2023 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献_第2页

Development of a Novel Leader Device with Haptic Feedback for Vascular Interventional Surgery 血管介入手术触觉反馈先导装置的研制

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216120

Xiaoliang Jin, Ai-Guon Song, Lifeng Zhu

{"title":"Development of a Novel Leader Device with Haptic Feedback for Vascular Interventional Surgery","authors":"Xiaoliang Jin, Ai-Guon Song, Lifeng Zhu","doi":"10.1109/ICMA57826.2023.10216120","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216120","url":null,"abstract":"Robot-assisted vascular interventional surgery has become a hot topic in the field of medical science and engineering. In recent years, the research of robot-assisted vascular interventional surgery has achieved promising results. However, improving the human-robot collaboration performance during the surgery is still a major challenge. To address this challenge, a novel leader device was designed and developed. In detail, the structural design of the leader device fully considers ergonomic design, which can greatly reduce the operating difficulty for surgeons while allowing them to take advantage of their traditional surgical experience. The leader device can recognize the surgeon’s operational behaviors, mainly including pushing, pulling, and rotating. Besides, haptic feedback function is realized and provided during the operation, which can help the surgeon accurately grasp the dynamics of the operation and effectively improve the presence and safety of the operation. To verify the effectiveness of the haptic feedback of the leader device, a verification experiment was conducted between the electric current and the force/torque when the angle between the operating rod and the rhombus structure was 30 degrees. The results indicated that the developed leader device can provide the haptic feedback to the surgeon. The leader device with haptic feedback has the potential to improve the human-robot collaboration performance during the operation.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"1 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":"115547823","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

Research on Dynamic Planning Method for Safe Path of UUV in Complex Fishing Net Deployed Waters 复杂渔网布置水域UUV安全路径动态规划方法研究

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216068

Honghan Zhang, Yabo Wang, Juan Li, Yinsong Qu, Zheping Yan

{"title":"Research on Dynamic Planning Method for Safe Path of UUV in Complex Fishing Net Deployed Waters","authors":"Honghan Zhang, Yabo Wang, Juan Li, Yinsong Qu, Zheping Yan","doi":"10.1109/ICMA57826.2023.10216068","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216068","url":null,"abstract":"In response to the problem of long path planning time and poor maneuverability in avoiding close-range fishing nets in the complex fishing net deployment area of UUV in the near sea, this paper proposes a fusion algorithm combining improved RRT algorithm and improved DWA algorithm. In the sampling stage, the sampling point is adaptively moved a certain distance toward the task point to improve the directionality of the tree growth. When the expansion encounters obstacles, the algorithm will use steering and reselection strategies to solve the problems of blindness and the long path planning time of the RRT algorithm. After obtaining the global path, the sub-goal point for local dynamic path planning is adaptively selected according to the smoothness of the path to reduce the turning radius. In terms of dynamic obstacle avoidance, a fishing net obstacle avoidance strategy is added to the DWA algorithm to improve UUV ability to avoid close-range fishing nets. Simulation results show that the algorithm can plan a global path in a short time in complex sea areas and has a fast response speed to close-range fishing nets, making effective obstacle avoidance decisions and proving the effectiveness and practicability of the algorithm.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"92 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":"116042036","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

Research on bearing-only target tracking of UUV under underwater strong noise disturbance 水下强噪声干扰下UUV纯方位目标跟踪研究

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215524

Aodi You, Hongjian Wang, Hongzhi Liu, Mengwei Zhangsun, Yanbin Zhang, Ridong Jin

引用次数: 0

Location Method of GNSS Jamming Source Based on TDOA Passive Detection Technology 基于TDOA无源探测技术的GNSS干扰源定位方法

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215554

Jian Zhang, Ming-Ming Cheng, Feng Liu, Huisen Liu, Yuekuan Xin

引用次数: 0

Development of a Humanoid Reading System with Voice Lip Synchronization 具有语音唇同步的仿人阅读系统的研制

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215958

Wangcheng Chen, Y. Guan, Wenhao Chen, Mingcong Wang, Weichun Xie, Junyu Xie

引用次数: 0

The fusion-based Path Planning for Near Seabed Autonomous Underwater Vehicles 基于融合的近海床自主水下航行器路径规划

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216089

Tianlong Yang, Yanhui Wei, Yongkang Hou, Tian Yu

引用次数: 0

Baseline Load Estimation for Demand Response Based on Blockchain and Neural Networks 基于区块链和神经网络的需求响应基线负荷估计

