Auswahl der wissenschaftlichen Literatur zum Thema „Chemical servoing“

A vision-based adaptive switching controller that uses optical flow information to avoid obstacles for micro unmanned aerial vehicles (MUAV) is proposed in this paper. To use the optical flow to indicate the distance between the MUAV and the environment, we propose an algorithm with multi-thread processing such that the optical flow information is obtained reliably and continuously in the entire camera field of view. The flying behavior of considered MUAV is regarded as a switching system when considering different flying modes during the mission of obstacle avoidance. By the required flight direction for obstacle avoidance specified by the detected optical flow, an adaptive control scheme is designed to track the required trajectory in switching modes. The simulation result shows the tracking performances of the adaptive control with the switching system. The experiment of the whole system is completed to verify the obstacle avoidance capability of our system.

A communication and control architecture of a multifunctional technology for flexible manufacturing on an assembly, disassembly, and repair mechatronics line (A/D/RML), assisted by a complex autonomous system (CAS), is presented in the paper. A/D/RML consists of a six-work station (WS) mechatronics line (ML) connected to a flexible cell (FC) equipped with a six-degree of freedom (DOF) industrial robotic manipulator (IRM). The CAS has in its structure two driving wheels and one free wheel (2 DW/1 FW)-wheeled mobile robot (WMR) equipped with a 7-DOF robotic manipulator (RM). On the end effector of the RM, a mobile visual servoing system (eye-in-hand VSS) is mounted. The multifunctionality is provided by the three actions, assembly, disassembly, and repair, while the flexibility is due to the assembly of different products. After disassembly or repair, CAS picks up the disassembled components and transports them to the appropriate storage depots for reuse. Technology operates synchronously with signals from sensors and eye-in-hand VSS. Disassembling or repairing starts after assembling and the final assembled product fails the quality test. Due to the diversity of communication and control equipment such as PLCs, robots, sensors or actuators, the presented technology, although it works on a laboratory structure, has applications in the real world and meets the specific requirements of Industry 4.0.

Le sujet de thèse porte sur la reconnaissance automatique de points d’intérêts (PI) pour un robot d’inspection dans un environnement contraint et dégradé. L’objectif de ces travaux de thèse est de développer une plateforme robotique capable d’effectuer des missions en autonomie en se basant sur des PI visuels et chimiques détectés, une problématique dite bimodale. La combinaison des percepts visuels et chimiques permet d’optimiser la précision de localisation etassure une redondance d’information. Le domaine d’étude concerne 3 cas d’application : le cas 1, l’inspection est réalisée dans un espace confiné (milieu industriel). Le cas 2, l’inspection est réalisée dans un environnement avec un risque avéré de perte de signal et à dominante rocheuse (mine, carrière souterraine). Le cas 3, l’inspection est réalisée dans un environnement ayant subi des déformations importantes et donc une géométrie des lieux d’inspection modifiée et chaotique (catastrophes naturelles de type séisme ou éboulement dans un environnement urbain). Dans cette étude, une méthode d’analyse contextuelle des cas est proposée et présentée afin d’analyser les contraintes des différents environnements complexes pour la solution robotique. La thèse regroupe donc différentes problématiques : l’étude des contraintes de l’environnement, le choix de la solution robotique, la navigation autonome et l’asservissement visuel et chimique. Suite à cette analyse contextuelle, un état de l’art est orienté sur la plateforme robotique terrestre pour déterminer la solution robotique la plus adaptée pour opérer dans les 3 cas d’application. Les robots hexapodes ont été choisis pour leurs capacités à franchir les obstacles, leurs stabilités, et leurs capacités d’emport pour les capteurs, notamment. Une méthode est proposée pour atteindre la source du percept dans un environnement non structuré en s’appuyant sur les PI visuels et chimiques. Pour l’évaluation de la méthodologie proposée, les PI visuels considérées sont de type QR code et la détection de la concentration d’un gaz concernant l’asservissement chimique. L’efficacité du schéma proposé est d’abord démontrée par des simulations. Enfin, un prototype d’hexapode est conçu, construit et développé en utilisant l’architecture logicielle ROS. L’hexapode développé a réalisé une mission au sein d’un environnement industriel et à l’intérieur d’une construction navale comprenant une série d’obstacles (cas 1 de l’étude). Les résultats de cette approche robotique sont enfin présentés, commentés et discutés
The thesis subject concerns the automatic recognition of points of interest (PI) for an inspection robot in a constrained and degraded environment. The objective of this thesis work is to develop a robotic platform capable of carrying out autonomous missions based on detected visual and chemical PIs, a so-called bimodal problem. The combination of visual and chemical percepts optimizes localization accuracy and ensures information redundancy. The field of study concerns 3 application cases: case 1, the inspection is carried out in a confined space (industrial environment). Case 2, the inspection is carried out in an environment with a proven risk of loss of signal and predominantly rocky (mine, underground quarry). Case 3, the inspection is carried out in an environment that has undergone significant deformations and therefore a modified and chaotic geometry of the inspection sites (natural disasters such as earthquakes or landslides in an urban environment). In this study, a contextual case analysis method is proposed and presented in order to analyze the constraints of the different complex environments for the robotic solution. The thesis therefore brings together different issues: the study of environmental constraints, the choice of the robotic solution, autonomous navigation and visual and chemical servoing. Following this contextual analysis, a state of the art is oriented on the terrestrial robotic platform to determine the most suitable robotic solution to operate in the 3 application cases. The hexapod robots were chosen for their ability to overcome obstacles, their stability, and their carrying capacity for sensors, in particular. A method is proposed to reach the source of the percept in an unstructured environment by relying on visual and chemical PIs. For the evaluation of the proposed methodology, the visual PIs considered are of the QR code type and the detection of the concentration of a gas concerning chemical servoing. The effectiveness of the proposed scheme is first demonstrated by simulations. Finally, a hexapod prototype is designed, built and developed using the ROS software architecture. The developed hexapod carried out a mission within an industrial environment and inside a shipbuilding including a series of obstacles (case 1 of the study). The results of this robotic approach arefinally presented, commented and discussed