2023 International Conference on Advanced Robotics and Mechatronics (ICARM)最新文献_第5页

Multi-level Deep Learning Kalman Filter 多层次深度学习卡尔曼滤波

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218866

Shi Yan, Yan Liang, Binglu Wang

引用次数: 0

Intelligent Trolley Path Tracking Control Based on Feed-forward Variable domain Fuzzy PID Control 基于前馈变域模糊PID控制的智能小车轨迹跟踪控制

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218803

Yu-Shen Lu, Rencai Jin, Dan Li, Junxiang Li, Ling Guan

引用次数: 0

Modeling of Soft Fingertip for Precise Sliding Prediction 用于精确滑动预测的软指尖建模

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218968

Jieji Yu, Xiaolong Ma, Xuanyi Zhou, G. Bao

引用次数: 0

Robust Control of the Mobile Robot Based on the General Control Performance Index 基于通用控制性能指标的移动机器人鲁棒控制

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218844

Rongrong Yu, Xu Zhao, Si Lu, Ye-hwa Chen, Chenming Li

{"title":"Robust Control of the Mobile Robot Based on the General Control Performance Index","authors":"Rongrong Yu, Xu Zhao, Si Lu, Ye-hwa Chen, Chenming Li","doi":"10.1109/ICARM58088.2023.10218844","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218844","url":null,"abstract":"Mobile robot is a complex nonlinear system with uncertainty. A novel robust control method is proposed for the robust control of uncertain mobile robot systems based on the new control performance index $hat{beta}$. The control performance index $hat{beta}$ is a dynamic depiction of the constraint-following error, which can guarantee the control design flexibility. Regardless of the size of uncertainty, the control ensures that the control performance index $hat{beta}$ is uniform boundedness and uniform ultimate boundedness. In the control, there is a control design parameter $kappa$ that can be chosen within a specific range, and the parameter can be optimized to achieve lower control cost and better control performance. This optimization problem is expressed as an intelligent decision control problem in which one control parameter deals with two system performance indicators. In order to reduce the control force of the system and ensure optimal control performance, the parameter $kappa$ is selected. Finally, simulation analysis of the mobile robot is conducted to validate the robust control design.","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":"115606096","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 Neural Interface System-on-Chip for Nerve Signal Recording and Analysis of Human Gesture 一种用于人体手势神经信号记录与分析的片上神经接口系统

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218841

Junhuo Liu, Zhijun Li, J. Gu, Ying Feng, Guoxin Li

{"title":"A Neural Interface System-on-Chip for Nerve Signal Recording and Analysis of Human Gesture","authors":"Junhuo Liu, Zhijun Li, J. Gu, Ying Feng, Guoxin Li","doi":"10.1109/ICARM58088.2023.10218841","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218841","url":null,"abstract":"The intensity of surface electromyography (sEMG) reflects the state of muscle activity, and the monitoring of neural activity is accomplished by recording and analyzing sEMG, so as to help the elderly and patients with muscle injury live normally. However, the current products in the literature or on the market cannot support the integration of signal recording and decision making simultaneously. To solve this challenge, a novel neural interface system-on-chip (SoC) is developed, which includes a neural signal recorder, a hardware integrated classifier with signal screening capability and a series of communication interfaces for data transmission. In addition, function circuits consisting of the controller and the clock generator are designed to provide operation instructions and the necessary reference timing. The prototype of the system was developed by using Verilog on FPGA. In the experiments, five volunteer subjects with healthy upper limbs were invited to participate in the verification of model parameter training and real-time gesture recognition. The experimental results show that the average recognition accuracy reach to 98.14%. which is better than the existing model of the same classifier.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"44 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":"115144125","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

PTTE:Power Tower Tilt Estimation Algorithm based on LiDAR Point Cloud 基于LiDAR点云的电力塔倾斜估计算法

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218929

Falin Chen, Yong Li, Shuang Feng, Mingmin Huang

{"title":"PTTE:Power Tower Tilt Estimation Algorithm based on LiDAR Point Cloud","authors":"Falin Chen, Yong Li, Shuang Feng, Mingmin Huang","doi":"10.1109/ICARM58088.2023.10218929","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218929","url":null,"abstract":"Power towers are the infrastructure for power transmission in the power grid, and to ensure the safety of power transmission, the state of power towers needs to be inspected regularly. To improve inspection efficiency, this paper proposes a method for detecting the tilt of towers based on the power inspection method of the UAV LiDAR point cloud. The method uses SCF-Net network to semantically segment the power targets in the scene after the UAV has collected the power corridor data, and then uses K-means clustering to obtain individual towers. Then the extracted individual pylons are used to propose a pylon tilt estimation algorithm based on cross-stretcher point cloud plane fitting and normal estimation. Experiments are conducted with the actual collected power corridor data, and the experimental results show that the IOU index of the classification effect of the SCF-Net network on power poles reaches 97.75, and the untilted poles and manually placed tilted poles can be accurately judged. Compared with other methods, the proposed algorithm has a high degree of automation, does not require too much human intervention, and has engineering application value.","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":"123320125","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 Lightweight Framework for Objection Detection in Adverse Lighting Conditions 不利光照条件下目标检测的轻量级框架

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218806

H. Liu, Meibao Yao

引用次数: 0

An Interactive Control Strategy Based on A Wheelchair Exoskeleton 基于轮椅外骨骼的交互控制策略

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218930

Shuai Fan, Tao Liu, Guanyu Shen, Guangkui Song, Jing Qiu, Xin Zhang

引用次数: 0

Ultra-Wideband Localization of Mobile Robots Based on Moving Horizon Optimization 基于移动地平线优化的移动机器人超宽带定位

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218874

Wenqi He, Yuhao Sun, Hua-yu Zhu, Andong Liu

引用次数: 0

Emission Evaluation for Diesel Vehicles Under Typical Operating Conditions 柴油车典型工况排放评价

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218781

Jiaren Li, Zhenyi Xu, Yang Cao, Xiushan Xia, Yu Kang

{"title":"Emission Evaluation for Diesel Vehicles Under Typical Operating Conditions","authors":"Jiaren Li, Zhenyi Xu, Yang Cao, Xiushan Xia, Yu Kang","doi":"10.1109/ICARM58088.2023.10218781","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218781","url":null,"abstract":"China‘s ambient air quality has improved significantly as a result of the formulation and implementation of the Action Plan for the Prevention and Control of Air Pollution and the Three-Year Action Plan for Winning the Blue Sky Defense War, but the air pollution problem in key regions remains severe, diesel truck pollution has not been effectively addressed, and mobile sources are an important source of nitrogen oxide emissions. The existing diesel vehicle emission model is primarily divided based on average vehicle speed and VSP binning methods, and it lacks an instantaneous vehicle speed model. This paper collected data from 10 diesel vehicles in order to accurately evaluate driving conditions and promote energy saving and emission reduction of heavy-duty diesel vehicles. Then we extracted 51,925 kinematic fragment data after cleaning abnormal data and built a kinematic feature evaluation system of diesel vehicles closely related to NOx emission. The sample data of kinematic segments were clustered into two groups of low-speed conditions and medium-speed conditions using the standardized mutual information to extract the characteristics with strong correlation with NOx and the vehicle driving conditions assessment model of cluster analysis. From the clustering results, the high NOx emission is completely classified into the low-speed working condition, which matches the conclusion that the high NOx emission region appears in the low-speed acceleration region reached by previous researchers through experimental studies, indicating that the kinematic feature evaluation model of diesel vehicles established in this paper is reasonable and effective.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"46 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":"124637078","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