2022 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献

筛选
英文 中文
Random Patrol Path Planning for Unmanned Surface Vehicles in Shallow Waters 浅水无人水面航行器随机巡逻路径规划
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856340
Xiyang Xie, Yunliang Wang, Yanjuan Wu, Mankun You, Shuangyang Zhang
{"title":"Random Patrol Path Planning for Unmanned Surface Vehicles in Shallow Waters","authors":"Xiyang Xie, Yunliang Wang, Yanjuan Wu, Mankun You, Shuangyang Zhang","doi":"10.1109/ICMA54519.2022.9856340","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856340","url":null,"abstract":"To solve the problem of surface patrol in small and medium-sized shallow waters, a multi-point path planning scheme for unmanned surface vehicle (USV) is proposed. The random patrol path planning method is designed as follows: 1) randomly select target points 2) combine genetic algorithm to solve Traveling Salesman Problem (TSP) 3) use Rapidly-exploring Random Trees Star algorithm (RRT*) and Dynamic Window Approach algorithm (DWA) to plan the path. Through the cooperation of global path planning and local path planning, under the premise of ensuring the safety of the USV, the random search of the water surface can be more efficiently carried out. Through simulation experiments, it is proved that the path planning algorithm designed in this paper can complete the patrol task of the water surface under the condition that the USV is safe in shallow waters.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127197320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Inter-subject Variability Evaluation of Continuous Elbow Angle from sEMG using BPNN 用bp神经网络评价表面肌电信号中连续肘关节角度的主体间变异性
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856005
Hengrui Li, Shuxiang Guo, Dongdong Bu, Hanze Wang
{"title":"Inter-subject Variability Evaluation of Continuous Elbow Angle from sEMG using BPNN","authors":"Hengrui Li, Shuxiang Guo, Dongdong Bu, Hanze Wang","doi":"10.1109/ICMA54519.2022.9856005","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856005","url":null,"abstract":"As a non-invasive approach, surface electromyographic (sEMG) signal has great potential for application in human-robot interfaces, such as the upper-limb exoskeleton rehabilitation device. However, due to the differences in activity level of muscles, there exists high inter-subject variability. In this work, the influence of inter-subject variability for elbow continuous motion is evaluated through a shallow neural network (BPNN), and user-dependent and user-independent models are established respectively. In user-dependent model, training and testing sets are from the same subject, new set of the same person as during training is used as the input of network. The user-independent models are constructed by the same user and another additional user to determine inter-subject variability in model construction. To evaluate the degree of inter-subject variability, evaluation criteria and statistical method are adopted. Through the prediction results, and further the value of evaluation criteria and the plot of statistical method, it can be seen that the inter-subject variability on sEMG has a huge impact on the regression of elbow continuous angle, which can provide reference for the future study of building sEMG generalized modeling to estimate elbow angles.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114568545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Mechanical design and rolling locomotion analyses of a novel reconfigurable mobile robot constructed by a parallel mechanism 一种新型并联可重构移动机器人的机械设计与滚动运动分析
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856338
Xinyue Cui, Yuqiang Sun, Yao-bin Tian, Kun Xu, Shuwen Kou
{"title":"Mechanical design and rolling locomotion analyses of a novel reconfigurable mobile robot constructed by a parallel mechanism","authors":"Xinyue Cui, Yuqiang Sun, Yao-bin Tian, Kun Xu, Shuwen Kou","doi":"10.1109/ICMA54519.2022.9856338","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856338","url":null,"abstract":"Recently, morphology methods were used to improve locomotion capability of a mobile robot by deforming the body into multiple topological structures for various locomotion modes. Rolling mode will provide a fast moving process for flat ground, while the legged mode is more suitable for rough terrain. In this work, a new reconfigurable robot with rolling and legged locomotion modes is proposed based on parallel mechanism method. Four reconfigurable limbs and two platforms are assembled into a parallel manipulator. Based on the reconfigurable properties of such parallel mechanism, the motion branches were planned to switch the robot into different topologies to generate rolling and legged locomotion. In addition, a motion planning method is presented to perform fast and stable rolling locomotion for this reconfigurable robot. A simulation is carried out and verified the design concept.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122860268","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design Of Linear Generator Based On Ship Rolling 基于船舶滚动的直线发电机设计
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856329
