2023 International Conference on Advanced Robotics and Mechatronics (ICARM)最新文献_第7页

Design of Intelligent Car Control System Based on STM32 基于STM32的智能汽车控制系统设计

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218918

Chao Sun, Aijuan Li, Chunpeng Gong, Guangpeng Xu

{"title":"Design of Intelligent Car Control System Based on STM32","authors":"Chao Sun, Aijuan Li, Chunpeng Gong, Guangpeng Xu","doi":"10.1109/ICARM58088.2023.10218918","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218918","url":null,"abstract":"Smart cars are widely used in various industries, and their operating status is crucial to the production safety of the industry. In this paper, a set of intelligent car control system is designed based on STM32F103C8T6 microcontroller, and the automatic control of the car is studied. The study selects a black rectangular field with white borders around it as the external environment for the car to run. Under the premise of ensuring that the car does not cross the boundary, the car can automatically cruise in the area and avoid obstacles when it encounters them. Firstly, establish the design idea of the control system and complete the construction of the car model; Secondly, design the overall scheme of the hardware system and program; Then use the oscilloscope to collect and verify the motor pulse signals and sensor output signals of the car under various working conditions; Finally, while maintaining a certain speed of the car, several real-vehicle verifications were carried out on the obstacle avoidance and sideline detection of the car. The results show that the car can well complete functions such as forward, backward, speed regulation, and obstacle avoidance. The automatic control system runs stably and has high reliability.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"67 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":"131517754","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-based Robust Control of Permanent Magnet Synchronous Motor for Joint Module of Cooperative Robot 协作机器人关节模块永磁同步电机的模型鲁棒控制

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218890

Z. Wang, Shengchao Zhen, Xiaoli Liu, Ke Chen, Ye-hwa Chen

{"title":"Model-based Robust Control of Permanent Magnet Synchronous Motor for Joint Module of Cooperative Robot","authors":"Z. Wang, Shengchao Zhen, Xiaoli Liu, Ke Chen, Ye-hwa Chen","doi":"10.1109/ICARM58088.2023.10218890","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218890","url":null,"abstract":"In this paper, a new robust control algorithm is proposed to reduce the influence of load and system parameter changes on the dynamic performance of permanent magnet synchronous motor(PMSM), and finally solve the dynamic control problem of PMSM position tracking. The algorithm's controller is divided into two parts: a nominal control element created using the dynamics model with the goal of stabilizing the nominal motor system; and a robust control element built using the Lyapunov method with the goal of reducing the impact of uncertain factors like nonlinear friction, parameter uncertainty, and outside interference on tracking performance. By means of Lyapunov minimax method, the uniformly bounded and uniformly final bounded systems are proved and the corresponding conclusions are given.Based on the test platform of permanent magnet synchronous motor, this paper uses cSPACE fast controller to do simulation research. The simulation findings demonstrate that the designed controller is capable of achieving more precise position tracking in the presence of ambiguity as well as good control of the permanent magnet synchronous motor.","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":"128332205","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 Modeling of a Cable-Driven Hollow Continuum Manipulator 索驱动空心连续机械臂的设计与建模

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218940

Changchao Sun, Rongjie Kang, Peikang Yuan, Le Chang, Xin Dong, S. Wan, Zhibin Song, J. Dai

引用次数: 0

Design and Modeling of a Cable-driven Continuum Robot Considering Large Load 考虑大载荷的索驱动连续体机器人设计与建模

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218966

Fei Lei, Shuowen Yi, Siyu Liu, Junbei Liao, Zhao Guo, Zhirui Wang, Tong Yan, R. Dang, Bo Su

引用次数: 0

Long Short-Term Human Motion Prediction in Human-Robot Co-Carrying 人机协同搬运中人体运动的长短期预测

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218927

Sisi Liu, Kaihang Ye, Mengda Geng, Xinbo Yu, Yi Xing, Guoliang Li, Wei He

引用次数: 0

Structure Design and Kinematics Analysis of a Laparoscopic Surgery Robot with 7-DOF 七自由度腹腔镜手术机器人的结构设计与运动学分析

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218956

Shuang Song, F. Du, Rong-Yu Ge, Rong-Zhe Ge

{"title":"Structure Design and Kinematics Analysis of a Laparoscopic Surgery Robot with 7-DOF","authors":"Shuang Song, F. Du, Rong-Yu Ge, Rong-Zhe Ge","doi":"10.1109/ICARM58088.2023.10218956","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218956","url":null,"abstract":"A seven-degree-of-freedom laparoscopic surgical robot system is designed for the advantages of minimally invasive surgical robot system in flexibility, safety and precision, and its overall configuration, wrist actuator and wire rope drive mechanism are analyzed and described, and a solution is proposed to solve the problem of mutual entanglement of wire ropes during motion; the coordinate system of corresponding joint axes is established, and the forward kinematics of the robot system is solved based on the D-H parameter table method. The kinematics of the robot system is solved based on the D-H parameter table method, and the inverse kinematics of the robot system is analyzed based on the sequential transposition method of the adjacent joint axes, and its correctness is verified at the same time. The analysis and simulation of the robotic system showed that the system has a reasonable structure and its working space can fully meet the requirements of the corresponding surgery, which will lay a certain theoretical foundation for the subsequent research of such surgical robotic system.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"41 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":"122685997","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 of Digital Planner and 3D Vision System for Robot Bin Picking 机器人拣料斗数字规划与三维视觉系统设计

