosely coupled and tightly coupled approaches. Finally, this paper analyzes the limitations of current vision-based SLAM and provides predictions for future advancements.
Findings
The combination of vision-based SLAM and deep learning has significant potential for development. There are advantages and disadvantages to both loosely coupled and tightly coupled approaches in multi-sensor fusion, and the most suitable algorithm should be chosen based on the specific application scenario. In the future, vision-based SLAM is evolving toward better addressing challenges such as resource-limited platforms and long-term mapping.
Originality/value
This review introduces the development of vision-based SLAM and focuses on the advancements in multimodal fusion. It allows readers to quickly understand the progress and current status of research in this field.
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Hossam El-Din Fawzy, Maher Badawy and Magda Farhan
This paper aims to discuss the scanning methodology depending on the close-range photogrammetry technique, which is appropriate for the precise three-dimensional (3D) modelling of…
Abstract
Purpose
This paper aims to discuss the scanning methodology depending on the close-range photogrammetry technique, which is appropriate for the precise three-dimensional (3D) modelling of objects in millimetres, such as the dimensions and structures in sub-millimetre scale.
Design/methodology/approach
The camera was adjusted to be tilted around the horizontal axis, while coded dot targets were used to calibrate the digital camera. The experiment was repeated with different rotation angles (5°, 10°, 15°, 20°, 25°, 30°, 50° and 60°). The images were processed with the PhotoModeler software to create the 3D model of the sample and estimate its dimensions. The features of the sample were measured using high-resolution transmission electron microscopy, which has been considered as a reference and the comparative dimensions.
Findings
The results from the current study concluded that changing the rotation angle does not significantly affect the results, unless the angle of imagery is large which prevent achieving about 20: 30% overlap between the images but, the more angle decreases, the more number of images increase as well as the processing duration in the programme.
Originality/value
Develop an automatic appropriate for the precise 3D modelling of objects in millimetres, such as the dimensions and structures in sub-millimetre scale using photogrammetry.
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Chenyang Sun and Mohammad Khishe
The purpose of the study is to address concerns regarding the subjectivity and imprecision of decision-making in table tennis refereeing by developing and enhancing a sensor node…
Abstract
Purpose
The purpose of the study is to address concerns regarding the subjectivity and imprecision of decision-making in table tennis refereeing by developing and enhancing a sensor node system. This system is designed to accurately detect the points on the table tennis table where balls collide. The study introduces the twined-reinforcement chimp optimization (TRCO) framework, which combines two novel approaches to optimize the distribution of sensor nodes. The main goal is to reduce the number of sensor units required while maintaining high accuracy in determining the locations of ball collisions, with error margins significantly below the critical 3.5Â mm cutoff. Through complex optimization procedures, the study aims to improve the efficiency and reliability of decision-making in table tennis refereeing by leveraging sensor technology.
Design/methodology/approach
The study employs a design methodology focused on developing a sensor array system to enhance decision-making in table tennis refereeing. It introduces the twined-reinforcement chimp optimization (TRCO) framework, combining dual adaptive weighting strategies and a stochastic approach for optimization. By meticulously engineering the sensor array and utilizing complex optimization procedures, the study aims to improve the accuracy of detecting ball collisions on the table tennis table. The methodology aims to reduce the number of sensor units required while maintaining high precision, ultimately enhancing the reliability of decision-making in the sport.
Findings
The optimization research study yielded promising outcomes, showcasing a substantial reduction in the number of sensor units required from the initial count of 60 to a more practical 49. The sensor array system demonstrated excellent accuracy in identifying the locations of ball collisions, with error margins significantly below the critical 3.5Â mm cutoff. Through the implementation of the twined-reinforcement chimp optimization (TRCO) framework, which integrates dual adaptive weighting strategies and a stochastic approach, the study achieved its goal of enhancing the efficiency and reliability of decision-making in table tennis refereeing.
Originality/value
This study introduces novel contributions to the field of table tennis refereeing by pioneering the development and optimization of a sensor array system. The innovative twined-reinforcement chimp optimization (TRCO) framework, integrating dual adaptive weighting strategies and a stochastic approach, sets a new standard for sensor node distribution in sports technology. By substantially reducing the number of sensor units required while maintaining high accuracy in detecting ball collisions, this research offers practical solutions to address the inherent subjectivity and imprecision in decision-making processes. The study’s originality lies in its meticulous design methodology and complex optimization procedures, offering significant value to the field of sports technology and officiating.
