Development of Multipurpose Mobile Platform with a Modular Structure

Pavliuk, Nikita; Kharkov, Ilya; Zimuldinov, Eldar; Saprychev, Vladimir

doi:10.1007/978-981-13-9267-2_12

Cited by 8 publications

(3 citation statements)

References 15 publications

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“…Within further research, it is considered to perform approbation of the proposed solution on different robotic platforms [26,27] to assess accuracy and operation speed of this solution on low-powered computational devices.…”

Section: Discussionmentioning

confidence: 99%

Approach to Image-Based Recognition of User Face in Setting of Partial Face Occlusion by Personal Protective Equipment

Letenkov

Iakovlev

Karpov

2021

Electromechanics and Robotics

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Within this research, aimed to solve the problem of face recognition in setting of partial face occlusion by personal protective equipment an approach was proposed, which assumed training of a neural network model FaceNet on a specialized dataset Masked VGGFace2. This paper presents a strategy of training dataset augmentation based on the convolutional neural network model MTCNN and MaskTheFace software. Using this suite, based on the VGGFace2 dataset, an extended dataset Masked VGGFace2 was established, including images of human faces, partially occluded by personal protective equipment. Within this research, a series of experiments was performed, aimed to qualitative assessment of predictions, obtained with this solution, in comparison to the FaceNet model, which was trained on the original VGGFace2 dataset. The performed experiments revealed, that the proposed solution demonstrates a significantly higher recognition quality of partially occluded faces (AP = 0.9488)-recognition accuracy increase as per average precision (AP) metric was over 24%, compared to the original model. On test subset from the original dataset VGGFace2, the value of the AP metric was 0.9635, what outperformed the respective metric of the original model by 2.8% and justified a high genericity of the proposed solution in terms of face recognition problem.

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Section: Discussionmentioning

confidence: 99%

Approach to Image-Based Recognition of User Face in Setting of Partial Face Occlusion by Personal Protective Equipment

Letenkov

Iakovlev

Karpov

2021

Electromechanics and Robotics

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“…In the experiments 20 unmanned aerial vehicles Ryze Tech Tello [13] were utilized, additionally enhanced by radio modules Heltec ESP-32 LoRa, mounted on them. As ground-based vehicles for outdoor areas 3 MRP, described in [14], [15], were utilized. For the experiments, a plot of agricultural land of 9 km 2 was used, the surface of this territory was predominantly flat, while there were areas without vegetation, with cereal crops, as well as neglected grass plots with sparse shrubbery.…”

Section: Experimental Estimation Of the Developed Approach To Implementation Of Local Mrp Navigationmentioning

confidence: 99%

Approach to implementation of local navigation of mobile robotic systems in agriculture with the aid of radio modules

Яковлев¹,

Saveliev

2020

Telfor J

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In this paper an approach is presented, enabling to solve the problem of local navigation of mobile robotic platforms (MRP), based on utilization of wireless networks with mesh topology. Establishment of wireless networks was ensured, based on the set of radio modules, mounted on unmanned aerial vehicles (UAV), comprising a swarm. This paper presents a developed algorithm for establishment of such wireless networks, aided by LoRa-technology, as well as an algorithm for MRP localization, based on analysis of signal level, where the incoming signals are fed from MRP group radio modules to radio modules of wireless data transfer network. An algorithmic model is given for task distribution among UAV and to implement navigational capabilities of MRP swarm. In some experiments descending dependencies of absolute error value, pertinent to MRP, from the number of UAV in action were revealed, as well as of averaged deflection value of MRP positions in motion along their paths from the number of UAV in action. Thereby the averaged value of MRP localization error, depending on the number of UAV in action, was from 8.14 to 17.13 m, and the averaged value of MRP position deflection - from 16.38 to 57.12 m, respectively.

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“…Совместное использование гетерогенных наземных и воздушных средств увеличивает функциональные и сенсорные возможности робототехнических средств [1][2][3][4][5]. В связи с чем исследование моделей и алгоритмов взаимодействия гетерогенных сельскохозяйственных робототехнических комплексов является актуальным научным направлением, ориентированным в том числе на решение проблемы увеличения времени функциони-рования беспилотных летательных аппаратов (БЛА) на сельскохозяйственных полях, что в конечном итоге будет способствовать сокращению сроков и стоимости обработки сельскохозяйственных объектов за счет автоматизации и применения роботизированных комплексов [6][7][8][9][10][11].…”

Section: Introductionunclassified

Рекомендующая Программная Система Оценивания Состава Гетерогенных Робототехнических Средств Для Выполнения Сельскохозяйственных Операций

Нго¹,

Нгуен²,

Ронжин³

2019

sait

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Приведен аналитический обзор работ, направленных на повышение длительности автономной работы БЛА и их обслуживание на сервисных наземных робототехнических платформах, в том числе в области сельскохозяйственной робототехники. При этом в зависимости от размера обрабатываемой территории, необходимой скорости реализации задачи и других факторов зависит количество привлекаемых роботов. Поэтому целью данного исследования являлась разработка математического и программного обеспечения рекомендующей программной системы, обеспечивающей оценивание состава гетерогенных робототехнических средств для выполнения сельскохозяйственных операций. Описан метод многокритериальной оценки количества и состава гетерогенных сельскохозяйственных робототехнических комплексов, необходимых для обработки заданной площади угодья, погодных условий и других аспектов, влияющих на стоимость и скорость выполнения работ. Представлена рекомендующая программная система AgrobotModeling, служащая для моделирования и визуализации процесса взаимодействия нескольких наземных сервисных платформ и беспилотных летательных аппаратов при обработке аграрных объектов. Пользовательский интерфейс, содержащий 4 основных блока, отражающие параметры угодья, платформы и БЛА, а также элементы управления и индикации прошедшего времени, обеспечивает визуализацию и моделирование процесса обработки сельскохозяйственного угодья с различным числом платформ и БЛА.

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Development of Multipurpose Mobile Platform with a Modular Structure

Cited by 8 publications

References 15 publications

Approach to Image-Based Recognition of User Face in Setting of Partial Face Occlusion by Personal Protective Equipment

Approach to Image-Based Recognition of User Face in Setting of Partial Face Occlusion by Personal Protective Equipment

Approach to implementation of local navigation of mobile robotic systems in agriculture with the aid of radio modules

Рекомендующая Программная Система Оценивания Состава Гетерогенных Робототехнических Средств Для Выполнения Сельскохозяйственных Операций

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