2022 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献_第4页

Design and Modeling of Elastic Variable Stiffness Robotic Fish Tail 弹性变刚度机器鱼尾的设计与建模

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856161

Chunhui Zhu, Liangwei Deng, Xiaofei Wang, Z. Yin, Chao Zhou

{"title":"Design and Modeling of Elastic Variable Stiffness Robotic Fish Tail","authors":"Chunhui Zhu, Liangwei Deng, Xiaofei Wang, Z. Yin, Chao Zhou","doi":"10.1109/ICMA54519.2022.9856161","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856161","url":null,"abstract":"Fish have attracted a huge number of researchers in recent years due to their exceptional swimming abilities, and many imitation fish propulsion robots have been produced. Numerous studies have demonstrated that fish obtain the best swimming speed and efficiency by adjusting the stiffness of their bodies when the tail beats at different frequencies, yet most contemporary robotic fish neglect the stiffness of the fish body. In this article, we create a fishtail with elastic materials, which is combined with a hard silicone cylinder and several regularly arranged balls in the cylinder. We achieve changeable stiffness by squeezing the inner elastic balls to enhance total stiffness, which is controlled by a stepper motor, with the reason that second moments of cross section can influence the stiffness of beam. After modeling and analyzing the system, we build it into a composite cantilever beam made up of a hollow outer cylinder and a periodic heterogeneous core. The stiffness of this complicated beam is calculated using a explicitly formula. Finally, in order to achieve a considerable stiffness increase, we construct a test platform and undertake experimental verification.","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":"125626680","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 Novel Spiral Capsule Robot with Liquid Drug Releasing Functions 一种具有液体药物释放功能的新型螺旋胶囊机器人

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856283

Long Yao, Shuxiang Guo, Lining Zhang

{"title":"A Novel Spiral Capsule Robot with Liquid Drug Releasing Functions","authors":"Long Yao, Shuxiang Guo, Lining Zhang","doi":"10.1109/ICMA54519.2022.9856283","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856283","url":null,"abstract":"In the field of gastrointestinal and gastrointestinal diseases, the most common detection method is to use a digestive endoscope, but because the gastroscope passes through the human pharynx, it causes irritation to the pharynx, and patients will have discomfort such as nausea; after the colonoscopy enters the intestinal cavity, the patient will feel abdominal pain. To solve these problems, researchers invented capsule endoscopes. At present, after the capsule endoscope used in the clinic is swallowed by the human body, it is moved by the peristalsis of the intestine, and the internal image is transmitted to the outside world through wireless communication for diagnosis by the doctor, and finally discharged from the human anus, with low efficiency and controllability. In this paper, a liquid drug release module device that can be assembled on a micro-robot drive module is proposed, which uses a rotating magnetic field to push the internal spiral rotation structure, and pushes the piston at the bottom of the drug warehouse to squeeze the internal space of the drug warehouse, to achieve the purpose of releasing liquid drugs at a fixed point in the digestive tract.","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":"122247091","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

Attempt toward the development of autonomous explorer for arctic ice survey - Identification of issues for moving on icy and snowy surface 开发用于北极冰调查的自主探测器的尝试-在冰雪表面上移动问题的识别

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855914

Tatsuro Yonekura, Morimichi Furudate, Kanta Kanazawa, T. Miyoshi, H. Yoshida

引用次数: 0

Structural Design and Research of Amphibious Robot with Wheel and Propeller 带轮螺旋桨水陆两栖机器人结构设计与研究

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856168

Haoran Han, Qiang Fu, Jian Guo, Lingxiao Li, Jinliang Yin

{"title":"Structural Design and Research of Amphibious Robot with Wheel and Propeller","authors":"Haoran Han, Qiang Fu, Jian Guo, Lingxiao Li, Jinliang Yin","doi":"10.1109/ICMA54519.2022.9856168","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856168","url":null,"abstract":"With the development of an intelligent unmanned working platform, the design of amphibious robots has gradually become the focus of research in the field of automatic control. An amphibious robot is a multifunctional robot with both land movement ability and underwater movement ability. This paper combines the various characteristics of the wheeled robot and the legged robot at the present stage, so that the amphibious robot has motion speed and multiple degrees of freedom at the same time, and compares and selects the shape and length-width ratio of the robot’s shell. This paper designs a dual-purpose driving module, which installs the land driving device and underwater driving device together to save structural space. Using the waterproof brushless motor as the power take-off device of the module can ensure the efficient operation of the module. The most suitable shell shape and proportion are selected by ANSYS hydrodynamics simulation software, and the thrust characteristics of the underwater driving device are obtained. In addition, a state switching device composed of the steering gear is designed, and experiments show that the device can increase the motion freedom of amphibious robots.","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":"121612060","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

Application of A star algorithm in amphibious hull cleaning robot A星算法在水陆两栖船体清扫机器人中的应用

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855911

Qiyue Wang, Qiang Fu, Yi Zhang, Lingxiao Li, Haoran Han, Jinliang Yin, Zhe Hao

引用次数: 0

Aerodynamic Simulation of Aircraft Crusing Characteristics Based on FLUENT 基于FLUENT的飞机巡航特性气动仿真

