Yi Xinhua

Experimental Study on Long-Range Navigation Behavior of Agricultural Robots

In this paper, we study on the navigating bahevior of CRFNFP[1]-based agricultual robots in real scenes. We designed two sets of experiments and three navigating system with different configuration of software for comparative study. The experimental results indicate that, compared to the traditional local-map-based navigating systems, the CRFNFP-based navigating system does enhance the long-range perception for mobile robots and helps planning more efficient paths for the navigation.

Experimental Validation for CRFNFP Algorithm

In 2010,we proposed CRFNFP[1] algorithm to enhance long-range terrain perception for outdoor robots through the integration of both appearance features and spatial contexts. And our preliminary simulation results indicated the superiority of CRFNFP over other existing approaches in terms of accuracy, robustness and adaptability to dynamic unstructured outdoor environments. In this paper, we further study on the comparison experiments for navigation behaviors of robotic systems with different scene perception algorithms in real outdoor scenes. We implemented 3 robotic systems and repeated the running jobs under various conditions. We also defined 3 creterion to facilitate comparison for all systems: Obstacle Response Distance (ORD), Time to Finish Job (TFJ), Distance of the Whole Run (DWR). The comparative experiments indicate that, the CRFNFP-based navigating system outperforms traditional local-map-based navigating systems in terms of all criterion. And the results also show that the CRFNFP algorithm does enhance the long-range perception for mobile robots and helps planning more efficient paths for the navigation.

Surface Testing and Parameter Identification of Vibration

Flexible surfaces such as aircraft wings surface is easy to lead to vibration. The vibration decreases the accuracy of the precision instruments, reduces aircraft service life and is not conducive to the pilots physical and mental health. This research designed surface vibration test system based on Fiber Bragg Grating (FBG) sensor to detect surface structure of strain response curve. The frequency-spectrum curve was obtained by spectral analysis of strain response spectrum. Then the structure of natural frequencies, the damping ratios the mode of vibration and the other main parameters were identified by parameter identified method. Then the surface vibration law was obtained. Experimental results show that the fiber grating sensor test system could detect the surface vibration period, the natural frequency, the amplitude, and identify the other main parameters of surface vibration. FBG sensor speed is fast and the precision is high, however the test system is limited by frequency of the Fiber Bragg Grating demodulator.