Search Results (800)

In order to investigate the application potential of lightweight agricultural robots utilizing carbon fiber-reinforced polymer (CFRP) as the primary structural material, this study developed a dedicated rubber-tracked chassis tailored for peanut pest and disease monitoring robots. The chassis design is anchored to the widely applied “single ridge with double rows” cultivation pattern in peanut production and incorporates a real-time track tension monitoring mechanism integrated with pressure sensors. The overall structural configuration of the chassis fully conforms to the standard ridge parameters of mechanized peanut planting while fully considering the intrinsic material properties of CFRP. Additionally, a sprocketless drive wheel structure is specifically adopted to realize higher-precision motion control performance. A mathematical model was constructed to quantitatively characterize the tension correlation between the tight side and slack side of the rubber track, as well as the variation law of initial tension influenced by multiple factors including the total mass of the robot platform. With the curb weight of the robot platform set at 45 kg, the theoretical initial tension is calculated to be 24.5 N (equivalent to approximately 2.5 kg, taking the gravitational acceleration g = 9.8 m/s²). The prototype shows potential for maintaining consistent tension, though a mechanical weakness was identified and will be addressed in future work. Performance validation tests show that the chassis maintains stable operation with no sprocket slippage during field visual inspection. Full article

Production greenhouse complexes increasingly require automation and digitalization to address rising labor costs, improve productivity, and support sustainable resource use. However, most existing solutions target isolated tasks and lack a unified framework for continuous monitoring and production-oriented accounting at facility scale. This paper proposes a system-level architecture that integrates robotic monitoring platforms, AI-based perception, and cloud-based data management into a coherent operational framework. The robotic monitoring platforms operate on rails and concrete surfaces and are capable of elevating cameras and sensors up to 5 m to support plant-health assessment, environmental monitoring, and production accounting. Aggregated data are incorporated into a digital twin that supports spatial traceability, historical analysis, and decision support. The proposed approach enables continuous inspection, improves early detection of crop stress, reduces repetitive manual scouting, and supports targeted interventions. The framework provides a scalable foundation for sustainable, data-driven greenhouse management and practical deployment of robotic monitoring systems in industrial production environments. Full article

To address unstable localization and sparse mapping for autonomous vehicles operating in GPS-denied and low-visibility environments, this paper proposes GTS-SLAM, a tightly coupled dense visual SLAM framework integrating Generalized Iterative Closest Point (GICP) and 3D Gaussian Splatting (3DGS). The system is designed for intelligent driving platforms such as underground mining vehicles, inspection robots, and tunnel autonomous navigation systems. The front-end performs covariance-aware point-cloud registration using GICP to achieve robust pose estimation under low texture, dust interference, and dynamic disturbances. The back-end employs probabilistic dense mapping based on 3DGS, combined with scale regularization, scale alignment, and keyframe factor-graph optimization, enabling synchronized optimization of localization and mapping. A Compact-3DGS compression strategy further reduces memory usage while maintaining real-time performance. Experiments on public datasets and real underground-like scenarios demonstrate centimeter-level trajectory accuracy, high-quality dense reconstruction, and real-time rendering. The system provides reliable perception capability for vehicle autonomous navigation, obstacle avoidance, and path planning in confined and weak-light environments. Overall, the proposed framework offers a deployable solution for autonomous driving and mobile robots requiring accurate localization and dense environmental understanding in challenging conditions. Full article

This paper presents the design and experimental validation of an innovative robotic test stand for measuring camshaft cam geometry, intended to support preventive quality control in high-volume production. The proposed solution integrates a collaborative robot with a dedicated measurement setup to enable repeatable positioning of the inspected camshaft and automated acquisition of geometric features critical for functional performance. A complete measurement methodology was developed, including the measurement sequence, data acquisition procedure, and processing of the recorded signals to determine key cam geometry parameters. To verify the reliability of the proposed approach, measurement results obtained using the robotic stand were compared with reference data acquired using conventional metrology tools and standard inspection procedures. Experimental studies confirmed that the developed stand provides repeatable measurement results, enabling the stable identification of the examined geometric features across repeated trials. Moreover, a high level of agreement was observed between the measurement data obtained using the proposed method and the reference measurements, demonstrating the suitability of the cobot-based test stand for preventive quality control applications in industrial environments. The concept presented offers a scalable and flexible alternative to manual inspection and dedicated special-purpose gauges, with potential benefits in terms of inspection throughput and standardization of quality control workflows. The novelty of the approach lies in the indirect ultrasonic measurement model combined with a quadrant-based sensor orientation strategy and repeatable 90° camshaft indexing, enabling full-profile acquisition within the robot workspace. Full article

