A Novel Path Control Algorithm for Networked Underwater Robot

She, Minghong; Tian, Lei

doi:10.1155/2018/1520981

Cited by 4 publications

(3 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…, ' , (30) (31) The extracted path points are interpolated and optimized by NURBS curves. The interpolation results are shown in Figure 15.…”

Section: ( ) [ ( )-( )]mentioning

confidence: 99%

“…By solving a multi-objective optimization problem, the optimal curve parameters and the execution time distributed along the curve segments can be obtained simultaneously. She et al proposed a path control method for underwater robots based on NURBS curves [30]. These studies have promoted the application of the NURBS curve in robot path planning.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Zhang

et al. 2022

IEEE Access

View full text Add to dashboard Cite

Ultrasonic scanning is the most commonly used method for detecting breast cancer. Traditional breast ultrasound mainly relies on manual examination, which requires doctors with rich clinical experience. The scanning path planning of the robot for breast ultrasound examination based on binocular vision and non-uniform rational B-Splines (NURBS) is proposed in this paper to solve the limitations of traditional examination methods. First, breast images are acquired by the binocular camera. The depth information of the images is obtained through stereo matching, and the 3D point cloud reconstruction of the breast model is completed. Second, the spatial index algorithm based on the K-dimension tree (Kd-tree) and uniform sampling method are selected to denoise and down-sample the point cloud model to complete the preliminary optimization of the model. The point cloud information for the scanning path is extracted according to the method of point cloud extraction and the principle of normal vector calculation. Then, the interpolation optimization of the scanning path based on the NURBS curve is completed. The optimized scanning path is transformed into the robot motion path. Finally, the robot motion is simulated and analyzed, and the experimental results show that the rationality of robot operation and the smoothness of robot motion meet the requirements of path planning defined in this paper. The error analysis experiment shows that the path planned by this method can ensure the efficiency and accuracy of ultrasound examination.INDEX TERMS Ultrasound examination, binocular vision, NURBS, scanning path planning, point cloud reconstruction, robot path planning.

show abstract

“…, ' , (30) (31) The extracted path points are interpolated and optimized by NURBS curves. The interpolation results are shown in Figure 15.…”

Section: ( ) [ ( )-( )]mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Zhang

et al. 2022

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Two-wheeled two-track robots are employed as amphibious platforms for observation and measurement. For example, a similar robot with crawler is proposed in [8] to be used, in particular, for monitoring underwater cables.…”

Section: Introductionmentioning

confidence: 99%

Analytical Synthesis of Regulators for Nonlinear Systems with a Terminal State Method on Examples of Motion Control of a Wheeled Robot and a Vessel

Shushlyapin

Bezuglaya

2018

Journal of Applied Mathematics

View full text Add to dashboard Cite

The paper is devoted to several examples of control algorithm development for two-wheeled double-track robot and low-tonnage vessel-catamaran with two Azipods that show practical aspects of the application of one nonlinear system control methodterminal state method. This method, developed by the authors of the present paper, belongs to the class of methods for inverse dynamics problem solving. Mathematical models of control objects in the form of normal systems of third-order nonlinear differential equations for the wheeled robot and seventh-order ones for the vessel are presented. Design formulas of the method in general form for terminal and stabilizing controls are shown. A routine of obtaining calculation expressions for control actions is shown. Results of computer simulation of bringing the robot to a given point in a given time, as well as bringing the vessel to a given course during a "strong" maneuver, are described.

show abstract

Development and testing of a hydraulic-driven cutting saw system applied for 7,000m JIAOLONG Human Occupied Vehicle

Shi¹,

Ren

Liu³

2021

IOP Conf. Ser.: Earth Environ. Sci.

View full text Add to dashboard Cite

In this paper, a hydraulic-driven cutting saw system applied for 7,000m JIAOLONG Human Occupied Vehicle was researched and designed according to real applications including underwater cutting engineering, underwater salvage, marine scientific research and others. Firstly, based on the spatial arrangement of JIAOLONG manned submersible’s sampling basket and the actual operation requirement of JIAOLONG’s manipulator, the preliminary design for the cutting saw system is carried out using Solidworks software. Then, the detailed design of the system was conducted in accordance with the selected motor, and the the torque provided by the motor, the tangential force of the saw disk, the linear velocity of the saw disk, and the flow and power for this motor can be calculated successively. Based on the design and calculation, this system was assembled and the pressure-resistant test for this system was smoothly conducted in a pressure testing tank. Finally, the cutting experiment was carried out successfully, which had verified the feasibility of the system design.

show abstract

A Novel Path Control Algorithm for Networked Underwater Robot

Cited by 4 publications

References 14 publications

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Analytical Synthesis of Regulators for Nonlinear Systems with a Terminal State Method on Examples of Motion Control of a Wheeled Robot and a Vessel

Development and testing of a hydraulic-driven cutting saw system applied for 7,000m JIAOLONG Human Occupied Vehicle

Contact Info

Product

Resources

About