Search results

This study aims to offer a comprehensive exploration of the potential and challenges associated with sensor fusion-based virtual reality (VR) applications in the context of enhanced physical training. The main objective is to identify key advancements in sensor fusion technology, evaluate its application in VR systems and understand its impact on physical training.

The research initiates by providing context to the physical training environment in today’s technology-driven world, followed by an in-depth overview of VR. This overview includes a concise discussion on the advancements in sensor fusion technology and its application in VR systems for physical training. A systematic review of literature then follows, examining VR’s application in various facets of physical training: from exercise, skill development and technique enhancement to injury prevention, rehabilitation and psychological preparation.

Sensor fusion-based VR presents tangible advantages in the sphere of physical training, offering immersive experiences that could redefine traditional training methodologies. While the advantages are evident in domains such as exercise optimization, skill acquisition and mental preparation, challenges persist. The current research suggests there is a need for further studies to address these limitations to fully harness VR’s potential in physical training.

The integration of sensor fusion technology with VR in the domain of physical training remains a rapidly evolving field. Highlighting the advancements and challenges, this review makes a significant contribution by addressing gaps in knowledge and offering directions for future research.

Vision, audition, olfactory, tactile and taste are five important senses that human uses to interact with the real world. As facing more and more complex environments, a sensing system is essential for intelligent robots with various types of sensors. To mimic human-like abilities, sensors similar to human perception capabilities are indispensable. However, most research only concentrated on analyzing literature on single-modal sensors and their robotics application.

This study presents a systematic review of five bioinspired senses, especially considering a brief introduction of multimodal sensing applications and predicting current trends and future directions of this field, which may have continuous enlightenments.

This review shows that bioinspired sensors can enable robots to better understand the environment, and multiple sensor combinations can support the robot’s ability to behave intelligently.

The review starts with a brief survey of the biological sensing mechanisms of the five senses, which are followed by their bioinspired electronic counterparts. Their applications in the robots are then reviewed as another emphasis, covering the main application scopes of localization and navigation, objection identification, dexterous manipulation, compliant interaction and so on. Finally, the trends, difficulties and challenges of this research were discussed to help guide future research on intelligent robot sensors.

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.

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.

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.

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.

In recent decades, the field of robotic mapping has witnessed widespread research and development in light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) techniques. This paper aims to provide a significant reference for researchers and engineers in robotic mapping.

This paper focused on the research state of LiDAR-based SLAM for robotic mapping as well as a literature survey from the perspective of various LiDAR types and configurations.

This paper conducted a comprehensive literature review of the LiDAR-based SLAM system based on three distinct LiDAR forms and configurations. The authors concluded that multi-robot collaborative mapping and multi-source fusion SLAM systems based on 3D LiDAR with deep learning will be new trends in the future.

To the best of the authors’ knowledge, this is the first thorough survey of robotic mapping from the perspective of various LiDAR types and configurations. It can serve as a theoretical and practical guide for the advancement of academic and industrial robot mapping.

This study was conducted to address the methodical shortcomings and high associated cost of understanding the use of new, poorly understood architectural spaces, such as makerspaces. The proposed quantified method of enhancing current post-occupancy evaluation (POE) practices aims to provide architects, engineers and building professionals with accessible and intuitive data that can be used to conduct comparative studies of spatial changes, understand changes over time (such as those resulting from COVID-19) and verify design intentions after construction through a quantified post-occupancy evaluation.

In this study, we demonstrate the use of ultra-wideband (UWB) technology to gather, analyze and visualize quantified data showing interactions between people, spaces and objects. The experiment was conducted in a makerspace over a four-day hackathon event with a team of four actively tracked participants.

The study shows that by moving beyond simply counting people in a space, a more nuanced pattern of interactions can be discovered, documented and analyzed. The ability to automatically visualize findings intuitively in 3D aids architects and visual thinkers to easily grasp the essence of interactions with minimal effort.

By providing a method for better understanding the spatial and temporal interactions between people, objects and spaces, our approach provides valuable feedback in POE. Specifically, our approach aids practitioners in comparing spaces, verifying design intent and speeding up knowledge building when developing new architectural spaces, such as makerspaces.

This paper aims to investigate an autonomous obstacle-surmounting method based on a hybrid gait for the problem of crossing low-height obstacles autonomously by a six wheel-legged robot. The autonomy of obstacle-surmounting is reflected in obstacle recognition based on multi-frame point cloud fusion.