Road maintenance remains one of the most resource-intensive and hazardous operations in infrastructure management. Traditional inspection practices rely heavily on manual labour and discrete procedures, often resulting in limited scalability, operator exposure to traffic hazards, and inefficiencies in data collection. This paper presents a novel automated methodology that integrates Unmanned Aerial Vehicles (UAVs) and autonomous mobile robots (AMRs) to enable automated inspection and measurement of road assets through a digital twin (DT) system. The system leverages data fusion and real-time synchronisation between field agents and a centralised digital twin to monitor the retro-reflectivity of vertical and horizontal signage, detect obstacles and vegetation, and support data-driven maintenance planning. A case study conducted on the Italian highway network demonstrated improvements in operational safety, inspection efficiency, and measurement consistency. The results confirm that the integration of UAVs and AMRs within a digital twin framework can significantly improve sustainability, productivity, and workers’ safety in road maintenance operations. Full article

Prompt 3D mapping of grain storage is essential for effective management. However, standard mapping algorithms encounter a number of challenges, with the typical granary environment containing dust, grain piles, and narrow aisles. A single robotic agent is not able to provide complete area coverage, and most multi-robot approaches involve re-scanning the same areas due to a lack of explicit viewpoint-based task allocation processes. In order to overcome the above issues, we propose an air–ground collaborative exploration system for complex multi-grain pile scenarios. Exploration redundancy can be reduced by estimating the advantages of viewpoints through ray tracing and assigning the tops of the grain piles to aerial robots with ground vehicles in lower regions and narrow aisles. In order to manage dense dust (5–15 mg/m³), the quality-aware fusion strategy evaluates the reliability of the distance and point density of the sensing to reduce the influence of degraded aerial depth data. Moreover, mapping relies on LiDAR data to ensure mapping quality. A mechanism for re-scanning to enable coverage-driven exploitation of insufficiently explored regions is subsequently proposed. The simulation results show that the design achieved a grain pile coverage of 97.2%, with the total exploration time reduced by 20.1% over single-robot baselines. The results indicate that viewpoint-aware task allocation and dust-sensitive perception fusion can offer a practical solution for autonomous inspection in GPS-restricted, dust-rich industrial environments, such as granary facilities. Full article

To address the challenges of steel surface defect detection—characterized by fine-grained textures, substantial scale variations, and complex background interference—conventional lightweight detectors often struggle to balance real-time navigation requirements with high-precision spatial localization on mobile inspection platforms. In this work, we propose KDM-YOLO, a lightweight visual localization and detection method built upon YOLOv10n, designed to provide an efficient perception engine for autonomous inspection robots. The proposed approach enhances the baseline through three key perspectives: feature extraction, context modeling, and multi-scale fusion. Specifically, KWConv is introduced to strengthen the representation of fine-grained texture and edge cues; C2f-DRB is employed to enlarge the effective receptive field and improve long-range dependency perception to reduce missed detections; and a multi-scale attention fusion (MSAF) module is inserted before the detection head to adaptively integrate spatial details with semantic context while suppressing redundant background responses. Ablation studies confirm that each module contributes to performance gains, and their combination yields the best overall results. Comparative experiments further demonstrate that KDM-YOLO significantly improves detection performance while retaining a compact model size and high inference speed. Compared with the YOLOv10n baseline, Precision, Recall and mAP@50 are increased to 91.0%, 93.9%, and 95.4%, respectively, with a parameter count of 3.29 M and an inference speed of 155.6 f/s. These results indicate that KDM-YOLO achieves an ideal balance between the accuracy and computational efficiency required for embedded navigation platforms, providing an effective solution for online autonomous inspection and real-time localization of steel surface defects. Full article