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215805

Lei Xi, Chen Wang, T. Zheng, Kaifeng Zhang

{"title":"Baseline Load Estimation for Demand Response Based on Blockchain and Neural Networks","authors":"Lei Xi, Chen Wang, T. Zheng, Kaifeng Zhang","doi":"10.1109/ICMA57826.2023.10215805","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215805","url":null,"abstract":"With the large-scale integration of distributed new energy to the power grid, the power system increasingly relies on demand response to solve the needs of power grid regulation. In demand response, how to estimate the baseline load of response resources is of great significance. With the deepening of baseline load research, the traditional baseline load estimation methods are becoming more and more difficult to apply. To this end, this paper proposes a solution to the shortcomings of traditional methods using blockchain combined with private data. Firstly, traditional baseline load estimation is not effective due to the lack of a large amount of private data. The neural network combined with private data can be used to obtain a high-precision baseline load. Secondly, to address the trust issues caused by the use of private data, the blockchain is used for encrypted storage and regular spot checks are conducted on the owners to achieve mutual trust between the two parties involved. Finally, through the experimental simulation of chemical plants and electric vehicles, the effectiveness of the proposed scheme is verified.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"29 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":"114576450","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 Robotic Hand Glove System for Secure Grasp with AI Wireless Sensor Data 基于AI无线传感器数据的安全抓取机器人手套系统的开发

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215914

Ahmed M. M. Almassri, K. Koyanagi, C. Wada, Keiichi Horio, W.Z.W. Hasan

引用次数: 0

Closed-Loop Simulation Test Method for Autonomous Vehicles Based on Adversarial Scenarios 基于对抗场景的自动驾驶汽车闭环仿真测试方法

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10215980

Xiaokun Zheng, Huawei Liang, Zhiyuan Li, Chen Hua, Qiong Wu

{"title":"Closed-Loop Simulation Test Method for Autonomous Vehicles Based on Adversarial Scenarios","authors":"Xiaokun Zheng, Huawei Liang, Zhiyuan Li, Chen Hua, Qiong Wu","doi":"10.1109/ICMA57826.2023.10215980","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215980","url":null,"abstract":"Using simulation technology to verify the safety of autonomous vehicles (AVs) is a critical aspect of the development of autonomous driving technology. The primary objective is to reduce the time and cost of AV testing while enhancing testing efficiency. In this study, we propose a closed-loop simulation test method for AVs based on an adversarial scenario generation process. A comprehensive closed-loop simulation system was established, incorporating Simulink, Prescan, Carsim, and hardware-in-the-loop systems.To swiftly identify challenging test scenarios, we formulated an optimization model for safety evaluation, which is based on an improved driving safety field model. We employed the genetic algorithm to effectively solve this optimization problem, allowing for the rapid generation of difficult scenarios.Experimental results demonstrate that our proposed method can effectively generate challenging scenarios, enabling the swift confirmation of the safety performance boundaries of the system under test. This approach significantly improves the overall testing efficiency and provides valuable insights for the advancement of autonomous driving technologies.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"22 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":"129160664","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, Characterization, and Optimization of the Soft Bellows Pneumatic Actuator 软波纹管气动执行器的设计、特性和优化

2023 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2023-08-06 DOI: 10.1109/ICMA57826.2023.10216143

Liang Liang, Lijun Meng, Huichen Ma

{"title":"Design, Characterization, and Optimization of the Soft Bellows Pneumatic Actuator","authors":"Liang Liang, Lijun Meng, Huichen Ma","doi":"10.1109/ICMA57826.2023.10216143","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216143","url":null,"abstract":"In recent years, the research progress of soft actuators has been rapid in robotics research community. To expand the application of soft bellows pneumatic actuators, we fabricated a bidirectionally bent soft bellows actuator. Five soft actuator samples were fabricated by changing the geometry and material of the actuator. Under the driving pressure of 70 kPa, the maximum bending angle and the maximum bending output force are 92.9° and 2.2 N, respectively. In addition, a bending angle numerical model and a bending force finite element model are established to further characterize the motion characteristics of the soft actuator. Experimental, numerical, and simulation results demonstrate the effectiveness of the model for characterizing the characteristics of soft actuators. A verified numerical model and a finite element model are used to construct the meta-model, and multi-objective optimization is performed to optimize the structural parameters of the soft bellows actuator. After executing the particle swarm optimization algorithm, Pareto optimal solution is obtained, indicating that the bending angle and the output force cannot be optimized at the same time, and the appropriate scheme needs to be selected according to the actual needs. The result shows that the initial design of the soft bellows actuator can be improved according to the Pareto optimal solution in terms of bending angle and output force.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"10 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":"129315437","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