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856231

Li-Bin Duan, Liwei Shi, Shuxiang Guo, Pengxiao Bao

{"title":"Aerodynamic Simulation of Aircraft Crusing Characteristics Based on FLUENT","authors":"Li-Bin Duan, Liwei Shi, Shuxiang Guo, Pengxiao Bao","doi":"10.1109/ICMA54519.2022.9856231","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856231","url":null,"abstract":"The frame structure of the aircraft and the aerodynamic layout of the main components are closely related to the dynamic characteristics of the aircraft and the aerodynamic forces it receives, which determine the aircraft characteristics and performance indicators of the aircraft. In order to study whether the performance index of the control system meets the actual requirements and the influence of the change of the relevant initial conditions on the aerodynamic characteristics of the aircraft. According to the cruising requirements, we independent design of aircraft model, determine the calculation area of the aircraft and use a new mesh generation technique to generate an unstructured polyhedral mesh and also select a suitable calculation model according to the discrete characteristics of the equation and set the relevant initial conditions of the aircraft and at last uses ANSYS FLUENT to carry out the aerodynamic simulation calculation of the aircraft. The data analysis of the simulation results is achieved, the pressure contour, the vorticity contour, velocity vector contour and streamline contour of the aircraft surface are analyzed. Meanwhile, the lift coefficient, the drag coefficient and the optimum speed for high altitude flight of the aircraft are obtained. The study of the changing law can provide the basis and reference for the aerodynamic flight performance of the aircraft.","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":"132337529","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

Motorized buoy path following based on improved LOS algorithm and Aquila optimizer algorithm 基于改进LOS算法和Aquila优化算法的机动浮标路径跟踪

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856219

Fengxu Guan, Zipeng Yang, Xu Zhang, Jiawei Huang

引用次数: 1

Object Pose Estimation with Point Cloud Data for Robot Grasping 基于点云数据的机器人抓取目标姿态估计

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856092

Xingfang Wu, Weiming Qu, T. Zhang, D. Luo

引用次数: 1

Automatic Labeling in Image Segmentation and Classification for TFT-LCD Manufacturing TFT-LCD制造中图像分割与分类的自动标注

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856233

Chang Liu, S. Vaassen, Lakshmi Manoj, Xiaojie Zhan, C. Xu, Someshwar Rudra Ajay, Ziyue Lu, Max Wittstamm, Sa. Jain, Chao Zhang, Benny Drescher

{"title":"Automatic Labeling in Image Segmentation and Classification for TFT-LCD Manufacturing","authors":"Chang Liu, S. Vaassen, Lakshmi Manoj, Xiaojie Zhan, C. Xu, Someshwar Rudra Ajay, Ziyue Lu, Max Wittstamm, Sa. Jain, Chao Zhang, Benny Drescher","doi":"10.1109/ICMA54519.2022.9856233","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856233","url":null,"abstract":"Product quality inspection of Thin-film transistor-liquid crystal display (TFT-LCD) is time-consuming and labor-intensive. An automatic algorithm-based defect inspection system solves these problems by reducing the time and manual labor involved. This research work proposes an AI-based LCD inspection vision system that evaluates defects by AI-based defect segmentation and classification. Time-consuming pixel-level labeling of defects can be eliminated by applying weakly-supervised learning methods. The efforts of quality control personnel for model training can be reduced which is especially important in high-mix production with a high amount of changeovers and production process adjustments. Therefore, PP-CAM (Precise-Puzzle-CAM) based defect segmentation method is proposed to cope with diverse TFT-LCD defect shapes and sizes. Secondly, a region of interest-supported classification method is developed to enable cropping of small-scale TFT-LCD. The performance of the AI methods are investigated using industrial TFT-LCD manufacturing datasets of two manufacturing processes.","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":"133311205","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

Dynamic Modeling of the Tuna-Inspired Robotic Fish Based on the Elastic-Damping Mechanism 基于弹性阻尼机构的金枪鱼仿生机器鱼动力学建模

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856140

Xiaofei Wang, Liangwei Deng, Chunhui Zhu, Z. Yin, Jian Wang, Chao Zhou

{"title":"Dynamic Modeling of the Tuna-Inspired Robotic Fish Based on the Elastic-Damping Mechanism","authors":"Xiaofei Wang, Liangwei Deng, Chunhui Zhu, Z. Yin, Jian Wang, Chao Zhou","doi":"10.1109/ICMA54519.2022.9856140","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856140","url":null,"abstract":"Compliant passive mechanism has been widely employed in the development of bioinspired aquatic robots that imitates the variable stiffness of fish muscles. However, the existing compliant passive mechanism cannot produce excellent propulsion performance in a wide frequency range. To solve this problem, this paper proposes a novel modeling method for a tuna-inspired robotic fish with passive compliant joint. The passive compliant joint is developed composed of double torsion springs and damping liquid, attempting to implement on the robotic fish to achieve high swimming performance. In order to analyze the motion of the passive joint, a hydrodynamic-twisting-damping torque (HTDT) model is proposed. A dynamic model based on Kane equation is established and indicates that the compliant joint could affect the torque transmitted to the caudal fin to improve the swimming speed of the robotic fish. The particle swarm optimization (PSO) algorithm is further employed to optimize the joint parameters for an enhanced velocity performance. The obtained simulation results suggest that the proposed robotic fish model can reach to a speed of 2.32 m/s, exhibiting an excellent swimming performance. The dynamic model established by this study can make a guideline for the development of robotic fishes with the compliant passive joint.","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":"133313257","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