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Berkay Aktürk and Pınar Irlayıcı Çakmak
This paper aims to fill the research gap on digital twin technology and its broad applicability during construction by shedding light on its interaction with Building Information…
Abstract
Purpose
This paper aims to fill the research gap on digital twin technology and its broad applicability during construction by shedding light on its interaction with Building Information Modeling (BIM) from a construction project management perspective. It presented the true potential of the digital twins in the construction phase of the project lifecycle.
Design/methodology/approach
The paper employed a two-step methodology that included a comprehensive synthesis of the literature on digital twins through the construction management lens and a questionnaire survey to assess the impact of digital twin services brought to light on parallel BIM uses.
Findings
The paper provides validated applications and many advantages of the digital twin on construction project management. It suggests that the industry should take advantage of 10 digital twin services introduced to eliminate the low efficiency and lack of productivity that the construction industry is still facing.
Research limitations/implications
The paper is one of the rare and pioneering studies that addresses the interaction between the digital twin and BIM from a construction management perspective with a quantitative approach examining the reflection of academic publications on the industry and their reception among industry professionals.
Practical implications
The paper provides a meaningful definition for the industry by grounding the concept of digital twin in existing technologies and their practical applications. This provides a roadmap for managers to approach the problems and BIM limitations they need to overcome in their companies or projects with tailor-made solutions.
Originality/value
The paper is one of the pioneering quantitative studies that fulfills an identified need to investigate digital twin technology for construction management and its extensive applicability for quickly evolving construction sites.
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Gan Zhan, Zhihua Chen, Zhenyu Zhang, Jigang Zhan, Wentao Yu and Jiehao Li
This study aims to address the issue of random movement and non coordination between docking mechanisms and locking mechanisms, and proposes a comprehensive dynamic docking…
Abstract
Purpose
This study aims to address the issue of random movement and non coordination between docking mechanisms and locking mechanisms, and proposes a comprehensive dynamic docking control architecture that integrates perception, planning, and motion control.
Design/methodology/approach
Firstly, the proposed dynamic docking control architecture uses laser sensors and a charge-coupled device camera to perceive the pose of the target. The sensor data are mapped to a high-dimensional potential field space and fused to reduce interference caused by detection noise. Next, a new potential function based on multi-dimensional space is developed for docking path planning, which enables the docking mechanism based on Stewart platform to rapidly converge to the target axis of the locking mechanism, which improves the adaptability and terminal docking accuracy of the docking state. Finally, to achieve precise tracking and flexible docking in the final stage, the system combines a self-impedance controller and an impedance control algorithm based on the planned trajectory.
Findings
Extensive simulations and experiments have been conducted to validate the effectiveness of the dynamic docking system and its control architecture. The results indicate that even if the target moves randomly, the system can successfully achieve accurate, stable and flexible dynamic docking.
Originality/value
This research can provide technical guidance and reference for docking task of unmanned vehicles under the ground conditions. It can also provide ideas for space docking missions, such as space simulator docking.
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Xiaoyu Lu, Wei Tian, Xingdao Lu, Bo Li and Wenhe Liao
This study aims to propose a calibration method to enhance the positioning accuracy in dual-robot collaborative operations, aiming to address the challenge of drilling hole…
Abstract
Purpose
This study aims to propose a calibration method to enhance the positioning accuracy in dual-robot collaborative operations, aiming to address the challenge of drilling hole spacing errors in spacecraft core cabin brackets that require an accuracy of less than 0.5 mm.
Design/methodology/approach
Initially, the cooperative error of dual robots is defined. Subsequently, an integrated model is constructed that encompasses the kinematic model errors of the dual robots, as well as the establishment errors of the base and tool frames. A calibration method for optimizing the cooperative accuracy of dual robots is proposed.
Findings
The application of the proposed method satisfies the collaborative drilling requirements for the spacecraft core cabin. The average cooperative positioning error of the dual robots was reduced from 0.507 to 0.156 mm, with the maximum value and standard deviation decreasing from 1.020 and 0.202 mm to 0.603 and 0.097 mm, respectively. Drilling experiments conducted on a core cabin simulator demonstrated that after calibration, the maximum hole spacing error was reduced from 1.219 to 0.403 mm, with all spacing errors falling below the 0.5 mm threshold, thus meeting the requirements.
Originality/value
This paper addresses the drilling accuracy requirements for spacecraft core cabins by using a calibration method to reduce the cooperative error of dual robots. The algorithm has been validated through experiments using ER 220 robots, confirming its effectiveness in fulfilling the drilling task requirements.
