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Visual feedback control is a promising solution for robots work in unstructured environments, and this is accomplished by estimation of the time derivative relationship between the image features and the robot moving. While some of the drawbacks associated with most visual servoing (VS) approaches include the vision–motor mapping computation and the robots’ dynamic performance, the problem of designing optimal and more effective VS systems still remains challenging. Thus, the purpose of this paper is to propose and evaluate the VS method for robots in an unstructured environment.

This paper presents a new model-free VS control of a robotic manipulator, for which an adaptive estimator aid by network learning is proposed using online estimation of the vision–motor mapping relationship in an environment without the knowledge of statistical noise. Based on the adaptive estimator, a model-free VS schema was constructed by introducing an active disturbance rejection control (ADRC). In our schema, the VS system was designed independently of the robot kinematic model.

The various simulations and experiments were conducted to verify the proposed approach by using an eye-in-hand robot manipulator without calibration and vision depth information, which can improve the autonomous maneuverability of the robot and also allow the robot to adapt its motion according to the image feature changes in real time. In the current method, the image feature trajectory was stable in the camera field range, and the robot’s end motion trajectory did not exhibit shock retreat. The results showed that the steady-state errors of image features was within 19.74 pixels, the robot positioning was stable within 1.53 mm and 0.0373 rad and the convergence rate of the control system was less than 7.21 s in real grasping tasks.

Compared with traditional Kalman filtering for image-based VS and position-based VS methods, this paper adopts the model-free VS method based on the adaptive mapping estimator combination with the ADRC controller, which is effective for improving the dynamic performance of robot systems. The proposed model-free VS schema is suitable for robots’ grasping manipulation in unstructured environments.

This paper aims to propose a machine learning-based automatic labeling methodology for chemical tanker activities that can be applied to any port with any number of active tankers and the identification of important predictors. The methodology can be applied to any type of activity tracking that is based on automatically generated geospatial data.

The proposed methodology uses three machine learning algorithms (artificial neural networks, support vector machines (SVMs) and random forest) along with information fusion (IF)-based sensitivity analysis to classify chemical tanker activities. The data set is split into training and test data based on vessels, with two vessels in the training data and one in the test data set. Important predictors were identified using a receiver operating characteristic comparative approach, and overall variable importance was calculated using IF from the top models.

Results show that an SVM model has the best balance between sensitivity and specificity, at 93.5% and 91.4%, respectively. Speed, acceleration and change in the course on the ground for the vessels are identified as the most important predictors for classifying vessel activity.

The study evaluates the vessel movements waiting between different terminals in the same port, but not their movements between different ports for their tank-cleaning activities.

The findings in this study can be used by port authorities, shipping companies, vessel operators and other stakeholders for decision support, performance tracking, as well as for automated alerts.

This analysis makes original contributions to the existing literature by defining and demonstrating a methodology that can automatically label vehicle activity based on location data and identify certain characteristics of the activity by finding important location-based predictors that effectively classify the activity status.