2017 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献_第5页

Study on the tracking performance of the vascular interventional surgical robotic system based on the fuzzy-PID controller 基于模糊pid控制器的血管介入手术机器人系统跟踪性能研究

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8015783

Jian Guo, Xiaoliang Jin, Shuxiang Guo, Wenxuan Du

{"title":"Study on the tracking performance of the vascular interventional surgical robotic system based on the fuzzy-PID controller","authors":"Jian Guo, Xiaoliang Jin, Shuxiang Guo, Wenxuan Du","doi":"10.1109/ICMA.2017.8015783","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8015783","url":null,"abstract":"In recent years, minimally invasive interventional surgery with catheter as the important surgical instrument has been widely applied in the treatment of Cardio-Cerebrovascular disease for its small tranma, fast recovery and other many advantages in the world. But traditional intervention operation of cardiovascular disease still has many insufficient sections. the tools of operation have a poor operability, a high dependency to the doctor on the spot, and its auxiliary informations are not visualized and full-scale. At the moment of operation, The surgeons are exposed to X-ray threatening the surgeons health due to the depositing which lasts long. It is imperative to protect the surgeons from X-ray during VIS. With this system and the surgeon operates a real catheter on the master side, which can make full use of the natural catheter manipulation experience and skills obtained in conventional catheter operation. In this paper, we proposed fuzzy-PID controller to the vascular interventional surgical robotic system to solve the problem of tracking error from the slave to the master manipulator. We conducted master-slave tracking experiments to compare the performance of PID controller with fuzzy-PID controller. Experiments results showed that the fuzzy-PID controller can improve the tracking performance from the slave side to the master side and reduce the error. So the the fuzzy PID controller is suitable for the robot-assist catheter system.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124159244","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: 7

A study on statistical modeling with Gaussian process prediction

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8016081

Fumie Ogawa, Hiroki Kawano, Ryo Shimizu, M. Wada

{"title":"A study on statistical modeling with Gaussian process prediction","authors":"Fumie Ogawa, Hiroki Kawano, Ryo Shimizu, M. Wada","doi":"10.1109/ICMA.2017.8016081","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8016081","url":null,"abstract":"In recent years, higher performance base models for vehicles and engines have been required to efficiently and accurately conduct Model Based Development(MBD) or HILS. Therefore, it is needed to create more precise models for torque and engine speed control in vehicle developments. There are a lot of statistical ways to create prediction models, such as linear and non-linear regressions. For this study, we used prediction function from data sets which are defined as normal distributions and the Gaussian process. Here is an example of our investigation. There is a data set extracted from an unknown distribution. The Gaussian process is a methodology to predict the response variable ynew from the given new input vector xnew and learned data. We decided to use this process experimentally for our investigation because it could illustrate linearity and nonlinearity of data sets even when the Kernel function was used. However, we mainly investigated how we could obtain and utilize input output information and predicted models through the Gaussian process. It is essential to utilize the information when the process is used to actual models, such as the above mentioned engines. We investigated if it was possible to replace physical models with statistical ones by conducting simulation with the Gaussian process model. For making useful observations on predicted model in this study, such as output of predict model via statistical models. Our primary purpose of this study was how to input data in simulation software in order to obtain highly accurate prediction models. We previously believed that the Gaussian process was a perfect methodology. In order to create prediction models as targeted, we must consider how to provide input data to prediction software and which input data should be used. This paper reports the best way to utilize the Gaussian process model for next development tool.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125729781","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

Phonological processing of Japanese Kanji and Chinese characters in bilingual Japanese : An fMRI study 双语日语汉字和汉字语音加工的功能磁共振成像研究

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8015970

Jingjing Yang, Xiujun Li, Qi Li, Xinwei Xiao, Dan Tong, Qiong Wu, Jinglong Wu

{"title":"Phonological processing of Japanese Kanji and Chinese characters in bilingual Japanese : An fMRI study","authors":"Jingjing Yang, Xiujun Li, Qi Li, Xinwei Xiao, Dan Tong, Qiong Wu, Jinglong Wu","doi":"10.1109/ICMA.2017.8015970","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8015970","url":null,"abstract":"Reading in a second language (L2) is a complex task that entails an interaction between L2 and the native language (L1). Previous studies have suggested that bilingual subjects recruit the neural system of their logographic L1 (Chinese) reading and apply it to alphabetic L2 (English) reading. These findings have lent strong support to the idea that language experience shapes the cortex. Whether languages of the same writing system such as Japanese Kanji and Chinese characters, would also utilize the same neural substrates is still unclear. In this study, we used functional magnetic resonance imaging (fMRI) to visualize Japanese-Chinese bilinguals' brain activity in phonological processing of Japanese Kanji (L1) and Chinese characters (L2), two written languages with highly similar orthography. In the experiment, the subjects were asked to judge whether two Japanese Kanji (or Chinese characters) presented at the left and right side of the fixation point rhymed with each other. A font size decision task was used as a control task, where the subjects judged whether the two Japanese Kanji (or Chinese characters) had an identical physical size. Subjects indicated a positive response by pressing the key corresponding to the index finger and a negative response by pressing the key corresponding to the middle finger of their right hand. The result showed that our bilingual Japanese subjects have large overlaps in the neural substrates for phonological processing of both native and second language. Our finding supports the idea that the neural systems of second language reading are shaped by native language.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128193941","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

