Robotic Intelligence and Automation

Deep reinforcement learning-based variable impedance control for grinding workpieces with complex geometry

Yanghong Li, Yahao Wang, Zhen Li, Lv Yingxiang, Jin Chai, Erbao Dong

This paper aims to design a deep reinforcement learning (DRL)-based variable impedance control policy that supports stability analysis for robot force tracking in complex…

FRT*: fast reactive tree for mobile robot replanning in unknown dynamic environments

Zheng Li, Yanjie Chen, Zhixing Zhang, Hang Zhong, Yaonan Wang

This study aims to introduce the fast reactive tree (FRT*) algorithm for enhancing replanning speed and reducing the overall cost of navigation in unknown dynamic environments.

Research on localization control of magneto-controlled capsule endoscopy based on sensor array

Minglu Chi, Shuaibing Chang, Zuhua Guo, Qiang Zhao, Guomiao Zhang, Fei Meng

To improve the localization accuracy of the magnetically controlled capsule endoscope (MCCE), a new localization method, based on the magnetic dipole model, is proposed, where the…

A novel heuristic programming-based intelligent controller for autonomous farming

Subhradip Mukherjee

This paper aims to develop one heuristic programming approach-based intelligent controller with unique necessary conditions for autonomous farming in a crop field, which improves…

Optimization of buffer allocation in mixed production systems with multiple classes, variable batch sizes and worker fatigue considerations

Sixiao Gao, Yinsheng Liao, Zhiming Hu

With rapid market customized demand and short development cycles, mixed production with multiple classes and variable batches has been popular, and its buffer allocation problem…

Key structure and technology of bridge cable maintenance robot – a review

Jingang Jiang, Yan Shuang Bai, Dian Hao Wu, Yan Xin Yu, Xue Feng Ma, Chuan Lin

The cable inspection robot is essential in maintaining bridge cables. The purpose of this paper is to summarize the maintenance methods of bridge cables. It summarizes the…

SGR-AutoLap: Surgical gesture recognition-based autonomous laparoscope control for human-robot shared control in semi-autonomous minimally invasive surgical robot

Yanwen Sun, Xiaojing Shi, Shixun Zhai, Kaige Zhang, Bo Pan, Yili Fu

This paper aims to investigate the problem of vision based autonomous laparoscope control, which can serve as the primary function for semi-autonomous minimally invasive surgical…

A fisheye image correction method based on deep learning

Shuli Gai, Wenhua Cui, Bodong Liang

Fisheye camera is a wide-angle camera with a large field of view, which can obtain more information than conventional cameras, but its own disadvantage of large distortion can…

Remaining useful life prediction of rolling bearings based on parallel feature extraction

Chao Li, Weimin Zhai, Weiming Fu, Jiahu Qin, Yu Kang

This study aims to introduce a method for predicting the remaining useful life (RUL) of bearings based on parallel feature extraction. The proposed model provides prior knowledge…

Enhancing unmanned vehicle navigation safety: real-time visual mapping with CNNs with optimized Bezier trajectory smoothing

Tanish Mavi, Dev Priya, Rampal Grih Dhwaj Singh, Ankit Singh, Digvijay Singh, Priyanka Upadhyay, Ravinder Singh, Akshay Katyal

This paper aims to develop a real-time pothole detection system to improve mapping, localization and path planning, reducing vehicle instability and accident risks. Efficient…

Optimization of paddle trajectory for fin-wheel underwater robot

Jianbin Liao, Xinxin Liu, Shengzui Xu, Liangyu Liu, Yunxiang Li, Wei Wang, Zhiqiang Zhang

The purpose of this paper is to investigate the oscillating trajectory of the paddle of a fin-wheel underwater robot to enhance its propulsion efficiency in water. This robot can…

Hybrid variable admittance force tracking and fixed-time position control for robot–environment interaction

Hong Zhan, Dexi Ye, Chao Zeng, Chenguang Yang

This paper aims to deal with the force and position tracking problem when a robot performs a task in interaction with an unknown environment and presents a hybrid control strategy…