This research presents a machine learning-based vibration signal acquired from aluminum grinding experiment for potential application in smart and intelligent manufacturing. The study addresses the challenges of traditional surface finishing quality inspection by integrating vibration sensing and support vector machine (SVM). A robot manipulator lab grinding experiment consist of a four-axis DOBOT Magician with a handheld cylindrical grinding tool attached on the end-effector of the DOBOT Magician. This customized lab grinding experiment was designed to perform consistent surface finishing experiment for different aluminum work coupon and time duration. Triaxial accelerometer was used to collect the vibration signal and to investigate the most relevant vibration signal direction (x, y, and z) to the surface quality prediction of the aluminum work coupon. The vibration signal was acquired via LabVIEW and NI data acquisition (DAQ) system. The vibration features were extracted and analyzed using Python programming in Google Colab. The SVM algorithm in Python (3.11 and 3.12) is used to classify surface roughness quality into coarse, medium, and fine categories based on the extracted vibration features. Vibration feature parameters such as root mean square (RMS), Peak to RMS, Skewness, and Kurtosis were also investigated to determined which feature pairs are most critical for effective surface roughness monitoring and prediction using SVM classification. The classification model achieved high accuracy across all three vibration axes (x, y, and z), with the z-axis yielding the most consistent results. The proposed system has potential applications in real-time surface quality prediction within smart manufacturing practices aligned with Industry 4.0 principles. Full article

This paper presents the H-CoRE (Heterogeneous Cooperative Multi-Robot Execution) framework designed to enable autonomous multi-robot operations in GNSS-denied environments. Built on an ROS 2-based architecture, H-CoRE enables collaborative, structured task execution through standardized software stacks. Each robot’s stack combines a high-level executive system with an agent-specific motion layer and leverages multi-sensor fusion for localization and mapping. The framework is inherently reconfigurable, allowing individual agents to operate autonomously or as part of a multi-robot team for collaborative missions. In the considered scenario, the system integrates aerial and ground vehicles, a fixed pan–tilt–zoom camera, and a human supervisory interface within a unified, modular infrastructure. The proposed system has been deployed in indoor, GNSS-denied environments, demonstrating autonomous navigation, cooperative area coverage, and real-time information sharing across multiple agents. Experimental results confirm the effectiveness of H-CoRE in maintaining general awareness and mission continuity, paving the way for future applications in search-and-rescue, inspection, and exploration tasks. Full article

Corrosion in steel pipelines can cause critical failures in industrial systems, while conventional inspection methods such as radiography and ultrasonic testing are costly and require specialized personnel. This study presents a mobile computer vision system for automated corrosion detection inside steel pipes using deep learning-based visual analysis. The proposed system consists of a Raspberry Pi 4-based mobile robot equipped with a high-resolution camera for internal inspection. Acquired images were processed using color-space transformations (RGB–HSV), filtering, and segmentation. Convolutional neural networks and semantic segmentation models, including YOLOv8-seg (Instance segmentation) and DeepLabV3 (Semantic segmentation), were trained on a custom corrosion image dataset to identify corroded regions. Real-time visualization was implemented via Flask-based video streaming. Experimental results demonstrated high detection accuracy for uniform corrosion, achieving a mean Intersection over Union (mIoU) above 0.98 and a precision of 0.99 with the YOLOv8-seg model. These results indicate that the proposed system enables reliable and automated corrosion inspection, with the potential to reduce inspection costs and improve operational efficiency. Future work will focus on enhancing real-time performance through hardware optimization. Full article

Conventional borescopes are limited by inadequate mechanical flexibility, poor environmental adaptability and reachability, and heavy reliance on operator expertise during aero-engine inspections, making it difficult to meet the demands for efficient and dependable in situ nondestructive evaluation (NDE). This paper presents a novel telescopic continuum robot mechanism with an ultra-high aspect ratio (63.75:1) and three constant-curvature segments, achieving a synergistic design between the robot’s body structure and the long-stroke linear actuator of its central backbone to realize ultra-high-aspect-ratio configurations. This design improves the robot’s ability to access complex and confined internal spaces within aero-engines, thereby reducing inspection blind spots. Furthermore, a configuration-space control strategy integrating kinematic decoupling and driving tendon tension compensation is proposed. This strategy addresses the issues of multi-segment actuation coupling and tendon slack, ensuring the motion control performance for in situ aero-engine blade inspection. The feasibility of the mechanism design was validated through an experimental simulation platform incorporating both turbine blade and compressor blade scenarios. This work offers a new solution for in situ NDE in aero-engines by synergistically integrating an innovative ultra-high-aspect-ratio telescopic mechanism with a dedicated configuration-space controller that addresses multi-segment coupling and tendon slack. Full article

