2023 International Conference on Advanced Robotics and Mechatronics (ICARM)最新文献_第10页

Adaptive Robust Position Control for Permanent Magnet Linear Synchronous Motor Based on Udwadia-Kalaba Theory 基于Udwadia-Kalaba理论的永磁直线同步电机自适应鲁棒位置控制

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218829

Faliang Wang, Qiong Huang, Ke Chen, Shengchao Zhen, Xiaofei Chen

{"title":"Adaptive Robust Position Control for Permanent Magnet Linear Synchronous Motor Based on Udwadia-Kalaba Theory","authors":"Faliang Wang, Qiong Huang, Ke Chen, Shengchao Zhen, Xiaofei Chen","doi":"10.1109/ICARM58088.2023.10218829","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218829","url":null,"abstract":"To realize the accurate motion control for permanent magnet linear synchronous motor (PMLSM) with uncertainty, this article develops an adaptive robust control based on the Udwadia-Kalaba theory (UKARC). The uncertainty is time-varying but within a bounded region, while the boundary value of the region is not known. In this paper, the control objective of PMLSM is considered as the servo constraint, then a UKARC is designed such that the constraint is satisfied. The dynamic model of PMLSM can be represented by the nominal portion and uncertain portion. For the nominal portion, a nominal control based on Udwadia-Kalaba (U-K) theory is constructed to ensure that obedience to the expected constraint can be achieved. For the uncertain portion, to mitigate the effect of uncertainty, adaptive robust control is constructed. The performance of uniformly bounded (UB) and uniformly ultimately bounded (UUB) for PMLSM is deduced based on the Lyapunov method. Furthermore, the validation of simulation and experiment are conducted to verify the accurate position tracking performance can be realized with the proposed method.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"213 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122015125","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

Target Selection for Multi-domain Combat SoS Breaking with Operational Constraints 突破作战约束的多域作战SoS目标选择

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218837

Chaoxiong Ma, Yan Liang, Hongfeng Xu

{"title":"Target Selection for Multi-domain Combat SoS Breaking with Operational Constraints","authors":"Chaoxiong Ma, Yan Liang, Hongfeng Xu","doi":"10.1109/ICARM58088.2023.10218837","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218837","url":null,"abstract":"Modern warfare has become increasingly expensive as a result of its multi-domain joint systematic combat model. To achieve the purpose of stopping war with war and maintaining the safety of people's lives and property, paralyzing the target system of systems (SoS) operational capability maximally under constraints, such as battlefield resources and environment, has become an urgent research topic. This paper addresses the problem of fast search for the optimal solution of the strike target selection task, which considers operational constraints, dynamic coupling of node states, and dimensional explosion. Firstly, a capability aggregation-based target SoS operational capability calculation model and an operational constraint-based strike target selection model are established. Then, an adaptive genetic simulated annealing algorithm (AGSA) is proposed for fast model solving. The algorithm is carefully designed to address the constraints of the strike target selection task, which enables it to accomplish individual selection and coding updates, improve population diversity, and ensure search performance. Eventually, the simulation results under three different scenarios demonstrate the effectiveness of AGSA.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125045517","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

Motion Planning for Mobile Robots with Temporal Logic Specifications 具有时间逻辑规范的移动机器人运动规划

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218822

Jianxin Zeng, Yaonan Wang, Zhiqiang Miao, Sifei Wang

引用次数: 0

Maneuver Recognition Based on Affine Weighted Dynamic Time Warping Algorithm 基于仿射加权动态时间翘曲算法的机动识别

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218834

Huixia Zhang, Linxuan Xu, Yuedong Wang, Yan Liang

{"title":"Maneuver Recognition Based on Affine Weighted Dynamic Time Warping Algorithm","authors":"Huixia Zhang, Linxuan Xu, Yuedong Wang, Yan Liang","doi":"10.1109/ICARM58088.2023.10218834","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218834","url":null,"abstract":"For same type of maneuvers, parameters of maneuver sequences may vary greatly due to different lengths of time, and parameters of maneuver sequences are more random, which cause the accurate identification of maneuver types still have some challenges. In this paper, a typical tactical maneuver database is established based on the analysis of relationships between tactical maneuvers and combat intent, and it is used as a tactical maneuver template. Moreover, an affine weighted dynamic time warping (AWDTW) algorithm is proposed for maneuver identification, which has three advantages: (1) Influences on maneuver recognition are considered for different dimensions parameters of maneuver sequences. (2) Affine transformations are introduced to solve the problems on scaling and offset of maneuver sequence parameters due to different lengths of time. (3) Real-time of the proposed algorithm is improved by limiting path search intervals in the tactical maneuver template. Finally, simulation analyses are performed on maneuver sequences in different maneuver spaces, simulation results show that the AWDTW algorithm achieves effective identification of tactical maneuver types.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129969976","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

Mechanism Design and Testing of a Mole-like Forelimb for Planetary Regolith - burrowing Exploration 行星风化层挖掘用鼹鼠式前肢机构设计与试验

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218760

Zhaofeng Liang, H. Zheng, Hongyu Wei, Shuangfei Yu, Kun Xu, Chaoqun Xiang, Haifei Zhu, Kunyang Wang, Tao Zhang

