Remote Navigation Research Articles

A MXene Hydrogel-Based Versatile Microrobot for Controllable Water Pollution Management.

The urgent demand for addressing dye contaminants in water necessitates the development of microrobots that exhibit remote navigation, rapid removal, and molecular identification capabilities. The progress of microrobot development is currently hindered by the scarcity of multifunctional materials. In this study, a plasmonic MXene hydrogel (PM-Gel) is synthesized by combining bimetallic nanocubes and Ti3C2Tx MXene through the rapid gelation of degradable alginate. The hydrogel can efficiently adsorb over 60% of dye contaminants within 2 min, ultimately achieving a removal rate of >90%. Meanwhile, the hydrogel exhibits excellent sensitivity in surface enhanced Raman scattering (SERS) detection, with a limit of detection (LOD) as low as 3.76 am. The properties of the plasmonic hydrogel can be further adjusted for various applications. As a proof-of-concept experiment, thermosensitive polymers and superparamagnetic particles are successfully integrated into this hydrogel to construct a versatile, light-responsive microrobot for dye contaminants. With magnetic and optical actuation, the robot can remotely sample, identify, and remove pollutants in maze-like channels. Moreover, light-driven hydrophilic-hydrophobic switch of the microrobots through photothermal effect can further enhance the adsorption capacity and reduced the dye residue by up to 58%. These findings indicate of a broad application potential in complex real-world environments.

ROLE OF CARDIOVASCULAR IMAGING IN CARDIO-ONCOLOGY: A LITERATURE REVIEW

Antitumor drugs are toxic to the cardiovascular system and directly affect cardiac function and anatomy. During the treatment of oncology, patients may experience complications in the form of asymptomatic myocardial dysfunction, severe heart failure, exacerbation of symptoms of coronary heart disease, thromboembolic complications, arterial and pulmonary hypertension, pericardial complications, valve defects and arrhythmias. A number of diagnostic tools are currently available to cardio-oncologists to detect cardiotoxicity, and the choice of imaging method depends on the availability of the specific diagnostic modality and its resolution. The main method for assessing the condition of the heart in cancer patients is echocardiography - a widely available method that enables to assess the structure of the heart and hemodynamics without exposing the patient to an additional dose of ionizing radiation. If imaging is insufficient, the recommended method for assessing cardiac structure and function is magnetic resonance imaging. Computed tomography of the chest, heart and coronary arteries is also used to diagnose complications of cancer treatment. In addition, nuclear medicine techniques, including gated radionuclide ventriculography, are also used to diagnose cardiotoxicity. Electroanatomical mapping systems combined with remote navigation are promising. Early detection of subclinical left ventricular myocardial dysfunction in cancer patients receiving potentially cardiotoxic drugs is advisable and aimed at secondary prophylaxis and prevention of mortality from cardiovascular diseases.

Fully Active Delivery of Nanodrugs In Vivo via Remote Optical Manipulation.

The active delivery of nanodrugs has been a bottleneck problem in nanomedicine. While modification of nanodrugs with targeting agents can enhance their retention at the lesion location, the transportation of nanodrugs in the circulation system is still a passive process. The navigation of nanodrugs with external forces such as magnetic field has been shown to be effective for active delivery, but the existing techniques are limited to specific materials like magnetic nanoparticles. In this study, an alternative actuation method is proposed based on optical manipulation for remote navigation of nanodrugs in vivo, which is compatible with most of the common drug carriers and exhibits significantly higher manipulation precision. By the programmable scanning of the laser beam, the motion trajectory and velocity of the nanodrugs can be precisely controlled in real time, making it possible for intelligent drug delivery, such as inverse-flow transportation, selective entry into specific vascular branch, and dynamic circumvention across obstacles. In addition, the controlled mass delivery of nanodrugs can be realized through indirect actuation by the microflow field. The developed optical manipulation method provides a new solution for the active delivery of nanodrugs, with promising potential for the treatment of blood diseases such as leukemia and thrombosis.

