2022 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献_第7页

Accumulation of adversarial examples for underwater visual object tracking 水下视觉目标跟踪对抗性实例的积累

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855996

Yu Zhang, Jin Li, Chenghao Zhang

引用次数: 0

Research on Rainfall Intensity Level Retrieval Based on Wave-Number Energy Spectrum from Rain-Contaminated X-band Marine Radar Image 基于雨污染x波段海洋雷达图像波数能谱的降雨强度等级反演研究

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855919

Lei Sun, Zhizhong Lu, Hong Liu, Runbo Zhang

引用次数: 0

A Fuzzy Indrect Adaptive Robust Control for Upper Extremity Exoskeleton Driven by Pneumatic Artificial Muscle 气动人工肌肉驱动的上肢外骨骼模糊间接自适应鲁棒控制

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856383

Siyuan Dan, Haoshu Cheng, Yong Zhang, Hao Liu

{"title":"A Fuzzy Indrect Adaptive Robust Control for Upper Extremity Exoskeleton Driven by Pneumatic Artificial Muscle","authors":"Siyuan Dan, Haoshu Cheng, Yong Zhang, Hao Liu","doi":"10.1109/ICMA54519.2022.9856383","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856383","url":null,"abstract":"Pneumatic artificial muscle (PAM), a new type of flexible and high force-to-weight ratio actuator, is widely used in the fields of exoskeleton and bionic robot. Despite these advantages, the dynamics of the flow and pressure as well as the time-varying behavior have increased the nonlinearity of it, which affects the control accuracy of the system significantly. Therefore, high-efficiency and high-precision control algorithms have become the key to improve the motion control performance of PAM. In this paper, a new fuzzy indirect adaptive robust control algorithm (FIARC) is proposed for an upper extremity exoskeleton driven by PAM. The FIARC introduces a modified fuzzy radial basis function (RBF) and a fuzzy control logic integrated with indirect adaptive robust control (IARC) to reduce the control system error effectively. The modified fuzzy RBF is used to compensate the model uncertainty and the deviation of true control paraments, while the fuzzy control logic is used for real-time flow coefficient correction, which combines the flow hysteresis characteristics of the high speed on/off valve with the inlet and exhaust flow model of pneumatic muscle. To verify the performance of the proposed controller, the FIARC is applied to the motion control of elbow joint in the upper extremity exoskeleton. Experimental results show that the FIARC is more advanced and effective in tracking the reference signals compared with conventional method.","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":"114005209","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

Aerodynamic Analysis of a Wall-Climbing Robot with Dual-propeller 双螺旋桨爬壁机器人气动特性分析

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855936

Yi Wei, Qingfang Zhang, Xueshan Gao, Peng Liang, Mingkang Li, Kejie Li

引用次数: 0

Force Analysis and Verification of Wall-climbing Robot with Rotor-propellers 旋翼-螺旋桨爬壁机器人的受力分析与验证

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856259

Mingkang Li, Xueshan Gao, Qingfang Zhang, Peng Liang, Yi Wei, Kejie Li

引用次数: 1

Research on EMG Signal of Human Lower Limbs Based on Empirical Mode Decomposition 基于经验模态分解的人体下肢肌电信号研究

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856078

Jun-yao Wang, Yue-hong Dai, Xiaxi Si

引用次数: 0

Design and Optimization of Manipulator for Live-line Working Robot Based on Manipulability 基于可操作性的活线作业机器人机械手设计与优化

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855928

Y. Li, Afen Zhou, Huan Yao, Yuxiang Zheng, Erbao Dong, Yu Feng, Kai-Kai Wu, Shaolei Wu, Hao Zhang, Xuming Tang

{"title":"Design and Optimization of Manipulator for Live-line Working Robot Based on Manipulability","authors":"Y. Li, Afen Zhou, Huan Yao, Yuxiang Zheng, Erbao Dong, Yu Feng, Kai-Kai Wu, Shaolei Wu, Hao Zhang, Xuming Tang","doi":"10.1109/ICMA54519.2022.9855928","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855928","url":null,"abstract":"Live-line working robot on distribution network always is a hot topic of research. However, limited by structural dimensions and safety considerations of insulation, manipulator arms, as robot actuators, have always been less dexterous and redundant. In this paper, the manipulator arm is modeled base on MD-H conventions, and the manipulability is used as the evaluation index for structural design and optimization. Then, the parameters requirement of motors for each joint is calculated based on fifth-order polynomial interpolation, and the motors are selected reasonably. And the two designed manipulator arms are integrated into a same platform to obtain a dual-arm live working robot in V-shaped configuration for greater workspace and flexibility. For safety reasons, a 10 centimeters long insulated section is added at the end of the manipulator arm to meet the insulation requirement and tasks for the 10kV live working. And finite element insulation analysis withstand voltage simulation is performed to prove its validity. Finally, functional tests of the manipulator arm were conducted to prove that the performance of the manipulator arm and the design of insulation protection meet the requirements of live working robot on distribution network. Based on the dual-arm live working robot with the designed manipulator, outdoor operation experiments are performed to verify the feasibility and flexibility of the designed manipulator with optimization of manipulability.","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":"134346910","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

Circle Area Detection Based on Convolutional Neural Networks 基于卷积神经网络的圆面积检测

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856373

Tiantian Hao, De Xu

引用次数: 1

A Novel Guide Wire Rotation and Delivery Structure for Interventional Surgical Robot 一种新型介入手术机器人导丝旋转及输送结构

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856010

Mengqi Cheng, Nan Xiao, H. Yuan, Haoyang Liu, Pinzheng Ni

{"title":"A Novel Guide Wire Rotation and Delivery Structure for Interventional Surgical Robot","authors":"Mengqi Cheng, Nan Xiao, H. Yuan, Haoyang Liu, Pinzheng Ni","doi":"10.1109/ICMA54519.2022.9856010","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856010","url":null,"abstract":"In recent years, with the development of vascular interventional surgery robots, the use of surgical robots for angiography surgery has begun to be accepted by more and more doctors. With this tool, the doctor can operate the catheter and guide wire several meters away from the patient to complete the operation, which greatly reduces the radiation received by the radiologist and protects the doctor’s health. However, the traditional interventional surgery robot still has the following problems. Because the guide wire surface is too smooth, when encountering resistance, the guide wire is easy to slide, resulting in the reduction of the accuracy of guide wire rotation and delivery. The guide wire rotation and delivery mechanism of traditional interventional surgery robots are connected with the robot body, and the sterile environment is not completely realized. In this study, a new guide wire rotation and delivery transmission device is proposed, which can improve the accuracy of guide wire rotation and delivery without damaging the guide wire. Through experiments, we have verified that the guide wire rotation and delivery device meets the functional integrity and the accuracy of the guide wire delivery function. The experimental results show that the accuracy of the guide wire rotation and delivery transmission device can meet the requirements of vascular interventional surgery.","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":"133389285","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

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":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":"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