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Article
Publication date: 22 January 2024

Jun Liu, Junyuan Dong, Mingming Hu and Xu Lu

Existing Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic…

Abstract

Purpose

Existing Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic points on the dynamic objects in the image in the mapping can have an impact on the observation of the system, and thus there will be biases and errors in the position estimation and the creation of map points. The aim of this paper is to achieve more accurate accuracy in SLAM algorithms compared to traditional methods through semantic approaches.

Design/methodology/approach

In this paper, the semantic segmentation of dynamic objects is realized based on U-Net semantic segmentation network, followed by motion consistency detection through motion detection method to determine whether the segmented objects are moving in the current scene or not, and combined with the motion compensation method to eliminate dynamic points and compensate for the current local image, so as to make the system robust.

Findings

Experiments comparing the effect of detecting dynamic points and removing outliers are conducted on a dynamic data set of Technische Universität München, and the results show that the absolute trajectory accuracy of this paper's method is significantly improved compared with ORB-SLAM3 and DS-SLAM.

Originality/value

In this paper, in the semantic segmentation network part, the segmentation mask is combined with the method of dynamic point detection, elimination and compensation, which reduces the influence of dynamic objects, thus effectively improving the accuracy of localization in dynamic environments.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 26 March 2024

Sajad Pirsa and Fahime Purghorbani

In this study, an attempt has been made to collect the research that has been done on the construction and design of the H2O2 sensor. So far, many efforts have been made to…

Abstract

Purpose

In this study, an attempt has been made to collect the research that has been done on the construction and design of the H2O2 sensor. So far, many efforts have been made to quickly and sensitively determine H2O2 concentration based on different analytical principles. In this study, the importance of H2O2, its applications in various industries, especially the food industry, and the importance of measuring it with different techniques, especially portable sensors and on-site analysis, have been investigated and studied.

Design/methodology/approach

Hydrogen peroxide (H2O2) is a very simple molecule in nature, but due to its strong oxidizing and reducing properties, it has been widely used in the pharmaceutical, medical, environmental, mining, textile, paper, food production and chemical industries. Sensitive, rapid and continuous detection of H2O2 is of great importance in many systems for product quality control, health care, medical diagnostics, food safety and environmental protection.

Findings

Various methods have been developed and applied for the analysis of H2O2, such as fluorescence, colorimetry and electrochemistry, among them, the electrochemical technique due to its advantages in simple instrumentation, easy miniaturization, sensitivity and selectivity.

Originality/value

Monitoring the H2O2 concentration level is of practical importance for academic and industrial purposes. Edible oils are prone to oxidation during processing and storage, which may adversely affect oil quality and human health. Determination of peroxide value (PV) of edible oils is essential because PV is one of the most common quality parameters for monitoring lipid oxidation and oil quality control. The development of cheap, simple, fast, sensitive and selective H2O2 sensors is essential.

Details

Sensor Review, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0260-2288

Keywords

Article
Publication date: 20 September 2022

Lalit Narendra Patil, Hrishikesh P. Khairnar and S.G. Bhirud

Electric vehicles are well known for a silent and smooth drive; however, their presence on the road is difficult to identify for road users who may be subjected to certain…

Abstract

Purpose

Electric vehicles are well known for a silent and smooth drive; however, their presence on the road is difficult to identify for road users who may be subjected to certain incidences. Although electric vehicles are free from exhaust emission gases, the wear particles coming out from disc brakes are still unresolved issues. Therefore, the purpose of the present paper is to introduce a smart eco-friendly braking system that uses signal processing and integrated technologies to eventually build a comprehensive driver assistance system.

Design/methodology/approach

The parameters obstacle identification, driver drowsiness, driver alcohol situation and heart rate were all taken into account. A contactless brake blending system has been designed while upgrading a rapid response. The implemented state flow rule-based decision strategy validated with the outcomes of a novel experimental setup.

Findings

The drowsiness state of drivers was successfully identified for the proposed control map and set up vindicated with the improvement in stopping time, atmospheric environment and increase in vehicle active safety regime.

Originality/value

The present study adopted a unique approach and obtained a brake blending system for improved braking performance as well as overall safety enhancement with rapid control of the vehicle.