Remotely operated robotic microscopy for rapid diagnosis of bronchoscopic cytology specimens.

Obtaining a diagnosis and treating pulmonary malignancies during the same anesthesia requires either an on-site pathologist or a system for remotely evaluating microscopic images. Cytology specimens are challenging to remotely assess given the need to navigate through dispersed and three-dimensional cell clusters. Remote navigation is possible using robotic telepathology, but data are limited on the ease of use of current systems, particularly for pulmonary cytology. Air dried modified Wright-Giemsa stained slides from 26 touch preparations of transbronchial biopsies and 27 smears of endobronchial ultrasound guided fine needle aspirations were scored for ease of adequacy assessment and ease of diagnosis on robotic (rmtConnect Microscope) and non-robotic telecytology platforms. Diagnostic classifications were compared between glass slides and the robotic and non-robotic telecytology assessments. Compared to non-robotic telecytology, robotic telecytology had a greater ease of adequacy assessment and non-inferior ease of diagnosis. The median time to diagnosis using robotic telecytology was 85 s (range 28-190 s). Diagnostic categories were concordant for 76% of cases in robotic versus non-robotic telecytology and 78% of cases in robotic telecytology versus glass slide diagnosis. Weighted Cohen's kappa scores for agreement in these comparisons were 0.84 and 0.72, respectively. Use of a remote-controlled robotic microscope improved the ease of adequacy assessment compared to non-robotic telecytology and enabled strongly concordant diagnoses to be expediently rendered. This study provides evidence that modern robotic telecytology is a feasible and user-friendly method of remotely and potentially intraoperatively rendering adequacy assessments and diagnoses on bronchoscopic cytology specimens.

Метод та засоби тестування спеціалізованих компонентів мобільної робототехнічної платформи на робочих тактових частотах

Processes of development of test scenarios, selection of technological means of testing hardware and software of specialized components of mobile robotic platform are analyzed. The methods and means of testing specialized components of the mobile robotic platform when operating at working clock frequencies are studied. It is improved the method of testing the hardware and software of the specialized components of the mobile robotics platform. This improvement is made due to the development of specialized scenarios and adaptation of the technological environment to the requirements of a specific application, ensures an increase in the quality of testing in real time. It is shown that the main stages of testing specialized hardware at working clock frequencies are: the development of a test plan, setting of a working clock frequency, creation of a test environment, execution of tests, comparison of test results with reference results, analysis of comparison results. For testing, two environments and two test scenarios are developed: testing of means of encryption and masking of control commands of the mobile robotics platform; testing means of unmasking and deciphering control commands of a mobile robotics platform. It is developed a neurofuzzy control system for the autonomous control of the movement of a wheeled mobile robotic platform, the main components of which are intelligent remote navigation sensors, a rule base, fuzzification, decision-making and defuzzification blocks. The structure of means and scenarios for testing blocks of neuro-like encryption/decryption and masking/unmasking of mobile robotic platform control commands are developed, which provide joint testing of both software and hardware at working clock frequencies. It is developed the structure of tools and scenarios for testing the fuzzy mobile robotic platform control system, which are focused on sequential testing of fuzzification, decision-making, and defuzzification blocks and provide joint testing of both software and hardware tools at working clock frequencies in real time. Using the improved method, testing of the mobile robotic platform control system is performed, which confirmed the feasibility of the chosen approach. The implementation of the latest methods and means of testing specialized components of complex systems saves time and financial costs and contributes to the long-term operation of systems as a whole as a result of identifying problems in the process of their creation.