The rapid increase in the production of Waste Electrical and Electronic Equipment (WEEE) and batteries requires advanced automated disassembly solutions. While disassembly automation has progressed, the non-destructive removal of electrical cable connectors (ECCs) remains a critical unresolved challenge, particularly for battery packs where safety is paramount. This paper presents a critical review of the state-of-the-art in robotic ECC disassembly. To systematically assess the technological maturity of the field, the authors introduce a functional decomposition of the process into six fundamental tasks: detection, pose estimation, accessibility, motion planning, manipulation, and extraction. While detection, pose estimation, and manipulation are more advanced due to contributions from adjacent fields like assembly and inspection, accessibility, motion planning, and extraction are still at an early stage. Based on the identified gaps, the authors suggest that future developments could follow two main directions: leveraging comprehensive databases for applications with limited variability, or shifting the disassembly approach from the connector housing to the locking mechanism to achieve broader applicability. Full article

The irregular geometry of highway tunnel linings, combined with uneven terrain and external disturbances, often causes inspection robots to deviate from their predefined paths. Due to the strong coupling inherent in robotic systems, these deviations propagate to the end-effector, significantly compromising automated inspection accuracy and effectiveness. To tackle these issues, this study introduces an Enhanced Extended Sliding Mode Predictive Control (EESMPC) method, which integrates an adaptive Extended State Observer (ESO). The algorithm is derived from the robot chassis model and a desired trajectory error model, enabling precise contour profile tracking. Crucially, the integrated ESO actively estimates and compensates for unmodeled disturbances and system uncertainties within the state feedback, thereby enhancing both path tracking stability and precision. Comparative MATLAB simulations and experimental path tracking tests evaluated the performance against three other controllers. The results demonstrate that the EESMPC algorithm achieves superior tunnel lining tracking performance, exhibiting marked improvements in both tracking accuracy and system robustness. Consequently, this approach significantly enhances the automated inspection accuracy and operational efficiency of highway tunnel inspection robots. Full article

As critical components of wind energy systems, the structural integrity of wind turbine blades is directly tied to the operational safety and economic performance of wind turbines. With blade designs trending toward larger and more flexible structures and operating environments becoming increasingly harsh, maintenance strategies must urgently shift from reactive approaches to predictive maintenance paradigms. From an engineering application perspective, this study conducts a systematic and critical review of non-destructive testing (NDT) and structural health monitoring (SHM) technologies for wind turbine blades. Drawing on the literature published over the past decade, we examine the field applicability, limitations, and engineering challenges of core NDT techniques—including vision-based methods, acoustic approaches, vibration analysis, ultrasound, and infrared thermography. Particular emphasis is placed on the integration of data-driven approaches with engineering practice, evaluating the role of machine learning in fault classification and anomaly diagnosis, as well as the contributions of deep learning to automated defect detection in image and signal data. Moreover, this paper critically discusses the growing use of robotic inspection platforms, such as unmanned aerial vehicles and climbing robots, as multi-sensor carriers enabling rapid and comprehensive blade assessment. By comparatively analyzing detection performance, cost, and automation levels across technologies, we identify key engineering barriers, including environmental noise robustness, signal attenuation within complex blade structures, and the persistent gap between laboratory methods and field deployment. Finally, we outline forward-looking research directions, encompassing multi-modal sensor fusion, edge computing for real-time diagnostics, and the development of standardized SHM systems aimed at supporting full lifecycle blade management. Full article

As a core technology in 3D measurement, laser stripe center extraction is widely applied in industrial inspection, robot navigation, and biomedicine. However, traditional methods struggle to balance denoising effectiveness and positioning accuracy when handling complex noise and non-uniform width stripes. To address this bottleneck, this paper proposes a denoising-adaptive weighted average width stripe center extraction algorithm based on an improved Hessian Matrix, integrating deep learning with traditional image processing for high-precision extraction. A U-Net++ denoising network with a spatial attention module is designed to focus on stripe regions, supplemented by a distance-aware mechanism that dynamically adjusts denoising intensity based on pixel-stripe distance. For center extraction, an improved Hessian Matrix algorithm is proposed, incorporating a curvature-adaptive FIR filter and adaptive weighted average width calculation to adapt to stripe morphology changes. Experimental results show the algorithm outperforms comparative methods, achieving 35.26 dB (PSNR), 0.962 (SSIM), and 6.14 (RMSE) in denoising. Under 200 μs, 500 μs, 1000 μs, and 1500 μs exposure conditions, the absolute radius errors are reduced to 0.2052 mm, 0.1743 mm, 0.0268 mm, and 0.0281 mm, respectively, verifying its reliability and stability in practical applications. Full article