Details

World Journal of Engineering, vol. 21 no. 1
Type: Research Article
ISSN: 1708-5284

Keywords

Article
Publication date: 24 October 2023

WenFeng Qin, Yunsheng Xue, Hao Peng, Gang Li, Wang Chen, Xin Zhao, Jie Pang and Bin Zhou

The purpose of this study is to design a wearable medical device as a human care platform and to introduce the design details, key technologies and practical implementation…

Abstract

Purpose

The purpose of this study is to design a wearable medical device as a human care platform and to introduce the design details, key technologies and practical implementation methods of the system.

Design/methodology/approach

A multi-channel data acquisition scheme based on PCI-E (rapid interconnection of peripheral components) was proposed. The flexible biosensor is integrated with the flexible data acquisition card with monitoring capability, and the embedded (device that can operate independently) chip STM32F103VET6 is used to realize the simultaneous processing of multi-channel human health parameters. The human health parameters were transferred to the upper computer LabVIEW by intelligent clothing through USB or wireless Bluetooth to complete the transmission and processing of clinical data, which facilitates the analysis of medical data.

Findings

The smart clothing provides a mobile medical cloud platform for wearable medical through cloud computing, which can continuously monitor the body's wrist movement, body temperature and perspiration for 24 h. The result shows that each channel is completely accurate to the top computer display, which can meet the expected requirements, and the wearable instant care system can be applied to healthcare.

Originality/value

The smart clothing in this study is based on the monitoring and diagnosis of textiles, and the electronic communication devices can cooperate and interact to form a wearable textile system that provides medical monitoring and prevention services to individuals in the fastest and most accurate way. Each channel of the system is precisely matched to the display screen of the host computer and meets the expected requirements. As a real-time human health protection platform technology, continuous monitoring of human vital signs can complete the application of human motion detection, medical health monitoring and human–computer interaction. Ultimately, such an intelligent garment will become an integral part of our everyday clothing.

Details

International Journal of Clothing Science and Technology, vol. 36 no. 1
Type: Research Article
ISSN: 0955-6222

Keywords

Article
Publication date: 13 February 2024

Yanghong Li, Yahao Wang, Yutao Chen, X.W. Rong, Yuliang Zhao, Shaolei Wu and Erbao Dong

The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high…

Abstract

Purpose

The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution network operation robot named Sky-Worker to solve the above two problems.

Design/methodology/approach

The heterogeneous arms of Sky-Worker are driven by hydraulics and electric motors to solve the contradiction between high load-carrying capacity and high flexibility. A human–robot collaborative shared control architecture is built to realize real-time human intervention during autonomous operation, and control weights are dynamically assigned based on energy optimization.

Findings

Simulations and tests show that Sky-Worker has good dexterity while having a high load capacity. Based on Sky-Worker, multiuser tests and practical application experiments show that the designed shared-control mode effectively improves the success rate and efficiency of operations compared with other current operation modes.

Practical implications

The designed heterogeneous dual-arm distribution robot aims to better serve distribution line operation tasks.

Originality/value

For the first time, the integration of hydraulic and motor drives into a distribution network operation robot has achieved better overall performance. A human–robot cooperative shared control framework is proposed for remote live-line working robots, which provides better operation results than other current operation modes.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 9 February 2024

Xiaoqing Zhang, Genliang Xiong, Peng Yin, Yanfeng Gao and Yan Feng

To ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous…

Abstract

Purpose

To ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous massage path planning and stable interaction control.

Design/methodology/approach

First, back region extraction and acupoint recognition based on deep learning is proposed, which provides a basis for determining the working area and path points of the robot. Second, to realize the standard approach and movement trajectory of the expert massage, 3D reconstruction and path planning of the massage area are performed, and normal vectors are calculated to control the normal orientation of robot-end. Finally, to cope with the soft and hard changes of human tissue state and body movement, an adaptive force tracking control strategy is presented to compensate the uncertainty of environmental position and tissue hardness online.

Findings

Improved network model can accomplish the acupoint recognition task with a large accuracy and integrate the point cloud to generate massage trajectories adapted to the shape of the human body. Experimental results show that the adaptive force tracking control can obtain a relatively smooth force, and the error is basically within ± 0.2 N during the online experiment.