Real-Time and Remote Construction Progress Monitoring with a Quadruped Robot Using Augmented Reality

Construction progress monitoring involves a set of inspection tasks with repetitive in-person observations on the site. The current manual inspection process in construction is time-consuming, inefficient and inconsistent mainly due to human limitations in the ability to persistently and accurately walkthrough the job site and observe the as-built status of which robots are considerably better. Enabling the process of visual inspection with a real-time and remote inspection capability using robots can provide more frequent and accessible construction progress data for inspectors to improve the quality of inspection and monitoring. Also, integrating remote inspection with an Augmented Reality (AR) platform can help the inspector to verify as-planned BIM data with the as-built status. This paper proposes a new approach to perform remote monitoring of the construction progress in real-time using a quadruped robot and an AR solution. The proposed computational framework in this study uses a cloud-based solution to integrate the quadruped robot’s control for remote navigation through the construction site with 360° live-stream video of the construction status, as well as a real-time AR solution to visualize and compare the as-built status with as-planned BIM geometry. The implementation of the proposed framework is discussed, and the developed framework is evaluated in two use cases through experimental investigations.

Research and application of photovoltaic cell online monitoring system for animal robot stimulator

Power supply plays a key role in ensuring animal robots to obtain effective stimulation. To extending the stimulating time, there is a need to apply photovoltaic cells and monitor their parameter variations, which can help operators to obtain the optimal stimulation strategy. In this paper, an online monitoring system of photovoltaic cells for animal robot stimulators was presented. It was composed of battery information sampling circuit, multi-channel neural signal generator, power module and human-computer interaction interface. When the signal generator was working, remote navigation control of animal robot could be achieved, and the battery voltage, current, temperature and electricity information was collected through the battery information sampling circuit and displayed on the human-computer interaction system in real time. If there was any abnormal status, alarm would be activated. The battery parameters were obtained by charging and discharging test. The battery life under different light intensity and the stimulation effect of neural signal generator were tested. Results showed that the sampling errors of battery voltage, current and electric quantity were less than 15 mV, 5 mA and 6 mAh, respectively. Compared with the system without photovoltaic cells, the battery life was extended by 148% at the light intensity of 78 320 lx, solving the battery life problem to some extent. When animal robot was stimulated with this system, left and right turns could be controlled to complete with the success rate more than 80%. It will help researchers to optimize animal robot control strategies through the parameters obtained in this system.

Learning-Based Shared Control Using Gaussian Processes for Obstacle Avoidance in Teleoperated Robots

Physically inspired models of the stochastic nature of the human-robot-environment interaction are generally difficult to derive from first principles, thus alternative data-driven approaches are an attractive option. In this article, Gaussian process regression is used to model a safe stop maneuver for a teleoperated robot. In the proposed approach, a limited number of discrete experimental training data points are acquired to fit (or learn) a Gaussian process model, which is then used to predict the evolution of the process over a desired continuous range (or domain). A confidence measure for those predictions is used as a tuning parameter in a shared control algorithm, and it is demonstrated that it can be used to assist a human operator by providing (low-level) obstacle avoidance when they utilize the robot to carry out safety-critical tasks that involve remote navigation using the robot. The algorithm is personalized in the sense that it can be tuned to match the specific driving style of the person that is teleoperating the robot over a specific terrain. Experimental results demonstrate that with the proposed shared controller enabled, the human operator is able to more easily maneuver the robot in environments with (potentially dangerous) static obstacles, thus keeping the robot safe and preserving the original state of the surroundings. The future evolution of this work will be to apply this shared controller to mobile robots that are being deployed to inspect hazardous nuclear environments, ensuring that they operate with increased safety.

Orthopedic robot based on 5G technology for remote navigation of percutaneous screw fixation in pelvic and acetabular fractures

