Design of motion control of dam safety inspection underwater vehicle

Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.

Wireless Transmission System for Vehicle Inspection Data

Based on general packet radio service(GPRS) and TCP/IP protocol,a wireless transmission system of vehicle inspection data is designed. Basic structure and work theory are expounded. SIM300 designed by SIMCOM is used for client GPRS communication module. Using Winsock control of visual basic(VB),the client and server communication has been accomplished. By means of a client and server communications software,the remote wireless transmission of vehicle inspection data has been accomplished also. The server management software has been developed by using Microsoft SQL Server 2000 and VB6.0. Functions of software include import,inquiry,export and maintenance of test data.

Manipulator-based autonomous inspections at road checkpoints:Application of faster YOLO for detecting large objects

With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle inspection.The modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss function.During the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through experiments.The comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.