2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)最新文献

{"title":"Design and Simulation Evaluation of Pneumatic Tool Handle","authors":"Ge Zhenghao, Wei Siyuan, Wei-ming Tao","doi":"10.1109/ICMRA51221.2020.9398345","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398345","url":null,"abstract":"With the development of economy and the improvement of people's living standard, the civil demand for pneumatic tools is strong, and the market potential is huge. In this paper, air nail gun is taken as an example to make a simple analysis of its general working posture. Combined with the structure of human upper limbs and hands, it provides a reference basis for the structural design of the handle and a more reasonable scheme is obtained. Then, ANSYS Workbench is used for stress analysis of the hand part to further improve the handle modeling. At the same time, based on the design principles of hand tools, according to the results obtained from the analysis, combined with the anatomy of the hand, the design of the handle was improved and analyzed again. The results verify that the improved handle shape is more suitable for people to grasp, disperses the stress of the hand, distributes the stress more evenly in each area, and avoids the stress concentration.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131560452","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}

{"title":"Automated Objective Basic Surgical Skills Assessment: Overall Kinematic Performance Assessment Method","authors":"Yu Ming, Yang Cheng, Wang Chunchen, Lv Meng, Zhang Guang, Chen Feng","doi":"10.1109/ICMRA51221.2020.9398349","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398349","url":null,"abstract":"As an essential part of medical training, assessment surgical skill is a time consuming, subjective, and complicated process. This paper adopted overall kinematic performance assessment method to identify the skill level of a subjective given motion data from three benchtop surgical tasks performed on robotic surgical devices. Firstly, we extracted global movement features by computing from the raw data of 39 (Suturing), 36 (Knot Tying) and 28 (Needle Passing) trials collected on da Vinci surgical system, respectively. Then, the discrimination ability of single feature with optimizing threshold were calculated. In following classification process, we applied support Vector Machine (SVM) to distinguish expert from novice on the basis of selected global movement features. The results showed that global movement features (GMFs) such as task completion time, velocity, and motion smoothness have superior discrimination ability between novice and expert performance for suturing, knot tying and needle passing task. SVM could classify surgeons' expertise as novice or expert with an accuracy of 77.99% for suturing, 83.71% for knot tying and 74.66% for needle passing, respectively. This study clearly demonstrated the ability of overall kinematic performance assessment method to distinguish between novice and expert performance in the performance of robotic surgical devices.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127249609","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}

{"title":"Root Cause Analysis of SRV Oscillation during Gas Turbine Start-up Acceleration","authors":"T. Xin, W. Jianjun, X. Ning","doi":"10.1109/ICMRA51221.2020.9398350","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398350","url":null,"abstract":"Under the background of the continuous improvement of gas turbine manufacturing localization, some gas turbine components deviate from the original design value, but the control parameters are not adjusted accordingly, which leads to the phenomenon of continuous vibration of gas turbine fuel valve in the process of speed-up. Basing on algorithm of typical start-up processing of 9E-DLN (Dry Low NOx) gas turbine, FSR (Fuel Stroke Reference) calculation criterion is studied according to the control method of GE Company. Through the establishment of gas fuel valve transfer function control model, the response of fuel system will be changed as control parameters vary. Finally, simulation results are provided to optimize the control parameters and provide some suggestions for the optimization of the control parameters.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130825023","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}

{"title":"Movement Analysis of Pulley-Rail System Used in Space-Borne Perimeter Truss Antenna","authors":"T. Feng, Yong Xiao, Zhizhong Zheng","doi":"10.1109/ICMRA51221.2020.9398335","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398335","url":null,"abstract":"A numerical analysis model is established based on the multi-body dynamics and the rigid-flexible coupling technology. The movement performance of the pulley-rail system used in space-borne perimeter truss antenna is studied by this model. The influence of several parameters on the motion performance are investigated. The results show that angular rotating velocity of the roller, sliding velocity of the roller contacting point, and sliding ratio of the roller increase with driving force and decrease with friction coefficient. The material should be carefully selected to make the friction coefficient between the roller and guide rail reasonable. The research in this paper is helpful to provide technical support for solving similar problems in space mechanism, and has high engineering significance and application value.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129436335","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}

{"title":"Deep Neural Network Gaussian Process Regression Method for End-to-end Driving Behavior Learning","authors":"Hongjun Chen, Yujun Zeng, J. Huang, Yichuan Zhang","doi":"10.1109/ICMRA51221.2020.9398374","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398374","url":null,"abstract":"For dynamic complex driving tasks of autonomous vehicle, traditional driving behavior learning methods still need to be improved in terms of learning accuracy and generalization performance. A convolutional neural network gaussian process regression (CNN-GPR) method for driving behavior learning is proposed to tackle these problems that full connection layers of end-to-end convolutional neural networks (CNN) have limited generalization ability and easily converge to local optimization. At the same time, the PilotNet-GPR algorithm based on the CNN-GPR method is designed. The gaussian process regression (GPR) method with global mapping capability and better generalization performance is used to improve fully connected layers of the end-to-end CNN in order to complete the mapping from features extracted to driving actions more efficiently for the proposed CNN-GPR method. In addition, the long short-term memory network (LSTM) is added into CNN-GPR method, and a convolutional long short-term memory network gaussian process regression (CNN-LSTM-GPR) method of driving behavior learning with time-sequential images is proposed in order to further improve the accuracy of driving behavior learning through time-sequential information. This method utilises the gaussian process regression method to improve structures of fully connected layers in the cascaded deep neural network (CNN-LSTM) in order to make a more efficient learning approximation between features extracted by the CNN-LSTM and driving actions. Verification experiments on the Apollo end-to-end dataset for autonomous driving show that the proposed CNN-GPR method can further improve the imitation accuracy for end-to-end driving behavior learning and promote generalization performance of learned models compared with the PilotNet method. compared with related end-to-end driving behavior learning methods based on single image under the same condition, the proposed CNN-LSTM-GPR method can make full use of time-sequential information of images, which leads to smaller imitation errors. Additionally, it can further enhance the learning accuracy and demonstrates a more satisfying generalization performance compared with the CNN-LSTM method.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123684348","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}