To investigate the accuracy and safety of percutaneous screw fixation for pelvic and acetabular fractures with remote navigation of orthopedic robot based on 5G technology. Between January 2021 and December 2021, 15 patients with pelvic and/or acetabular fractures were treated with percutaneous screws fixation which were placed by remote navigation of orthopedic robot based on 5G technology. There were 8 males and 7 females. The age ranged from 20 to 98 years, with an average of 52.1 years. The causes of trauma included traffic accident injury in 6 cases, falling from height injury in 6 cases, fall injury in 2 cases, and heavy object smashing injury in 1 case. The time from injury to operation ranged from 3 to 32 days, with an average of 10.9 days. There were 8 cases of simple pelvic fractures, 2 simple acetabular fractures, and 5 both pelvic and acetabular fractures. There were 7 cases of pelvic fractures of Tile type B2, 2 type B3, 1 type C1, and 3 type C2; 4 cases of unilateral anterior column fracture of the acetabulum, 2 bilateral anterior column fractures, and 1 anterior wall fracture. CT images within 5 days after operation were collected for screw position assessment. The screw planning time and guidewire placement time were recorded, as well as the presence of intraoperative adverse events and complications within 5 days after operation. All patients achieved satisfactory surgical results. A total of 36 percutaneous screws were inserted (20 sacroiliac screws, 6 LC Ⅱ screws, 9 anterior column screws, and 1 acetabular apical screw). In terms of screw position evaluation, 32 screws (88.89%) were excellent and 4 screws (11.11%) were good; there was no screw penetrating cortical bone. The screw planning time ranged from 4 to 15 minutes, with an average of 8.7 minutes. The guidewire placement time ranged from 3 to 10 minutes, with an average of 6.8 minutes. The communication delayed in 2 cases, but the operation progress was not affected, and no serious intraoperative adverse events occurred. No delayed vascular or nerve injury, infection, or other complications occurred within 5 days after operation. No cases need surgical revision. The fixation of pelvic and acetabular fractures by percutaneous screw with remote navigation of orthopedic robot based on 5G technology is accurate, safe, and reliable.

A Robot Platform for Highly Efficient Pollutant Purification

In this study, we propose a highly efficient robot platform for pollutant adsorption. This robot system consists of a flapping-wing micro aircraft (FWMA) for long-distance transportation and delivery and cost-effective multifunctional Janus microrobots for pollutant purification. The flapping-wing micro air vehicle can hover for 11.3 km with a flapping frequency of approximately 15 Hz, fly forward up to 31.6 km/h, and drop microrobots to a targeted destination. The Janus microrobot, which is composed of a silica microsphere, nickel layer, and hydrophobic layer, is used to absorb the oil and process organic pollutants. These Janus microrobots can be propelled fast up to 9.6 body lengths per second, and on-demand speed regulation and remote navigation are manageable. These Janus microrobots can continuously carry oil droplets in aqueous environments under the control of a uniform rotating magnetic field. Because of the fluid dynamics induced by the Janus microrobots, a highly efficient removal of Rhodamine B is accomplished. This smart robot system may open a door for pollutant purification.

Use of Hybrid Causal Logic Method for Preliminary Hazard Analysis of Maritime Autonomous Surface Ships

Recently, the safety issue of maritime autonomous surface ships (MASS) has become a hot topic. Preliminary hazard analysis of MASS can assist autonomous ship design and ensure safe and reliable operation. However, since MASS technology is still at its early stage, there are not enough data for comprehensive hazard analysis. Hence, this paper attempts to combine conventional ship data and MASS experiments to conduct a preliminary hazard analysis for autonomy level III MASS using the hybrid causal logic (HCL) method. Firstly, the hazardous scenario of autonomy level III MASS is developed using the event sequence diagram (ESD). Furthermore, the fault tree (FT) method is utilized to analyze mechanical events in ESD. The events involving human factors and related to MASS in the ESD are analyzed using Bayesian Belief Network (BBN). Finally, the accident probability of autonomy level III MASS is calculated in practice through historical data and a test ship with both an autonomous and a remote navigation mode in Wuhan and Nanjing, China. Moreover, the key influence factors are found, and the accident-causing event chains are identified, thus providing a reference for MASS design and safety assessment process. This process is applied to the preliminary hazard analysis of the test ship.