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218895

Guoyuan Li, Benjamin Karlsen, Vegard Herland Ytrøy, Ola Jon Mork, Houxiang Zhang

{"title":"Design of Digital Planner and 3D Vision System for Robot Bin Picking","authors":"Guoyuan Li, Benjamin Karlsen, Vegard Herland Ytrøy, Ola Jon Mork, Houxiang Zhang","doi":"10.1109/ICARM58088.2023.10218895","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218895","url":null,"abstract":"Robot bin picking plays an important role in modern manufacturing process. In order to make these manufacturing systems more efficient and productive, it is essential to make a valid grasping plan from gripper design, industrial part recognition, pose estimation, to grasping evaluation. This paper proposes such a planning framework that enables the robot to learn to grasp an industrial part and improve the performance in two phases. First, prior knowledge of 3D model is utilized for gripper selection, database generation and grasping point evaluation in a design phase. Next, attempts for single part grasping are made in a test phase, and grasping failures will trigger the redesign in the previous phase. The grasping plan is then used for grasping randomly distributed parts. A risk assessment is made per part for selection of best candidate of parts, taking both grasping efficiency and potential collision into account. At last, pose adjustment is applied on the robot to improve grasping capability. Through simulation and field test, we demonstrate that the two-phase planning framework is a practical solution for robot bin picking applications.","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":"116043211","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

Fully Automated Interpretable Breast Ultrasound Assisted Diagnosis System 全自动可解释乳腺超声辅助诊断系统

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218807

Daniel X M Wang, Yongzhen Wang, Yingchen Wang, Longzhong Liu, Jia-wei Li, Qinghua Huang

{"title":"Fully Automated Interpretable Breast Ultrasound Assisted Diagnosis System","authors":"Daniel X M Wang, Yongzhen Wang, Yingchen Wang, Longzhong Liu, Jia-wei Li, Qinghua Huang","doi":"10.1109/ICARM58088.2023.10218807","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218807","url":null,"abstract":"Breast cancer is one of the most vulnerable malignant tumors for women in the world, which seriously threatens women's life and health. Fortunately, through timely screening, early breast cancer patients have a high cure rate, which is expected to reach complete recovery. Ultrasound imaging is a screening technology for breast cancer that is superior to the pathological judgment of puncture. It is less harmful to the patient and has the advantages of easy operation and real-time, so it is currently widely used. In order to alleviate the shortage of medical resources and improve screening efficiency, the technology of the breast cancer computer-aided diagnosis system came into being. This paper proposes a new and interpretable fully automated breast ultrasound computer-aided diagnosis method, which can automatically extract the corresponding medical features used by doctors after inputting an ultrasound image and infer the final diagnosis result through the knowledge association between these features. First, the input ultrasound image is read intelligently, similar to the reading process of ultrasound doctors. The diagnostic system extracts medical features useful for diagnosis from the ultrasound image. The second step is associating the extracted features with the known breast benign and malignant diagnosis knowledge graph and finally determining the benign and malignant tumor in this ultrasound image through the correlation relationship in the knowledge graph which is presented as a knowledge tensor. The experimental results show that the fully automated breast ultrasound CAD system proposed in this paper can realize the tradeoff between interpretability and accuracy.","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":"117001791","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 Variable-speed Silent Speech Recognition Method based on Surface Electromyography Signal 一种基于表面肌电信号的变速无声语音识别方法

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218782

Sui Liang, Yin Xu, Zhaohua Yuan, Lining Sun, Weida Li, Hongmiao Zhang

引用次数: 0

Self-Supervised Depth Estimation Based on the Consistency of Synthetic-real Image Prediction 基于合成真实图像预测一致性的自监督深度估计

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218857

Wei Tong, Yubing Gao, E. Wu, Limin Zhu

{"title":"Self-Supervised Depth Estimation Based on the Consistency of Synthetic-real Image Prediction","authors":"Wei Tong, Yubing Gao, E. Wu, Limin Zhu","doi":"10.1109/ICARM58088.2023.10218857","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218857","url":null,"abstract":"Learning-based multi-view stereo aims to restore the real scene from multiple images with overlapping areas. The mainstream self-supervised MVS method trains the model based on the assumption that spatial points from different perspectives share the same color information. To further suppress the interference from specular reflection and illumination noise, this work proposes a self-supervised MVS network based on the consistency of synthetic-real image prediction. The network first applies the coarse-to-fine manner to gradually refine the depth map, and the source images are projected to the reference view to generate the synthesized reference image. Then the synthesized image with real source images are re-input into the network to form a cycled network, and the consistency constraint of the prediction results of the two periods is introduced to improve the color anti-interference of the self- supervised MVS model. The comprehensive experiments on the public dataset show that the proposed work can further improve the reconstruction performance of the benchmark model, which verifies the effectiveness of the proposed work.","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":"127531434","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