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Zhouxiang Jiang, Shiyuan Chen, Yuchen Zhao, Zhongjie Long, Bao Song and Xiaoqi Tang
In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative impact will be induced on the identification results if the rotational…
Abstract
Purpose
In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative impact will be induced on the identification results if the rotational kinematic errors are not small enough or the lengths of links are too long, which is common in the industrial cases. Thus, an accurate two-step kinematic calibration method minimizing the linearization errors is presented for a six-DoF serial robot to improve the calibration accuracy.
Design/methodology/approach
The negative impact of linearization on identification accuracy is minimized by removing the responsible linearized kinematic errors from the complete kinematic error model. Accordingly, the identification results of the dimension-reduced new model are accurate but not complete, so the complete kinematic error model, which achieves high identification accuracy of the rest of the error parameters, is combined with this new model to create a two-step calibration procedure capable of highly accurate identification of all the kinematic errors.
Findings
The proportions of linearization errors in measured pose errors are quantified and found to be non-negligible with the increase of rotational kinematic errors. Thus, negative impacts of linearization errors are analyzed quantitatively in different cases, providing the basis for allowed kinematic errors in the new model. Much more accurate results were obtained by using the new two-step calibration method, according to a comparison with the typical methods.
Originality/value
This new method achieves high accuracy with no compromise on completeness, is easy to operate and is consistent with the typical method because the second step with the new model is conveniently combined without changing the sensors or measurement instrument setup.
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The purpose of this paper is to propose a taxonomy of artificial intelligence (AI) literacy to support AI literacy education and research.
Abstract
Purpose
The purpose of this paper is to propose a taxonomy of artificial intelligence (AI) literacy to support AI literacy education and research.
Design/methodology/approach
This study makes use of the facet analysis technique and draws upon various sources of data and information to develop a taxonomy of AI literacy. The research consists of the following key steps: a comprehensive review of the literature published on AI literacy research, an examination of well-known AI classification schemes and taxonomies, a review of prior research on data/information/digital literacy research and a qualitative and quantitative analysis of 1,031 metadata records on AI literacy publications. The KH Coder 3 software application was used to analyse metadata records from the Scopus multidisciplinary database.
Findings
A new taxonomy of AI literacy is proposed with 13 high-level facets and a list of specific subjects for each facet.
Research limitations/implications
The proposed taxonomy may serve as a conceptual AI literacy framework to support the critical understanding, use, application and examination of AI-enhanced tools and technologies in various educational and organizational contexts.
Practical implications
The proposed taxonomy provides a knowledge organization and knowledge mapping structure to support curriculum development and the organization of digital information.
Social implications
The proposed taxonomy provides a cross-disciplinary perspective of AI literacy. It can be used, adapted, modified or enhanced to accommodate education and learning opportunities and curricula in different domains, disciplines and subject areas.
Originality/value
The proposed AI literacy taxonomy offers a new and original conceptual framework that builds on a variety of different sources of data and integrates literature from various disciplines, including computing, information science, education and literacy research.
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Xuelai Li, Xincong Yang, Kailun Feng and Changyong Liu
Manual monitoring is a conventional method for monitoring and managing construction safety risks. However, construction sites involve risk coupling - a phenomenon in which…
Abstract
Purpose
Manual monitoring is a conventional method for monitoring and managing construction safety risks. However, construction sites involve risk coupling - a phenomenon in which multiple safety risk factors occur at the same time and amplify the probability of construction accidents. It is challenging to manually monitor safety risks that occur simultaneously at different times and locations, especially considering the limitations of risk manager’s expertise and human capacity.
Design/methodology/approach
To address this challenge, an automatic approach that integrates point cloud, computer vision technologies, and Bayesian networks for simultaneous monitoring and evaluation of multiple on-site construction risks is proposed. This approach supports the identification of risk couplings and decision-making process through a system that combines real-time monitoring of multiple safety risks with expert knowledge. The proposed approach was applied to a foundation project, from laboratory experiments to a real-world case application.
Findings
In the laboratory experiment, the proposed approach effectively monitored and assessed the interdependent risks coupling in foundation pit construction. In the real-world case, the proposed approach shows good adaptability to the actual construction application.
Originality/value
The core contribution of this study lies in the combination of an automatic monitoring method with an expert knowledge system to quantitatively assess the impact of risk coupling. This approach offers a valuable tool for risk managers in foundation pit construction, promoting a proactive and informed risk coupling management strategy.
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