{"title":"Research on Micro-Nano Satellite Measurement Algorithm Based on Federal Filter","authors":"Yuanming Ding, Huaxian Chen, Ran Zhang","doi":"10.1109/ICMRA51221.2020.9398333","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398333","url":null,"abstract":"In order to determine the position and speed of the main satellite in the micro-nano satellite formation, this paper proposes a micro-nano satellite measurement algorithm based on federal filter. First, three-axis magnetometer and magnetoresistive sensor are used to measure the position and speed of the main satellite due to the uncertainty of the distribution of the geomagnetic field. Since in the place where the earth's magnetic field changes relatively, the sudden change of the satellite state will be obvious, then the strong tracking filter and the particle filter are used to solve the sudden change in the satellite motion and the low precision. Finally, the information fusion method is used to combine multiple filters to improve the performance. The simulation results show that the proposed measurement method can not only track the state of the satellite in real time, but also reduce the measurement error and achieve accurate measurement.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128078119","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}

{"title":"Human-Following of Mobile Robots Based on Object Tracking and Depth Vision","authors":"Do-Suk Han, Yong-gang Peng","doi":"10.1109/ICMRA51221.2020.9398366","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398366","url":null,"abstract":"Human-following is a promising ability for robots to serve and assist humankind. Correlation Filter (CF) with excellent performance and high running speed, is widely used in single object tracking, suitable for human following. In this paper, an improved correlation filter object tracking algorithm is adopted to achieve human following. For the lack of accuracy evaluation mechanism in most object trackers, fusion of Peak Side-lobe Rate (PSR) and depth information are introduced to evaluate the credibility of the tracking result. The sample and filter model are updated with a high credibility to avoid model drift. Face matching is used to re-track human when tracking fails. Based on a depth camera Kinect and a mobile robot, the experiments of following human show that proposed method has excellent abilities to deal with different scenarios and to follow target human stably for a long time.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129708551","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}

{"title":"The Relocation of Lost Unmanned Combat Vehicle in One Group Based on Fog Computing Method","authors":"Sun Lei","doi":"10.1109/ICMRA51221.2020.9398346","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398346","url":null,"abstract":"Unmanned combat vehicle group is composed of different intelligent individuals which can obtain location information by sensor installed on vehicle. Try to relocate the vehicle that cannot obtain location information for certain reason by itself, center control unit can use fog calculating method basing on information delivered by other appropriate close vehicles, combined with particle filtering and Bayesian prediction, then center control unit inform whole unmanned combat vehicle group to ensure cooperative combat.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130943525","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}

{"title":"Open-Box Target for Extrinsic Calibration of LiDAR, Camera and Industrial Robot","authors":"Aquib Rashd, W. Hardt, A. Kolker, M. Bdiwi, M. Putz","doi":"10.1109/ICMRA51221.2020.9398362","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398362","url":null,"abstract":"Low cost 3D LiDAR complements cameras in perception algorithms for various robotic applications. Safe and efficient human robot collaboration requires easy and accurate extrinsic calibration of sensors with an industrial robot. This work presents an efficient and accurate method for extrinsic calibration between LiDAR, camera and an industrial robot. Open-box target mounted on robot enables parameter estimation by constraining sensor data to multiple planes, which constitute the target planner surface. The method enables extraction of eight correspondences between the sensors and the robot in each data sample. The method enables speedup in sensor setup and drastically reduces efforts required for data collection through automation. The results have been evaluated for a simulated and real environment.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125130431","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}

{"title":"Design and Simulation Analysis of Bionic Devil Fish","authors":"Zhiyuan Chen, Yiwei Liu","doi":"10.1109/ICMRA51221.2020.9398357","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398357","url":null,"abstract":"On the basis of bionics, a kind of robot fish driven by shape memory alloy is designed. The movement of devil fish is analyzed, and then the body structure is designed after the simplification of the body structure. Then the performance of SMA is analyzed, and the internal driving structure is designed. The model of devil's fish is built by CATIA, and then it is simulated by CFD-FLUENT. The 3D motion of pectoral fin is controlled by the dynamic grid technology of the software and the UDF program. Finally, according to the simulation results, the best parameters are determined by comparing the influence of each parameter on the swimming performance of devil fish.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115617453","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}