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| 1 | 核电站蒸汽发生器堵板操作机器人机构设计与实现显示文摘核电站蒸汽发生器堵板密封操作是检修维护中的必备作业,由于大剂量的辐射环境,急需由机器人代替人工进行堵板密封操作。提出并研制了一种堵板自主密封操作机器人,完成了机器人整体设计并分析了机器人轻量化、高刚度、耐辐照以及安装便捷的机构特点,通过对机器人的工作空间可操作分析以及运动学计算与仿真,得到末端在预定轨迹下各关节运动情况,验证运动学求解的正确性。最后在已研制的机器人平台上进行精度实验,验证了该机器人可满足堵板密封操作的需求,为下一步工程应用奠定了基础。 | 段星光 李常 王永贵 陈宁宁 | 2014 | 制造业自动化2014，36，20： | 6 |
| 2 | 高压换流站组合轨道式巡检机器人的研制显示文摘根据机器人巡检的工作状况及环境,开发了一种适于换流站巡检的组合式轨道机器人,该机器人装有控制检测系统,可以沿室内某一高度水平距离轨道不低于4×140米,垂直导轨不低于7米,以水平运行速度0~16m/min、垂直运行速度0~3.5m/min在轨道上两方向组合式运动,并且按预先规划的任务,自动在预置位精确停靠;机器人可以携带红外检测仪、可见光检测仪、紫外检测仪等有关的电气检测装置,代替人对阀厅及户内直流场设备进行巡测,以便及时发现设备的内部热缺陷、外部机械或电气问题。 | 王化玲 邹洪森 徐辉 尹磊 | 2014 | 制造业自动化2014，36，20： | 6 |
| 3 | 基于建筑特征及二维地图的复杂城市场景中移动机器人视觉定位算法显示文摘针对城市环境中全球定位系统(GPS)信号易受到高层建筑遮挡而无法提供准确位置信息的问题,提出了一种基于建筑物竖直侧平面特征及建筑物二维轮廓地图的移动机器人定位方法。该方法利用车载视觉,首先对两视图间的竖直直线特征进行匹配;然后基于匹配的竖直线特征对建筑物的竖直侧平面进行重建;最后,利用建筑物竖直侧平面特征及建筑物二维俯视轮廓地图,设计了一种基于随机采样一致性(RANSAC)的移动机器人视觉定位算法,从而解决了在建筑物方向任意的复杂城市环境中的机器人定位问题。实验结果表明,算法的平均定位误差约为3.6 m,可以有效地提高移动机器人在复杂城市环境中自主定位的精度及鲁棒性。 | 李海丰 王怀超 | 2014 | 计算机应用2014，34，9： | 2 |
| 4 | Error aware multiple vertical planes based visual localization for mobile robots in urban environments显示文摘A novel error-aware visual localization method is proposed that utilizes vertical planes,such as vertical building facades in urban areas as landmarks.Vertical planes,reconstructed from coplanar vertical lines,are robust high-level features if compared with point features or line features.Firstly,the error models of vertical lines and vertical planes are built,where maximum likelihood estimation(MLE)is employed to estimate all vertical planes from coplanar vertical lines.Then,the closed-form representation of camera location error variance is derived.Finally,the minimum variance camera pose estimation is formulated into a convex optimization problem,and the weight for each vertical plane is obtained by solving this well-studied problem.Experiments are carried out and the results show that the proposed localization method has an accuracy of about 2 meters,at par with commercial GPS operating in open environments. | LI HaiFeng WANG HongPeng LIU JingTai | 2015 | Science China(Information Sciences)2015，58，3： | 1 |
| 5 | Autonomous map query:robust visual localization in urban environments using Multilayer Feature Graph显示文摘When a vehicle travels in urban areas,onboard global positioning system(GPS) signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions.It is proposed to perform localization by registering ground images to a 2D building boundary map which is generated from aerial images.Multilayer feature graphs(MFG) is employed to model building facades from the ground images.MFG was reported in the previous work to facilitate the robot scene understanding in urban areas.By constructing MFG,the 2D/3D positions of features can be obtained,including line segments,ideal lines,and all primary vertical planes.Finally,a voting-based feature weighted localization method is developed based on MFGs and the 2D building boundary map.The proposed method has been implemented and validated in physical experiments.In the proposed experiments,the algorithm has achieved an overall localization accuracy of 2.2m,which is better than commercial GPS working in open environments. | 李海丰 Wang Hongpeng Liu Jingtai | 2015 | High Technology Letters2015，21，1： | 0 |
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