A Novel Approach of Marine Ecosystem Monitoring System with Multi-Sensory Submarine on Robotic Platform for Visualizing the Climate Change Effect over Oceanic Environment

It is obvious that the whole world is so much concerned about the terrifying escalation of climate change in the recent time period. This climate change effect can be visible in the land, atmospheric and oceanic area simultaneously. Though there have been multiple attempts of proposing solutions concerning the protection for the land area environmental balance, monitoring and surveillance. But unfortunately there have been a very handful of research work which predominantly concerns about the protection upon the environmental state of marine biological species and its ecosystem. So, the following research study proposes a solution which appears to be a full-fledged Bluetooth controlled Submarine prototype with a sensory chipboard attached inside its endo-skeleton which contains multiple sensors like DHT11 temperature-humidity, dust, CO2 and YL69 pH sensors. The sensory data provides the information of underwater whether the naval environment is habitable for the marine biological species or not, under the terrible effect of global climate change. The submarine prototype is fully functional in the surface and underwater scenario which contains a very unique mechanical design and circuitry with an exceptional sensor data streaming capability which can be used by marine biological researchers and oceanographers professionally as a full-fledged marine ecosystem monitoring device.
 HIGHLIGHTS
 
 Climate change is causing a very alarming effect in the oceanic area which is constantly threatening the future of marine biological species. The paper focuses on the constant monitoring over spacies with the help of a multi-sensory submarine with real time sensory data and remote navigation
 The unique clustering of multi-sensory circuity makes the sensory data more reliable while the vacuum controlled hydraulic pump motors make the navigation and diving of the submarine prototype very preciseand swift
 The navigation can be controlled with a globally unique and customized Submarine Navigator Smartphone Application
 The multi-sensory marine species monitoring submarine prototype appears to be a torch-bearer of the amalgamation of the fields such as IOT-Sensors and Robotics which paves the way for further IOT and Naval Robotics Research
 
 GRAPHICAL ABSTRACT

Perpendicular catheter orientation during papillary muscle ablation results in larger, deeper lesions.

Ablation of papillary muscles (PMs) for refractory ventricular arrhythmias can often be challenging. The catheter approach and orientation during ablation may affect optimal radiofrequency (RF) delivery. Yet, no previous study investigated the association between catheter orientation and PM lesion size. We evaluated ablation lesion characteristics with various catheter orientations relative to the PM tissue during open irrigated ablation, using a standardized, experimental setting. Viable bovine PM was positioned on a load cell in a circulating saline bath. RF ablation was performed over PM tissue at 50 W, with the open irrigated catheter positioned either perpendicular or parallel to the PM surface. Applied force was 10 g. Ablation lesions were sectioned and underwent quantitative morphometric analysis. A catheter position oriented directly perpendicular to the PM tissue resulted in the largest ablation lesion volumes and depths compared with ablation with the catheter parallel to PM tissue (75.26 ± 8.40 mm3 vs. 34.04 ± 2.91 mm3 , p < .001) and (3.33 ± 0.18 mm vs. 2.24 ± 0.10 mm, p < .001), respectively. There were no significant differences in initial impedance, peak voltage, peak current, or overall decrease in impedance among groups. Parallel catheter orientation resulted in higher peak temperature (41.33 ± 0.28°C vs. 40.28 ± 0.24°C, p = .003), yet, there were no steam pops in either group. For PM ablation, catheter orientation perpendicular to the PM tissue achieves more effective and larger ablation lesions, with greater lesion depth. This may have implications for the chosen ventricular access approach, the type of catheter used, consideration for remote navigation, and steerable sheaths.