{"title":"Mechanism Design and Testing of a Mole-like Forelimb for Planetary Regolith - burrowing Exploration","authors":"Zhaofeng Liang, H. Zheng, Hongyu Wei, Shuangfei Yu, Kun Xu, Chaoqun Xiang, Haifei Zhu, Kunyang Wang, Tao Zhang","doi":"10.1109/ICARM58088.2023.10218760","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218760","url":null,"abstract":"The mole is a natural “plumber” with high burrowing efficiency, and its forelimb can provide a strong burrowing force that is several times its weight. This feature provides a unique thought to design highly efficient planetary regolith-burrowing robots. This paper proposes a mole-like forelimb for planetary regolith-burrowing exploration. First, we briefly reviewed the current status of mole-like burrowing robots. Then, we applied its bionic principle, burrowing trajectory, and burrowing mode to design the forelimb mechanism that meets the requirements of a specified burrowing trajectory. Further, based on this mechanism and the single degree-of-freedom (DOF) drive method, a cable-driven burrowing force amplification mechanism (BFAM) of the forelimb was designed, and a prototype was designed to experimentally study the kinematic characteristics of the forelimb at different burrowing depths. Finally, the results were analyzed, showing that the forelimb of the mole-like burrowing robot was reasonably designed. The burrowing force of the forelimb of the mole-like burrowing robot can be effectively increased without adding additional drive elements.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130154775","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 Nested U-Structure for Instrument Segmentation in Robotic Surgery 基于嵌套u型结构的机器人手术器械分割

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218893

Yanjie Xia, Shaochen Wang, Zheng Kan

{"title":"A Nested U-Structure for Instrument Segmentation in Robotic Surgery","authors":"Yanjie Xia, Shaochen Wang, Zheng Kan","doi":"10.1109/ICARM58088.2023.10218893","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218893","url":null,"abstract":"Robot-assisted surgery has made great progress with the development of medical imaging and robotics technology. Medical scene understanding can greatly improve surgical performance while the semantic segmentation of the robotic instrument is a key enabling technology for robot-assisted surgery. However, how to locate an instrument's position and estimate their pose in complex surgical environments is still a challenging fundamental problem. In this paper, pixel-wise instrument segmentation is investigated. The contributions of the paper are twofold: 1) We proposed a two-level nested U-structure model, which is an encoder-decoder architecture with skip-connections and each layer of the network structure adopts a U-structure instead of a simple superposition of convolutional layers. The model can capture more context information from multiple scales and better fuse the local and global information to achieve high-quality segmentation. 2) Experiments have been conducted to qualitatively and quantitatively show the performance of our approach on three segmentation tasks: the binary segmentation, the parts segmentation, and the type segmentation, respectively. The results show that our method significantly improves the segmentation performance and outperforms state-of-the-art approaches.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129667070","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: 2

Motion Analysis of Passive-Dynamic Walker with Flexible Structure: Exploration for Novel Support Phase 柔性结构被动动力步行器的运动分析:新型支撑相位的探索

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218896

Yuxuan Xiang, Yanqiu Zheng, Cong Yan, F. Asano

引用次数: 0

Multi-objective Topology Optimization of Electromagnetic Negative Stiffness Mechanism using a Deep Neural Network Based Parametric Level Set Method 基于深度神经网络的电磁负刚度机构参数水平集多目标拓扑优化

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218946

Jinglei Zhao, Xiu-Chuan Yang, Guanhui Liang, Zhongzheng Wu, Yinlong Wu, Jin Yi, Shujin Yuan, Xueping Li, Ruqing Bai, Chunling Zhang, Fei Wu, Huayan Pu, Jun Luo

引用次数: 0

A Two-DoF Jamming Gripper for Universal Grasping and Screwing Operation 一种通用夹持和旋紧操作的二自由度干扰夹持器

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218794

Haoyang Xi, Xiangdong Meng, Yao Xu

引用次数: 0

Data-Driven Robust Designs of Performance Prediction and Its Application in High-speed Trains 数据驱动的性能预测稳健设计及其在高速列车中的应用

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218967

Hongtian Chen, Weijun Wang, Dongsheng Guo, Shuiqing Xu, Chao Cheng

{"title":"Data-Driven Robust Designs of Performance Prediction and Its Application in High-speed Trains","authors":"Hongtian Chen, Weijun Wang, Dongsheng Guo, Shuiqing Xu, Chao Cheng","doi":"10.1109/ICARM58088.2023.10218967","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218967","url":null,"abstract":"This paper presents a robust performance prediction scheme for traction systems in high-speed trains. Performance variables are latent indicators of the system running, which play an important role in automated monitoring and fault diagnosis. It can be inferred from manifest variables (measurements) instead of directly observed from traction systems. Recently, most studies explored the static method for predictions, which is not suitable for dynamic systems. Considering the tricky challenges in practice, the existing prediction methods need to be further improved. Motivated by this, the paper designs a data-driven prediction model for performance variables of traction systems in high-speed trains. Specifically, to remove the influence of disturbances or noises, a robust subspace identification skill is adopted, which is developed for the soft sensor. In addition, this study further reduces the process errors of estimations in the state-space model. This method is verified on a traction system platform and an actual traction motor experiment. The experimental results prove the effectiveness and superiority of the proposed scheme.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122704013","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