Originality/value

This paper incorporates deep learning, 3D reconstruction and impedance control, the robot can understand the shape features of the massage area and adapt its planning massage path to carry out a stable and safe force tracking control during dynamic robot–human contact.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 26 March 2024

Zhiqiang Wang

This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line…

Abstract

Purpose

This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations.

Design/methodology/approach

A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors.

Findings

The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention.

Originality/value

The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 9 January 2024

Jian Kang, Libei Zhong, Bin Hao, Yuelong Su, Yitao Zhao, Xianfeng Yan and Shuanghui Hao

Most of the linear encoders are based on optics. The accuracy and reliability of these encoders are greatly reduced in polluted and noisy environments. Moreover, these encoders…

Abstract

Purpose

Most of the linear encoders are based on optics. The accuracy and reliability of these encoders are greatly reduced in polluted and noisy environments. Moreover, these encoders have a complex structure and large sensor volume and are thus not suited to small application scenarios and do not have universality. This paper aims to present a new absolute magnetic linear encoder, which has a simple structure, small size and wide application range.

Design/methodology/approach

The effect of swing error is analyzed for the sensor structural arrangement. A double-threshold interval algorithm is then proposed to synthesize multiple interval electrical angles into absolute angles and convert them into actual displacement distances.

Findings

The final linear encoder measurement range is 15.57 mm, and the resolution reaches ± 2 µm. The effectiveness of the algorithm is demonstrated experimentally.

Originality/value

The linear encoder has good robustness, and high measurement accuracy, which is suitable for industrial production. The linear encoder has been mass-produced and used in an electric power-assisted braking system.

Details

Sensor Review, vol. 44 no. 1
Type: Research Article
ISSN: 0260-2288

Keywords

Open Access
Article
Publication date: 29 July 2020

Mahmood Al-khassaweneh and Omar AlShorman

In the big data era, image compression is of significant importance in today’s world. Importantly, compression of large sized images is required for everyday tasks; including…

Abstract

In the big data era, image compression is of significant importance in today’s world. Importantly, compression of large sized images is required for everyday tasks; including electronic data communications and internet transactions. However, two important measures should be considered for any compression algorithm: the compression factor and the quality of the decompressed image. In this paper, we use Frei-Chen bases technique and the Modified Run Length Encoding (RLE) to compress images. The Frei-Chen bases technique is applied at the first stage in which the average subspace is applied to each 3 × 3 block. Those blocks with the highest energy are replaced by a single value that represents the average value of the pixels in the corresponding block. Even though Frei-Chen bases technique provides lossy compression, it maintains the main characteristics of the image. Additionally, the Frei-Chen bases technique enhances the compression factor, making it advantageous to use. In the second stage, RLE is applied to further increase the compression factor. The goal of using RLE is to enhance the compression factor without adding any distortion to the resultant decompressed image. Integrating RLE with Frei-Chen bases technique, as described in the proposed algorithm, ensures high quality decompressed images and high compression rate. The results of the proposed algorithms are shown to be comparable in quality and performance with other existing methods.

Details

Applied Computing and Informatics, vol. 20 no. 1/2
Type: Research Article
ISSN: 2634-1964

Keywords

Article
Publication date: 25 March 2024

Yu Huang, Xiaofen Ji, Lina Zhai and Francisca Margarita Ocran

Breast cancer has become the largest cancer in the world today. Health problems for women with breast cancer need to be addressed urgently. This study aims to select the best…

Abstract

Purpose

Breast cancer has become the largest cancer in the world today. Health problems for women with breast cancer need to be addressed urgently. This study aims to select the best method for preparing temperature-sensitive sports underwear, and to verify the feasibility of using K-type thermocouple threads in underwear fabrics.

Design/methodology/approach

In the experiments, two samples were designed for temperature-sensitive performance tests and the effects produced by different outer layer structures were investigated. In the second step, K-type thermocouple wires were integrated into sports underwear. The comfort and feasibility of the temperature-sensitive underwear were investigated.

Findings

It was finally verified to obtain the best comfort and temperature-sensing performance of K-type thermocouple filaments integrated into sports underwear with plain stitching.

Originality/value

The underwear has a certain prospect for the application of smart apparel based on breast cancer health monitoring, which is of some significance for monitoring smart apparel.

Details

International Journal of Clothing Science and Technology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0955-6222

Keywords

1 – 10 of 138