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2023 International Conference on Advanced Robotics and Mechatronics (ICARM)最新文献

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Defect Screening on Nuclear Power Plant Concrete Structures: A Two-staged Method Based on Contrastive Representation Learning 核电厂混凝土结构缺陷筛选:一种基于对比表征学习的两阶段方法
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218404
Wenlian Huang, Guanming Zhu, Qixing Huang, Zhuangzhuang Chen, Jie Chen, Jianqiang Li
{"title":"Defect Screening on Nuclear Power Plant Concrete Structures: A Two-staged Method Based on Contrastive Representation Learning","authors":"Wenlian Huang, Guanming Zhu, Qixing Huang, Zhuangzhuang Chen, Jie Chen, Jianqiang Li","doi":"10.1109/ICARM58088.2023.10218404","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218404","url":null,"abstract":"Intelligent defect detection methods are important for the surface of the containment of nuclear power plants and face many challenges in the field of computer vision. Due to the irregular shapes and large variation of defects, as well as the similarity of the features between some defects and the background. Most existing deep learning-based defect detection networks suffer from insufficient feature extraction capabilities, making it difficult to detect defects from the background. Inspired by discrete representation learning methods, we propose a two-stage defect detection model called ConVQVAE, which uses a semi-supervised method for representation learning to achieve binary classification for defect detection. In addition, contrastive learning is performed in two stages to enhance the model's diversity representation ability and inter-class disentanglement representation ability. Finally, we experimentally verify that the proposed method can obtain good classification results.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"44 8 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":"133857670","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
Optimal Time-Efficient UAV Area Coverage Path Planning Based on Raster Map 基于栅格图的最优时效无人机区域覆盖路径规划
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218945
Shiqi Zheng, Xinde Li, Lianli Zhu
{"title":"Optimal Time-Efficient UAV Area Coverage Path Planning Based on Raster Map","authors":"Shiqi Zheng, Xinde Li, Lianli Zhu","doi":"10.1109/ICARM58088.2023.10218945","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218945","url":null,"abstract":"In the original area coverage path planning algorithm, the generated paths are often slow and inefficient due to the diversity of task areas. In this paper, we propose an optimal time-efficient unmanned aerial vehicles (UAV) area coverage method based on raster maps, which enables it to perform better in practical application scenarios. Our work improves the original approach by replacing the previous angle-cost optimization strategy with optimal timing, and also conducts practical testing and modeling of UAVs, and finally experimental tests show that our approach is more time-efficient. On top of this, we also propose two pruning strategies, the first one is to discard those paths that are already far beyond the value during the calculation by continuously updating the minimum path consumption time, and the second one is to avoid erroneous path calculation by finding unreachable uncovered free grids in time during the calculation through the dead zone marker matrix. This paper also optimizes the path cost calculation to prevent the need to recalculate the previous path cost for each cost calculation. The above measures result in a reduction of the algorithm time computation by about 48.88%.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"21 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":"125782028","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 Real-Time Robot Location Algorithm Based on Improved Point-Line Feature Fusion 基于改进点-线特征融合的机器人实时定位算法
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218867
Ling Guan, Rencai Jin, Dan Li, Junxiang Li, Yu Lu
{"title":"A Real-Time Robot Location Algorithm Based on Improved Point-Line Feature Fusion","authors":"Ling Guan, Rencai Jin, Dan Li, Junxiang Li, Yu Lu","doi":"10.1109/ICARM58088.2023.10218867","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218867","url":null,"abstract":"The traditional robot real-time positioning and mapping (SLAM) algorithm has the problem of over-extraction of line segments in dense environments, which leads to mis-matching and reduces the accuracy of the system. To solve this problem, this paper proposes a visual SLAM method called IPLI-SLAM based on an improved point-line combination tightly coupled with IMU. First of all, Shi-Tomasi feature is used for point feature extraction. Secondly, in the aspect of online extraction, the LSD line detection method is modified to the accuracy of the algorithm. The system sets a filter before line extraction. The filter is based on the pixel gradient density setting to filter the environment with more line textures to reduce the error matching of the algorithm. Finally, the point-line visual information is tightly coupled with IMU and then added to the back-end for optimization. By testing eight different sequences in the open source dataset EuRoc with three difficulty levels: easy, medium and hard, the results show that the trajectory RMSE value (root mean square error) of this algorithm is reduced by 50.7% compared to the VINS-mono algorithm and by 13.2% compared to the PL-vins algorithm, which fully demonstrates the effectiveness of this algorithm.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"7 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":"126167946","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