Implementation of a RecurDyn® and LabVIEW®-based 2-axis additional axes (tilting/rolling) strategy on a 6-axis articulate robot for improving process efficiency of welding 在6轴关节机器人上实现基于RecurDyn®和LabVIEW®的2轴附加轴(倾斜/滚动)策略，以提高焊接工艺效率

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8015938

J. Hong, San Seong Lee, W. Chung, Seung-kyu Park, S. J. Kang, Seonghoon Noh

{"title":"Implementation of a RecurDyn® and LabVIEW®-based 2-axis additional axes (tilting/rolling) strategy on a 6-axis articulate robot for improving process efficiency of welding","authors":"J. Hong, San Seong Lee, W. Chung, Seung-kyu Park, S. J. Kang, Seonghoon Noh","doi":"10.1109/ICMA.2017.8015938","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8015938","url":null,"abstract":"Present industrial sites need not only robots for simple repetitive works and welding but also industrial robots to perform diverse functions in combination with machine tools. Welding works require soft and accurate route movements of robots. It is not too much to say that it is indispensable to add additional axes to a process requiring these precise movements. Therefore, this paper aims to realize 2-axis additional axes, which increases processing efficiency of a robot by controlling in harmful environments or design fields beyond human reach. Ultimately, this is to create temporal and efficient profits in industrial processing sites including welding and assembling 6-axis articulated robot (RS2). Also, using RecurDyn®, a simulation-based technique is applied. And the motion paths of the welding rod will be compared for two cases in order to verify the necessity of the 2-axis additional axes: 1) when there are no 2-axis additional axes and 2) when there are 2-axis additional axes during welding using the RS2. For this purpose, the angle variations of RS2 axes required for a simulation are compared, on the assumption that each of the four points of the welding bed installed in the 2-axis additional axes of the welding rod in Solidworks® is point-welded. Then an actual 2-axis additional axes equipment will be grafted on to RS2 and the process times depending on the existence of 2-axis additional axes are compared using a PC-based robot control program, LabVIEW®. The comparison will imply that grafting a 2-axis additional axes equipment on to a 6-axis articulated robot make it possible to control a robot easily, to decrease the process route and the process time drastically, and to maximize robot efficiency.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"128 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115833050","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

A novel product life-cycle management architecture of construction machinery 一种新的工程机械产品生命周期管理体系结构

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8015935

Hehong Shen, Qicai Zhou, Jiong Zhao, Xingchen Liu

引用次数: 2

Adaptive Extended Kalman Filter designing based on Non-singular Fast Terminal Sliding Mode control for robotic manipulators 基于非奇异快速终端滑模控制的自适应扩展卡尔曼滤波设计

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8016068

Reza Mohammadi Asl, Y. S. Hagh, H. Handroos

引用次数: 17

Design and swing strategy of a bio-inspired robot capable of transverse ricochetal brachiation 具有横向弹跳臂的仿生机器人的设计与摆动策略

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8015943

Chi-Ying Lin, Shr-Jie Shiu, Zong-Han Yang, R. Chen

引用次数: 4

Optimal UAVs formation transformation strategy based on task assignment and Particle Swarm Optimization 基于任务分配和粒子群优化的最优无人机编队变换策略

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8016091

Zezhi Sui, Z. Pu, J. Yi

引用次数: 13

Research on retrieving wave height from radar shadow images based on wind angle feature 基于风角特征的雷达阴影图像波高检索研究

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8015969

Zhizhong Lu, Yajuan Wang, Yujian Yuan, Yanbo Wei, Yu Huang

引用次数: 1

Development of low cost programmable indexing head for horizontal milling machine 卧式铣床低成本可编程分度头的研制

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-01 DOI: 10.1109/ICMA.2017.8016130

Sanjiv Kumar, D. Goyal, S. Banwait

引用次数: 1