Huatao Zhang

Small Teleoperated Robot for Nuclear Radiation and Chemical Leak Detection

In order to meet the actual requirements of nuclear radiation and chemical leak detection, and emergency response, a new small teleoperated robot for nuclear radiation and chemical detection is proposed. A small-size robot is manufactured according to technical requirements and the overall structure and control system is described. Meanwhile, based on the principles of human-robot interaction, a user-friendly human-robot interaction interface is designed to provide a good telepresence for the operator, helping the operator to perceive and judge the robots situation to better assist in making the right decisions and in giving timely operation instructions. The experiment results show the robot system operates reliably and meets the technical requirements.

Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot

This paper represents the relationship between the stability of stairs climbing and the centroid position of the search and rescue robot. The robot system is considered as a mass point- plane model and the kinematics features are analyzed to find the relationship between centroid position and the maximal pitch angle of stairs the robot could climb up. A computable function about this relationship is given in this paper. During the stairs climbing, there is a maximal stability-keeping angle depends on the centroid position and the pitch angle of stairs, and the numerical formula is developed about the relationship between the maximal stability-keeping angle and the centroid position and pitch angle of stairs. The experiment demonstrates the trustworthy and correction of the method in the paper.

Optimal path planning in field based on traversability prediction for mobile robot

This paper presents a novel method on building relationship between the optimal path and the terrain traversability. some color and texture features are used for the input set to train a self learning function. The trained function is used for the traversability prediction. Considering the traveling smoothness of the field robot, the sub-regions with minimal original traversability is not the optimal path. The distance coefficient is suggested which is depending on the optimal subregion in the last searching row and the original traversability prediction is transformed to computed traversability prediction based on the distance coefficient. The pathes with different initial sub-regions is formed and the optimal path is picked up following the minimal sum of computed traversability prediction of all sub-regions in this path. And two experiments are shown and discussed to demonstrate the effectiveness and efficiency of the method mentioned in this paper.

Support Vector Machine Based Robotic Traversability Prediction with Vision Features

Abstract This paper presents a novel method on building relationship between the vision features of the terrain images and the terrain traversability which manifests the difficulty of field robot traveling across one terrain. Vision features of the image are extracted based on color and texture. The travesability is labeled with the relative vibration. The support vector machine regression method is adopted to build up the inner relationship between them. In order to avoid the over-learning during training, k-fold method is used and average mean square error is defined as the target minimized to get the optimal parameters based on parameter space grid method. For the traveling smoothness of field robot, the original traversability prediction is transformed to computed traversability prediction based on different initial sub-regions. The optimal path is given by minimizing the sum of computed traversability prediction of all sub-regions in each path. Three experiments are discussed to demonstrate the effec...