Fixed-time Cooperative Guidance Law Design With Impact Time and Angle Constrains 具有冲击时间和角度约束的定时协同制导律设计
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218964
Yuchen Wang, Wei Wang, Zhao Yin
{"title":"Fixed-time Cooperative Guidance Law Design With Impact Time and Angle Constrains","authors":"Yuchen Wang, Wei Wang, Zhao Yin","doi":"10.1109/ICARM58088.2023.10218964","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218964","url":null,"abstract":"Aiming at the problem of three-dimensional (3D) multiple missiles intercepting a maneuvering target simultaneously, a 3D distributed cooperative guidance law considering time and space constraints. The proposed guidance law is based on fixed-time stable theory and adaptive sliding mode theory. Along light-of-sight (LOS) direction, an improved robust adaptive cooperative guidance law is presented based on fixed-time consensus which can drive a group of missiles attack maneuvering target at desired impact time without inherent chattering of sliding mode control. Along the direction vertical to the line-of-sight (LOS), a robust adaptive guidance law is proposed based on nonsingular fixed-time terminal sliding mode technique, which can drive missiles attack target with desired impact angle and avoid collision between missiles. Finally, the simulation results show that the proposed approach can be implemented to intercept maneuvering target with desired impact time and impact angle.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"854 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":"126965759","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
AutoSurg-Research and Implementation of Automatic Target Resection Key Technologies Via Toumai Surgical Robot System autosurgery——基于Toumai手术机器人系统的自动靶切除关键技术的研究与实现
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218949
Jiayin Wang, Lei Jiang, Zhijian Li, Wei Ma, Yanyan Qiao, Weidong Zhao
{"title":"AutoSurg-Research and Implementation of Automatic Target Resection Key Technologies Via Toumai Surgical Robot System","authors":"Jiayin Wang, Lei Jiang, Zhijian Li, Wei Ma, Yanyan Qiao, Weidong Zhao","doi":"10.1109/ICARM58088.2023.10218949","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218949","url":null,"abstract":"Targeted resection is a surgical operation that occurs at a high frequency in laparoscopic surgery. By automating such surgical tasks, the quality of surgery can be improved and the cognitive burden of doctors can be reduced. This study is based on the Toumai surgical robot system, which locates the target position and instrument position in real time by visual key point localization algorithm and depth localization algorithm, designs a state machine applicable to the automatic resection operation, and plans the motion trajectory of the robotic arm end effector in real time to finally complete the resection of the target point. The experimental results show that this automatic surgical robot system is accurate and efficient.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"4 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":"130821760","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
Disturbance-observer-based Fixed-time Attitude Control for QUAV with State Constraints and External Disturbances 基于扰动观测器的状态约束和外部扰动的QUAV定时姿态控制
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218953
Liang Yu, Xiaohui Yan, Guiwei Shao, Zixuan Huang, Yuhua Wu
{"title":"Disturbance-observer-based Fixed-time Attitude Control for QUAV with State Constraints and External Disturbances","authors":"Liang Yu, Xiaohui Yan, Guiwei Shao, Zixuan Huang, Yuhua Wu","doi":"10.1109/ICARM58088.2023.10218953","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218953","url":null,"abstract":"The work presented in this article focuses on designing a disturbance-observer-based fixed-time controller for the quadrotor unmanned aerial vehicle (QUAV) system, which aims to research the attitude control issues of QUAV with state constraints and external disturbances. Firstly, a novel controller depend on adding one power integrator and fixed-time control technique is introduced to implement finite time convergence regardless of original states. Then, the external disturbances of QUAV system are estimated via the disturbance observer. Futhermore, the proposed method is demonstrated to be fixed-time stable through barrier Lyapunov analysis. In the end, theoretical results are also illustrated and supported by simulation studies.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"6 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":"127919477","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 Research on a Vision-based Lightweight Soft Ankle Exosuit 基于视觉的轻质软踝外服设计与研究
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218870
Bingsheng Bao, Yao Tu, Diyang Dang, Aibin Zhu, Xin Wang, Xu Zhou, Chong Gao, Zheng Zhang, Haibo Xu
{"title":"Design and Research on a Vision-based Lightweight Soft Ankle Exosuit","authors":"Bingsheng Bao, Yao Tu, Diyang Dang, Aibin Zhu, Xin Wang, Xu Zhou, Chong Gao, Zheng Zhang, Haibo Xu","doi":"10.1109/ICARM58088.2023.10218870","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218870","url":null,"abstract":"There has been growing interest in the development of exosuit-assisted locomotion to effectively assist human motion. In this study, we present a novel soft ankle joint exosuit capable of providing dynamic support in varying terrains. The exosuit's underdriven structural design, combined with the use of visual sensors for real-time environmental detection, distinguishes it from existing solutions. The underdriven design enables the exosuit to achieve two degrees of freedom using a single actuator, thus improving its mobility and functionality. Additionally, we employ a semantic segmentation model based on deep learning to recognize the terrain of the environment and adapt the exosuit's assistance accordingly. The visual sensors provide real-time information to the system, allowing it to switch between assisted states and improve the exosuit's overall performance. We carried out experiments on a prototype to validate our proposed approach. With 83% accuracy of terrain recognition, the results demonstrate its feasibility and potential for future development.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"201 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":"126884453","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
