2022 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献_第2页

Identifying Biomarkers of Subjective Cognitive Decline Using Graph Convolutional Neural Network for fMRI Analysis 使用图卷积神经网络识别主观认知能力下降的生物标志物进行fMRI分析

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856298

Zhao Zhang, Guangfei Li, Jiaxi Niu, Sihui Du, Tianxin Gao, Weifeng Liu, Zhenqi Jiang, Xiaoying Tang, Yong Xu

{"title":"Identifying Biomarkers of Subjective Cognitive Decline Using Graph Convolutional Neural Network for fMRI Analysis","authors":"Zhao Zhang, Guangfei Li, Jiaxi Niu, Sihui Du, Tianxin Gao, Weifeng Liu, Zhenqi Jiang, Xiaoying Tang, Yong Xu","doi":"10.1109/ICMA54519.2022.9856298","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856298","url":null,"abstract":"Subjective cognitive decline (SCD) is the preclinical stage of Alzheimer’s disease (AD). People with SCD have a higher chance of developing mild cognitive impairment and AD than those aging normally. In the present study, we collected resting state functional magnetic resonance imaging (rs-fMRI) data for 69 patients with SCD and 75 normal controls (NC); using statistical analysis, a support vector machine (SVM), and graph convolutional neural networks (GCNs), we examined the brain-related differences between patients with SCD and NC. Clinical scale scores show the best distinguishing ability between patients with SCD and NC, and we further used the two-sample t-test, SVM, and GCN model with an attention mechanism to obtain the top 10 brain regions contributing to performance on recognition tasks. The results showed that the thalamus, and cingulum in the Anatomical Automatic Labeling template showed significant differences between patients with SCD and NC. We further discussed the roles of these identified brain regions in the diagnosis of SCD and AD. Our research thus provided statistical evidence that can aid in identifying early-stage AD.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125423962","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

Using Q-learning to Automatically Tune Quadcopter PID Controller Online for Fast Altitude Stabilization 利用q -学习在线自动整定四轴飞行器PID控制器实现快速高度稳定

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856292

Y. Alrubyli, Andrea Bonarini

{"title":"Using Q-learning to Automatically Tune Quadcopter PID Controller Online for Fast Altitude Stabilization","authors":"Y. Alrubyli, Andrea Bonarini","doi":"10.1109/ICMA54519.2022.9856292","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856292","url":null,"abstract":"Unmanned Arial Vehicles (UAVs), and more specifically, quadcopters need to be stable during their flights. Altitude stability is usually achieved by using a PID controller that is built into the flight controller software. Furthermore, the PID controller has gains that need to be tuned to reach optimal altitude stabilization during the quadcopter’s flight. For that, control system engineers need to tune those gains by using extensive modeling of the environment, which might change from one environment and condition to another. As quadcopters penetrate more sectors from the military to the consumer sectors, they have been put into complex and challenging environments more than ever before. Hence, intelligent self-stabilizing quadcopters are needed to maneuver through those complex environments and situations. Here we show that by using online reinforcement learning with minimal background knowledge, the altitude stability of the quadcopter can be achieved using a model-free approach. We found that by using background knowledge and an activation function like Sigmoid, altitude stabilization can be achieved faster with a small memory footprint. In addition, using this approach will accelerate development by avoiding extensive simulations before applying the PID gains to the real-world quadcopter. Our results demonstrate the possibility of using the trial and error approach of reinforcement learning combined with activation function and background knowledge to achieve faster quadcopter altitude stabilization in different environments and conditions.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126716824","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

Fast Simultaneous Localization and Mapping Algorithm with Point and Line Feature Based on Image Entropy 基于图像熵的点线特征快速同步定位与映射算法

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856289

Qiang Gao, Guangrui Wei, Yuehui Ji, Yu Song, Junjie Liu, Ning Han

引用次数: 0

Real-time Underwater 3D Reconstruction Method Based on Stereo Camera 基于立体摄像机的水下实时三维重建方法

