2023 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献_第10页

Dense-Cascade Neural Network for Thermal and Visible Image Registration 热图像与可见图像配准的密集级联神经网络

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216041

Jiahao Xu, Xiufen Ye

引用次数: 0

Relative Localization for UAV-UGV Based on Correlation of Bearing and Distance 基于方位与距离相关性的无人机- ugv相对定位

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215820

Jia Guo, Kang Hu, Jinting Liu

{"title":"Relative Localization for UAV-UGV Based on Correlation of Bearing and Distance","authors":"Jia Guo, Kang Hu, Jinting Liu","doi":"10.1109/ICMA57826.2023.10215820","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215820","url":null,"abstract":"To ensure reliable localization for Unmanned Aerial Vehicles(UAVs) in the presence of uncertain speed of the Unmanned Ground Vehicle (UGV), this study examines the relative localization problem of UAV-UGV using distance and bearing measurements. A Correlation of Bearing and Distance-based Relative Localization (CBDRL) algorithm is proposed in this paper under this scenario. The estimation of altitude, distance, and angle are simplified into a representation of the relative positioning between the UAV and UGV. The relative height difference is measured using the barometer in the algorithm. To determine the relative distance, Time of Arrival (TOA) ranging and Ultra Wide Band (UWB) communication are utilized. The relative direction measurement is then determined using the correlations of bearing and distance. We integrate these observations with height, direction, and distance data in an Extended Kalman Filter(EKF) to provide accurate and reliable relative position estimates that allow the UAV to track the target. The simulation results indicate that the CBDRL method developed in this study is superior to previous relative localization algorithms that rely on multi-sensor fusion, and can significantly enhance the accuracy of UAV positioning provided that range and angle measurements are precise enough.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117123813","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

Development of a Lightweight Real-Time Application for Dynamic Hand Gesture Recognition 动态手势识别的轻量级实时应用开发

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216066

Oluwaleke Yusuf, MakiK . Habib

{"title":"Development of a Lightweight Real-Time Application for Dynamic Hand Gesture Recognition","authors":"Oluwaleke Yusuf, MakiK . Habib","doi":"10.1109/ICMA57826.2023.10216066","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216066","url":null,"abstract":"Hand Gesture Recognition (HGR) is a form of perceptual computing with applications in human-machine interaction, virtual/augmented reality, and human behavior analysis. Within the HGR domain, several frameworks have been developed with different combinations of input modalities and network architectures with varying levels of efficacy. Such frameworks maximized performance at the expense of increased hardware and computational requirements. These drawbacks can be tackled by transforming the relatively complex dynamic hand gesture recognition task into a simpler image classification task. This paper presents a skeleton-based HGR framework that implements data-level fusion for encoding spatiotemporal information from dynamic gestures into static representational images. Said static images are subsequently processed by a custom, end-to-end trainable multi-stream CNN architecture for gesture classification. Our framework reduces the hardware and computational requirements of the HGR task while remaining competitive with the state-of-the-art on the CNR, FPHA, LMDHG, SHREC2017, and DHG142S benchmark datasets. We demonstrated the practical utility of our framework by creating a lightweight real-time application that makes use of skeleton data extracted from RGB video streams captured by a standard inbuilt PC webcam. The application operates successfully with minimal CPU and RAM footprint while achieving 93.46% classification accuracy with approximately 2s latency at 15 frames per second.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117165959","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 IMU-Based 6-DOF Pose Tracking Method for Parallel-Mechanism-Based Ultrasound Robot 一种基于imu的并联超声机器人六自由度位姿跟踪方法

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216060

Zhaokun Deng, Xilong Hou, Peng-Cheng Zhang, Mingrui Hao, Cheng Chen, Shuangyi Wang

{"title":"A Novel IMU-Based 6-DOF Pose Tracking Method for Parallel-Mechanism-Based Ultrasound Robot","authors":"Zhaokun Deng, Xilong Hou, Peng-Cheng Zhang, Mingrui Hao, Cheng Chen, Shuangyi Wang","doi":"10.1109/ICMA57826.2023.10216060","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216060","url":null,"abstract":"Parallel-mechanism-based ultrasound robots bring the benefits of convenient robot-assisted remote ultrasound or automated scanning. During the use of this type of robot, accurate tracking and feedback of 6-DOF posture are critical for potential intelligent control and real-time navigation. However, this presents significant challenges due to the complex forward kinematics and environmental changes, making it difficult to apply in practical settings. To address this issue, we propose a novel 6-DOF pose tracking method based on an inertial measurement unit. This method directly senses the orientation and calculates the position using the intrinsic structural and kinematic characteristics of the parallel mechanisms. Therefore, it is possible to solve all posture information by only partial posture information. We conducted both simulation and physical experiments to evaluate effectiveness and robustness of the proposed method. The maximal tracking errors for the physical experiments are within the 2 mm and 0.6.°. The experimental results show promising performance, demonstrating the method’s potential for practical applications.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115839689","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