Model Predictive Control with Disturbance Observer for Unmanned Surface Vessels Path Tracking 基于扰动观测器的无人水面舰艇路径跟踪模型预测控制
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218887
Wei Li, Fang Wang, Jie Bai, Hanyun Zhou
{"title":"Model Predictive Control with Disturbance Observer for Unmanned Surface Vessels Path Tracking","authors":"Wei Li, Fang Wang, Jie Bai, Hanyun Zhou","doi":"10.1109/ICARM58088.2023.10218887","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218887","url":null,"abstract":"The underactuated unmanned-surface-vessel (USV) path tracking in a complex marine environment involves the minimization of the track error and the yaw angular velocity, while time-varying disturbances such as wind, waves and currents have to be compensated and controlled. To this end, the problem of path tracking is modeled through first-order nomoto model in the Serret-Frenet coordinate, and the disturbance observer is adopted to estimate the time-varying disturbances in real time. Then model predictive control (MPC) is used to compensate the disturbances, and the optimal control action is obtained by the optimization method effectively. Finally, the designed controller's stability is proved on the basis of the Lyapunov stability analysis method. Through simulation, it is shown that the designed controller is asymptotically stable in terms of track error deviation, heading angle deviation and heading angle speed, and its good stability and robustness in the presence of time-varving disturbances are verified.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"7 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":"126499910","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
The Multi-Strategy based Ant Colony Algorithm for the Path Planning of Mobile Robots 基于多策略蚁群算法的移动机器人路径规划
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218751
Xiyue Sun, Wenxia Xu, Yan Zheng, Jian Huang, Bing Du, Baocheng Yu
{"title":"The Multi-Strategy based Ant Colony Algorithm for the Path Planning of Mobile Robots","authors":"Xiyue Sun, Wenxia Xu, Yan Zheng, Jian Huang, Bing Du, Baocheng Yu","doi":"10.1109/ICARM58088.2023.10218751","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218751","url":null,"abstract":"To address the issues of slow convergence speed in the early stage, rapid decrease of diversity, and a tendency to get stuck in local optima in traditional Ant Colony Optimization algorithms for mobile robot path planning, a composite Multi-strategy improved Ant Colony Optimization algorithm is proposed. In a two-dimensional plane, the mobile robot working environment is created using a grid method. The L-M trust region strategy is used to plan the initial information weight of the path map to reduce the blindness of ant colony path search in the early stage. Next, a new heuristic function is constructed based on multi-factor induction strategy to reduce the probability of the ant colony getting stuck in local optima. Finally, the “lion king rule” strategy is used to improve the updating method of information weight. Experimental results show that the improved Ant Colony Optimization algorithm effectively improves the early stage convergence speed, has good global optimization performance, and verifies the feasibility and superiority of the improved Ant Colony Optimization algorithm in two-dimensional space path planning.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"37 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":"115288536","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
End-point Steady Control for Whole-Body Control Mobile Manipulators by Null Space Tunation 基于零空间调谐的全身控制移动机械臂端点稳定控制
2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218398
Enjin Zhang, Yahui Gan, X. Dai
{"title":"End-point Steady Control for Whole-Body Control Mobile Manipulators by Null Space Tunation","authors":"Enjin Zhang, Yahui Gan, X. Dai","doi":"10.1109/ICARM58088.2023.10218398","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218398","url":null,"abstract":"This paper deal with the end-point steady control problem of a mobile manipulators(MM) at the velocity level. Mobile manipulators are usually kinematically redundant when performing tasks, so multiple subtasks can be performed simultaneously, such as tracking the trajectory of the end effector(EE), optimizing manipulability, etc. First, the mobile manipulators system is modeled as an ordinary jointed manipulator. The velocity of the EE has a higher priority, scheduling low-priority tasks in the null space of high-priority tasks leaves high-priority tasks unaffected. The damped least square method is used to generate a kinematic inverse solution with singular robustness, and the gradient projection method is used to optimize the manipulability measure. By analyzing the structure of the Jacobian matrix, the complexity of gradient calculation is reduced. Finally, the effectiveness of the proposed algorithm is verified by simulation experiments.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"42 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":"123806450","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
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