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855905

Jun Hou, Xiufen Ye

{"title":"Real-time Underwater 3D Reconstruction Method Based on Stereo Camera","authors":"Jun Hou, Xiufen Ye","doi":"10.1109/ICMA54519.2022.9855905","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855905","url":null,"abstract":"Accurate 3D reconstruction of underwater scenes is very important in various fields related to underwater operation. Multi-beam bathymetry sonar can be used to reconstruct terrain map of seafloor. However, this 3D map is not able to express details of objects well. Accurate underwater targets can only be reconstructed through the camera. However, the existing research has problems such as sparse point cloud in real-time reconstruction and time-consuming for dense point cloud reconstruction. In this paper, we propose an underwater real-time 3D reconstruction system based on stereo camera. Aiming at the problem of blurred underwater images, we propose a lightweight image enhancement algorithm. For the problem of real-time point cloud generation, we adopt the method of computing disparity maps by using stereo cameras. We fuse edge information in the process of computing the disparity map, which improves the accuracy of the disparity map. For multi-view point cloud stitching, we propose a fusion stitching method based on SLAM system and dense point cloud. Our method has been tested in indoor pools and sea areas near the marina respectively. The experimental results show that our method has certain advantages in the 3D reconstruction effect and accuracy of underwater objects.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116014304","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

Optimization of the excitation trajectory of particle gray wolf optimization algorithm 粒子灰狼优化算法的激励轨迹优化

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856120

Xiaolei Wu, Bin Li, Jin Wu, Yaqiao Zhu

引用次数: 0

A Novel Clamping Mechanism Design for Vascular Interventional Surgery Robot 血管介入手术机器人新型夹紧机构设计

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856396

D. Zhao, Shuxiang Guo, Chuqiao Lyu, Yonggang Yan, Z. Lin

引用次数: 0

Visual Localization Strategy for Indoor Mobile Robots in the Complex Environment 复杂环境下室内移动机器人的视觉定位策略

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856360

Xiaohan Lei, Fei Zhang, Junyi Zhou, Weiwei Shang

{"title":"Visual Localization Strategy for Indoor Mobile Robots in the Complex Environment","authors":"Xiaohan Lei, Fei Zhang, Junyi Zhou, Weiwei Shang","doi":"10.1109/ICMA54519.2022.9856360","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856360","url":null,"abstract":"Vision-based mobile positioning technology has a broad application prospect. Still, it is easy to be disturbed by external environmental factors, and the positioning accuracy and robustness in a complex environment are poor. Therefore, this paper designs a high-precision visual positioning strategy for a complex environment via fusing stereo visual odometry and Inertial Measurement Unit (IMU) data. A multi-sensor calibration method is utilized to compensate for the measurement error of IMU and the parameter error of the stereo camera. A multi-sensor data synchronization alignment method based on timestamp is also designed to realize the synchronous acquisition and processing of multi-sensor data. Based on the Unscented Kalman Filter (UKF) algorithm, we implement a nonlinear data coupling method to fuse the stereo visual odometry and IMU information to obtain high-precision positioning. In the complex and open laboratory environment, the experimental results of fused localization show that the accuracy and robustness of the mobile robot localization are significantly improved. The global maximum error is reduced by 15%, and the variance is reduced by 5%.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114053423","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: 2

Intelligent Mask Detection and Non-contact Temperature Measurement Mobile Robot based on YOLOv5 基于YOLOv5的智能口罩检测与非接触式测温移动机器人

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856176

Xin Wang, Kaiyuan Huo, R. Tang, Jing Ren, Hongpeng Chen, Kaixuan Sun, Lihong Song

引用次数: 1

Automatic Recognition Method of Aviation Thin Cable Characters Based on Rotating Monocular Camera 基于旋转单目相机的航空细缆字符自动识别方法

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856322

Bin Wang, Jiwen Zhang, Dan Wu

引用次数: 0

Research on Electromagnetic Interference Canceller Based on Improved Least Mean Square 基于改进最小均方的电磁干扰消除研究

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856046

Naizhao Yu, Jiahao Wang, Lanyong Zhang

引用次数: 1