In this paper, first, for the problem that the lidar on the robot cannot scan the point cloud of low-height obstacles, the lidar is driven to rotate by a 2D turntable to obtain the point cloud of low-height obstacles under the robot. Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping algorithm, fast ground segmentation algorithm and Euclidean clustering algorithm are used to recognize the point cloud of low-height obstacles and obtain low-height obstacle in-formation. Then, combined with the structural characteristics of the robot, the obstacle-surmounting action planning is carried out for two types of obstacle scenes. A segmented approach is used for action planning. Gait units are designed to describe each segment of the action. A gait matrix is used to describe the overall action. The paper also analyzes the stability and surmounting capability of the robot’s key pose and determines the robot’s surmounting capability and the value scheme of the surmounting control variables.

The experimental verification is carried out on the robot laboratory platform (BIT-6NAZA). The obstacle recognition method can accurately detect low-height obstacles. The robot can maintain a smooth posture to cross low-height obstacles, which verifies the feasibility of the adaptive obstacle-surmounting method.

The study can provide the theory and engineering foundation for the environmental perception of the unmanned platform. It provides environmental information to support follow-up work, for example, on the planning of obstacles and obstacles.

The purpose of this paper is to provide a detailed insight into the global military robot industry with an emphasis on products and their applications.

Following an introduction which includes a brief historical account, this provides an industry overview, including various market dimensions and a discussion of the geopolitical and technological factors driving market development. The three following sections provide details of land, airborne and marine robots, their capabilities and deployments in recent conflicts. Finally, brief conclusions are drawn.

Military robots which operate on land, in the air and at sea constitute a multi-billion dollar industry which is growing rapidly. It is being driven by geopolitical tensions, notably the military-technology arms race between China and the USA and the conflict in Ukraine, together with technological progress, particularly in AI. Many robots possess multi-functional capabilities, and the leading application is presently intelligence, surveillance and reconnaissance. An increasing number of heavily armed robots are being developed, and AI has the potential to impart these with the capacity to deliver lethal force without human intervention. Although heavily criticised in some quarters, this capability has probably already been deployed on the battlefield. With ever-growing military budgets, escalating political tensions and technological innovations, robots will play an increasingly significant role in future conflicts.

This provides a detail account of military robots and their role in modern warfare.

The purpose of the study is to establish a predictive model for sustainable wire electrical discharge machining (WEDM) by using adaptive neuro fuzzy interface system (ANFIS). Machining was done on Titanium grade 2 alloy, which is also nicknamed as workhorse of commercially pure titanium industry. ANFIS, being a state-of-the-art technology, is a highly sophisticated and reliable technique used for the prediction and decision-making.

Keeping in the mind the complex nature of WEDM along with the goal of sustainable manufacturing process, ANFIS was chosen to construct predictive models for the material removal rate (MRR) and power consumption (Pc), which reflect environmental and economic aspects. The machining parameters chosen for the machining process are pulse on-time, wire feed, wire tension, servo voltage, servo feed and peak current.

The ANFIS predicted values were verified experimentally, which gave a root mean squared error (RMSE) of 0.329 for MRR and 0.805 for Pc. The significantly low RMSE verifies the accuracy of the process.

ANFIS has been there for quite a time, but it has not been used yet for its possible application in the field of sustainable WEDM of titanium grade-2 alloy with emphasis on MRR and Pc. The novelty of the work is that a predictive model for sustainable machining of titanium grade-2 alloy has been successfully developed using ANFIS, thereby showing the reliability of this technique for the development of predictive models and decision-making for sustainable manufacturing.

Construction progress monitoring (CPM) is considered a difficult and tedious task in construction projects, which focuses on identifying discrepancies between the as-built product and the as-planned design. Computer vision (CV) technology is applied to automate the CPM process. However, the synergy between the CV and CPM in literature and industry practice is lacking. This study aims to fulfil this research gap.

A Delphi qualitative approach was used in this study by conducting two interview rounds. The collected data was analysed using manual content analysis.

This study identified seven stages of CPM; data acquisition, information retrieval, verification, progress estimation and comparison, visualisation of the results and schedule updating. Factors such as higher accuracy in data, less labourious process, efficiency and near real-time access are some of the significant enablers in instigating CV for CPM. Major challenges identified were occlusions and lighting issues in the site images and lack of support from the management. The challenges can be easily overcome by implementing suitable strategies such as familiarisation of the workforce with CV technology and application of CV research for the construction industry to grow with the technology in line with other industries.

This study addresses the gap pertaining to the synergy between the CV in CPM literature and the industry practice. This research contributes by enabling the construction personnel to identify the shortcomings and the opportunities to apply automated technologies concerning each stage in the progress monitoring process.

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner.

In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm.

Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks.

This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.