Ling Li, Qiang Fu, Haoran Han, Yi Zhang
{"title":"Design Of Linear Generator Based On Ship Rolling","authors":"Ling Li, Qiang Fu, Haoran Han, Yi Zhang","doi":"10.1109/ICMA54519.2022.9856329","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856329","url":null,"abstract":"Ships tend to roll at sea under the influence of wind and waves, and there is a lot of recoverable mechanical energy in rolling motion. To collect the energy generated by waves, design an energy recovery device based on the roll characteristics of ship which installed on the ship deck. Therefore, the energy recovery unit fixed on the ship's deck can indirectly convert wave energy into electricity to power some medium and large merchant ships. So introduces a linear generator based on rolling generation. The simulation is built in Ansys, and the reciprocating motion of the sliding block is realized when the ship rolls continuously. Then, relevant parameters under different combinations of slider speed and coil turns were calculated, and the relationship between relevant parameters and generator output power was analyzed.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"19 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120821763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
AUV 3D Trajectory Prediction Based on CNN-LSTM 基于CNN-LSTM的AUV三维轨迹预测
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856366
Juan Li, Wenbo Li
{"title":"AUV 3D Trajectory Prediction Based on CNN-LSTM","authors":"Juan Li, Wenbo Li","doi":"10.1109/ICMA54519.2022.9856366","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856366","url":null,"abstract":"When multiple AUVs perform formation tasks underwater, there is a delay in the follower receiving the leader’s information, so that the follower cannot accurately follow the leader. In response to this problem, this paper designs a short-term trajectory prediction scheme of CNN-LSTM. First, the data is processed, and then the CNN-LSTM neural network trajectory prediction model is constructed by mining the time series relationship in the historical data of the leader. Finally, the accuracy and robustness of the prediction of the CNN-LSTM model are verified by comparing with the prediction results of other models.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122917132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Mega-Stability and Transient Chaos Analysis of Brushless DC Motor with Winding Heat Loss 含绕组热损耗的无刷直流电动机的超稳定与瞬态混沌分析
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856249
Qiang Wang, Enzeng Dong, Shengzhi Du, Jigang Tong, Hui Yu, F. Duan
{"title":"Mega-Stability and Transient Chaos Analysis of Brushless DC Motor with Winding Heat Loss","authors":"Qiang Wang, Enzeng Dong, Shengzhi Du, Jigang Tong, Hui Yu, F. Duan","doi":"10.1109/ICMA54519.2022.9856249","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856249","url":null,"abstract":"The parameters of stator winding of brushless DC motor will change under the influence of temperature. The model of brushless DC motor with temperature-affected winding is established, and the influence of steady-state temperature on the motor system under different heat dissipation conditions is investigated, and its dynamic characteristics are also explored. The stability of brushless DC motor is observed by using basin stability. For some parameters, the system can exhibit point attractors, the mega-stability of multiple nested periodic rings and chaos phenomena. By means of mathematical statistics and function fitting, the transient chaotic phenomena of the system under some parameters are examined.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123515398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Robot Global Path Planning Based on Improved Second-Order PSO Algorithm 基于改进二阶粒子群算法的机器人全局路径规划
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856139
Juan Li, Jinyu Su
{"title":"Robot Global Path Planning Based on Improved Second-Order PSO Algorithm","authors":"Juan Li, Jinyu Su","doi":"10.1109/ICMA54519.2022.9856139","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856139","url":null,"abstract":"When using particle swarm optimization (PSO) to realize the global path planning of the robot, premature convergence and falling into the local optimum often occur. Therefore, an improved second-order PSO is used to improve premature convergence and analyze its stability. The logistic function relationship is established between the inertia weight and the learning factors. Using linearly decreasing inertia weight and adaptive learning factors, making the inertia weight change together with the learning factors to change the global or local flight ability to improve the ability to jump out of the local optimum. Through simulation comparison, it is proved that the improved second-order PSO proposed in this paper has the ability to jump out of the local optimum in the global path planning, and at the same time avoids premature convergence, and can also improve the convergence speed of the algorithm, which verifies the effectiveness of the algorithm.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133056802","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Harmonic Circulating Current Control of Parallel Inverter Considering Voltage Bus Quality 考虑电压母线质量的并联逆变器谐波环流控制