Structural Design and Experiment of a Small Wheel-legged Mobile Robot with Variable Configuration 可变构型小型轮腿移动机器人的结构设计与实验

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215522

Xiulong Cui, Jizhuang Fan, Zhihui Dong, Yue Ou, Jie Zhao

{"title":"Structural Design and Experiment of a Small Wheel-legged Mobile Robot with Variable Configuration","authors":"Xiulong Cui, Jizhuang Fan, Zhihui Dong, Yue Ou, Jie Zhao","doi":"10.1109/ICMA57826.2023.10215522","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215522","url":null,"abstract":"In this paper, we made an improved design on the traditional quadruped robot structure and developed a new small wheel-legged mobile robot structure. It has four legged configurations, which can be selected according to different situations, improving the mobility and operability of the robot. In wheeled mode, the robot can adjust its center of gravity according to actual needs. Including the rotational degree of freedom of the wheel, each leg has four degrees of freedom. Each leg adopts a series structure and moves the knee drive motor to the fuselage position using a parallel four-link mechanism and is symmetrically arranged with the hip drive motor. A wheel is installed at the end of the shank, and a DC brushless motor is built inside it, enabling the robot to have the function of wheeled motion. This article introduces the details of the wheel-legged robot, emphasizing the innovative design of the physical structure and the diversity of deformation. The forward kinematics was analyzed. Based on the full-elbow configuration (a type of legged configuration), a cycloidal motion optimization simulation was completed for the single leg structure. Simulation experiment has proven that the optimized robot’s single leg motion is smoother. Finally, we conducted a typical experiment using an embedded controller to control single leg motion. The experimental results verify that the optimized cycloidal motion of the robot meets the desired motion effect.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115167205","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

Design and Static Analysis of Feet-legs Device of a Natatores-like Amphibious Robot 仿水陆两栖机器人脚-腿装置的设计与静力分析

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216262

Xinru Lin, Liwei Shi, Shuxiang Guo

引用次数: 0

A Heuristic Motion Planning Method based on Human Intention for Teleoperation Systems 一种基于人意图的遥操作启发式运动规划方法

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216153

Panhong Zhang, Tao Ni

引用次数: 0

Model-Based Reinforcement Learning for Position Control of Continuum Manipulators Actuated by Pneumatic Artificial Muscles 基于模型强化学习的气动人工肌肉驱动连续统机械臂位置控制

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215794

Zhenzhuo Yan, Xifeng Gao, Yifan Li, Pengyue Zhao, Z. Deng

引用次数: 0

Study on the Maximum Allowable Unbalance of the High-speed Rotor Based on the Dynamic Load Capacity of Gas Foil Bearings 基于气膜轴承动载能力的高速转子最大允许不平衡研究

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216053

Jiale Tian, Peng Shang, Jian Zhou, Lie Yu

引用次数: 0

Deep Neural Network Based Object Detection Algorithm With optimized Detection Head for Small Targets 基于深度神经网络的小目标目标检测算法

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215969

Yongchang Zhu, Enzeng Dong, Jigang Tong, Sen Yang, Zufeng Zhang, Wenyu Li

{"title":"Deep Neural Network Based Object Detection Algorithm With optimized Detection Head for Small Targets","authors":"Yongchang Zhu, Enzeng Dong, Jigang Tong, Sen Yang, Zufeng Zhang, Wenyu Li","doi":"10.1109/ICMA57826.2023.10215969","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215969","url":null,"abstract":"Target detection is a significant research direction in the realm of computer vision, aimed at analyzing and localizing targets in input images to obtain their categories and locations. However, this task is faced with several challenges in complex scenarios, such as large variations in target scales, similarity to the background, dense number, and overlapping with each other, making it difficult for the target detection model to extract different scales and discriminative target features adaptively, leading to low detection accuracy and weak generalization ability. To tackle the aforementioned problems, this study proposes a novel approach by optimizing the detection head of the model, invoking decoupled detection heads, dividing the classification and localization tasks, and optimizing for small targets. This approach effectively reduces the false detection rate and the missed detection rate, enabling the network to better discriminate and recognize distant objects as well as objects of relatively small size. Moreover, the proposed approach outperforms the yolov7 model by 0.8% in the COCO dataset, not only improving the accuracy of detecting distant and small targets but also exhibiting better performance in conventional target detection. Additionally, this approach is capable of handling small targets, overlapping targets, or relatively dense targets, significantly expanding its practical use range.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121073590","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