Augmented reality and mixed reality behavior navigation system for telexistence remote assistance

Considering the increased importance of telework systems in economies affected by COVID-19, telexistence technologies for remote guidance and navigation in general human activities are widely expected to prove beneficial in various applications, including plant maintenance, infrastructure inspection, and medical services. In prior work, we have proposed a behavior navigation system (BNS) using augmented reality (AR) and mixed reality (MR) technologies to provide remote assistance. Resembling a conventional gesture-based remote assistance system, our previously proposed motion guidance technology was designed to ensure that the motion of a non-expert user followed the motion of a remote expert sequentially and in a relatively accurate manner, similar to that of telexistence robots. As yet, the poor performance of head-mounted displays (HMDs) has presented major obstacles to the commercialization of BNSs. Enabled by the introduction of practical, modern HMDs, we present a novel BNS configuration and detail our implementation of the proposed system with an assessment of its performance. Experimental results show that compared to a conventional remote assistance system, our proposed approach achieved reduced working time, equal or increased task success rate (not statistically significant), and a higher subjective user evaluation.

Implementasi Gerakan Tangan terhadap Navigasi Robot Beroda menggunakan Teknik Accelerometer

Human-machine interface (HMI) is a system that can connect human organs to the control of a machine using computer technology. Today's robot technology has been widely researched, especially in terms of robot motion control. This research adopts the accelerometer technique by utilizing the wrist to control the motion of a wheeled robot via wireless communication. A wheeled robot as a data receiver and hand movements as a data transmitter. The MPU6050 sensor is mounted on the back of the hand to read hand movements based on the Pitch (y-axis) and Roll (x-axis) values. Communication between robots and hand movements using Bluetooth. The results prove that the accelerometer sensor on the MPU 6050 has successfully identified wrist motion as a remote navigation robot. Pitch value is greater than 160, so the robot moves backward and for moving forward is less than 140. Meanwhile, for moving left, the Roll value is less than 40 and for moving right is greater than 60.

Teleguidance-based remote navigation assistance for visually impaired and blind people—usability and user experience

This paper reports the development of a specialized teleguidance-based navigation assistance system for the blind and the visually impaired. We present findings from a usability and user experience study conducted with 11 blind and visually impaired participants and a sighted caretaker. Participants sent live video feed of their field of view to the remote caretaker’s terminal from a smartphone camera attached to their chest. The caretaker used this video feed to guide them through indoor and outdoor navigation scenarios using a combination of haptic and voice-based communication. Haptic feedback was provided through vibrating actuators installed in the grip of a Smart Cane. Two haptic methods for directional guidance were tested: (1) two vibrating actuators to guide left and right movement and (2) a single vibrating actuator with differentiating vibration patterns for the same purpose. Users feedback was collected using a meCUE 2.0 standardized questionnaire, interviews, and group discussions. Participants’ perceptions toward the proposed navigation assistance system were positive. Blind participants preferred vibrational guidance with two actuators, while partially blind participants preferred the single actuator method. Familiarity with cane use and age were important factors in the choice of haptic methods by both blind and partially blind users. It was found that smartphone camera provided sufficient field of view for remote assistance; position and angle are nonetheless important considerations. Ultimately, more research is needed to confirm our preliminary findings. We also present an expanded evaluation model developed to carry out further research on assistive systems.

Autonomous Water Quality Monitoring and Water Surface Cleaning for Unmanned Surface Vehicle.

Water is one of the most precious resources. However, industrial development has made water pollution a critical problem today and thus water quality monitoring and surface cleaning are essential for water resource protection. In this study, we have used the sensor fusion technology as a basis to develop a multi-function unmanned surface vehicle (MF-USV) for obstacle avoidance, water-quality monitoring, and water surface cleaning. The MF-USV comprises a USV control unit, a locomotion module, a positioning module, an obstacle avoidance module, a water quality monitoring system, a water surface cleaning system, a communication module, a power module, and a remote human–machine interface. We equip the MF-USV with the following functions: (1) autonomous obstacle detection, avoidance, and navigation positioning, (2) water quality monitoring, sampling, and positioning, (3) water surface detection and cleaning, and (4) remote navigation control and real-time information display. The experimental results verified that when the floating garbage located in the visual angle ranged from −30° to 30° on the front of the MF-USV and the distances between the floating garbage and the MF-USV were 40 and 70 cm, the success rates of floating garbage detection are all 100%. When the distance between the floating garbage and the MF-USV was 130 cm and the floating garbage was located on the left side (15°~30°), left front side (0°~15°), front side (0°), right front side (0°~15°), and the right side (15°~30°), the success rates of the floating garbage collection were 70%, 92%, 95%, 95%, and 75%, respectively. Finally, the experimental results also verified that the applications of the MF-USV and relevant algorithms to obstacle avoidance, water quality monitoring, and water surface cleaning were effective.