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856068
Xuesong Zhou, Xiaojie Liu, Youjie Ma, Xing Zhao
{"title":"Harmonic Circulating Current Control of Parallel Inverter Considering Voltage Bus Quality","authors":"Xuesong Zhou, Xiaojie Liu, Youjie Ma, Xing Zhao","doi":"10.1109/ICMA54519.2022.9856068","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856068","url":null,"abstract":"The parallel connection of inverters will produce large harmonic circulation, which can be divided into two types according to different causes: load end and power end. For the harmonic circulation generated at the load end, it combines the negative virtual harmonic impedance and adaptive harmonic impedance. For other virtual harmonic impedance, this strategy can minimize the increase of bus voltage drop and harmonic distortion rate caused by adding virtual impedance, and suppress the harmonic circulation without affecting the system stability; For the circulating current generated by different dead time, Linear active disturbance rejection control is used to estimate and compensate the dead time voltage, and the circulating current is suppressed by observer bandwidth and controller bandwidth. Finally, simulation results verify the correctness and effectiveness of the proposed improved control strategy.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"51 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122871052","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Control Strategy for Squat Assistance of Lower Limb Exoskeleton with Back Sensing 基于背部传感的下肢外骨骼深蹲辅助控制策略
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856343
Jiaqi Wang, Dongmei Wu, W. Dong, Yongzhuo Gao
{"title":"A Control Strategy for Squat Assistance of Lower Limb Exoskeleton with Back Sensing","authors":"Jiaqi Wang, Dongmei Wu, W. Dong, Yongzhuo Gao","doi":"10.1109/ICMA54519.2022.9856343","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856343","url":null,"abstract":"While many challenges remain with respect to the mechanical design of the lower limb exoskeleton, it is equally challenging and important to develop effective control strategies. The exoskeleton is a highly human-robot coupled system with a complex dynamic model and working environment, so it is crucial that the controller works in concert with the user intention without relying on imprecise models. This paper proposes a motion controller for a lower limb exoskeleton, aiming to perform collaborative squatting assistance with efficiency and flexibility. This control strategy is designed for our exoskeleton which is equipped with a force sensor on the back. The high-level control is a force-velocity admittance model estimating the human intention by the interaction force, and the low-level control is based on PD closed-loop velocity control with gravity compensation. Through experimental studies conducted with our exoskeleton, the feasibility and effectiveness of the control strategy are demonstrated.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124023181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on Nonlinear Ultrasonic Testing Technology on Fatigue Process of Metal Materials 金属材料疲劳过程非线性超声检测技术研究
2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856354
Q. Pan, Sa Li, Peilun Li, Lang Xu, Wei Li, Xiaoyou Zhou, Haoshen Yu, Shuangyang Li, Yunmiao Zhang
{"title":"Research on Nonlinear Ultrasonic Testing Technology on Fatigue Process of Metal Materials","authors":"Q. Pan, Sa Li, Peilun Li, Lang Xu, Wei Li, Xiaoyou Zhou, Haoshen Yu, Shuangyang Li, Yunmiao Zhang","doi":"10.1109/ICMA54519.2022.9856354","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856354","url":null,"abstract":"Metal materials are prone to serious problems such as material performance degradation, fatigue damage and induced fatigue damage in the process of tension, compression or bearing alternating loads, resulting in heavy losses. Therefore, it is necessary to study the degradation of mechanical properties during material fatigue. When the ultrasonic wave propagates in the metal component, it interacts with the fatigue damage in the material, so that the ultrasonic waveform is distorted and high-order harmonic components are generated, which can be used to characterize the degree of material fatigue and mechanical property degradation. This paper takes YL12 aluminum alloy and 45 steel as the research objects, and uses the COMSOL software to simulate the propagation process of the surface wave in the sample. The specimen is cyclically loaded by a tensile machine, an ultrasonic nonlinear detection platform is built, excitation pulse signal, analyze frequency domain waveform, and the second-order relative nonlinearity of the specimen under different cyclic loading times is calculated. The linear coefficient is obtained, and the relative nonlinear coefficient shows a monotonically increasing trend with the increase of loading times during the fatigue process.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127730507","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信