An interactive holographic projection system that uses a hand-drawn interface with a consumer CPU

Holography is a promising technology for photo-realistic three-dimensional (3D) displays because of its ability to replay the light reflected from an object using a spatial light modulator (SLM). However, the enormous computational requirements for calculating computer-generated holograms (CGHs)—which are displayed on an SLM as a diffraction pattern—are a significant problem for practical uses (e.g., for interactive 3D displays for remote navigation systems). Here, we demonstrate an interactive 3D display system using electro-holography that can operate with a consumer’s CPU. The proposed system integrates an efficient and fast CGH computation algorithm for line-drawn 3D objects with inter-frame differencing, so that the trajectory of a line-drawn object that is handwritten on a drawing tablet can be played back interactively using only the CPU. In this system, we used an SLM with 1,920 times 1,080 pixels and a pixel pitch of 8 μm × 8 μm, a drawing tablet as an interface, and an Intel Core i9–9900K 3.60 GHz CPU. Numerical and optical experiments using a dataset of handwritten inputs show that the proposed system is capable of reproducing handwritten 3D images in real time with sufficient interactivity and image quality.

Improved reconstruction of JET using LIDAR-Vision fusion

Abstract Just like most industrial or scientific installations, future fusion reactors will require frequent maintenance. The expected environmental conditions and the necessity of carrying out many tasks in parallel result in the requirement to replace person-in-the-loop maintenance with robotic maintenance. Many advanced technologies will be required to carry out the automated inspection and maintenance tasks in order to minimize the maintenance shutdown durations. LIDAR is one such promising technology which is only just starting to be applied in Fusion contexts. Though it is presently not radiation tolerant enough to be utilized in future reactor designs such as ITER or DEMO without further development, the low radiation levels in JET have presented an opportunity to evaluate the technology for use in fusion environments. In previous work, we presented initial results using data captured in JET in the form of a coloured 3D-pointcloud created by LIDAR-Vision sensor fusion. In this paper, we present further work done to improve the quality of this data. This includes details on the improvement of model quality using ORB-SLAM as well as the use of recorded JET RH Boom kinematics data. We also carry out pointcloud-CAD data comparisons using numerical methods and show and improvement in reconstruction quality using ORB-SLAM and Boom Kinematics. Finally, the results are discussed and the relevance of this technology for future remote maintenance system inspection and navigation tasks is evaluated.

Motion and Navigation Control System of a Mobile Robot as A Prototype of An Autonomous Vehicle

Autonomous vehicle is a vehicle that can automatically navigate both long-range and short-range navigation. In this paper, we designed a motion and navigation control system of an autonomous vehicle that is implemented on a mobile robot. The remote navigation process involves using the global positioning system (GPS) sensor as a reference to navigate, and for short-range navigation using the proximity and force sensor. The robot task is to reach several coordinate points that are determined and marked with a traffic-cone at each point. In the control of short-range navigation, the robot uses five ultrasonic and three switch sensors to read the environment as input to the description of the distance between the robot and the object. The micro-controller then compares it to the robot’s safe distance instructions in navigating with surrounding objects. GPS sensor is used to provide remote navigation path information. To compensate for the accuracy of the wide GPS sensor readings, several waypoints are designed to guide the robot to the specified traffic-cone. From the implementation, the robot movement can go along the navigation area and can avoid short-range objects in the robot trajectory and get to the traffic-cone point with the percentage of success reaching the final destination above 86% both in sunny and cloudy weather.