2023 International Conference on Advanced Robotics and Mechatronics (ICARM)最新文献_第8页

Low-speed Limit Cycle Walking of Planar X-shaped Bipedal Robot with Special Properties 特殊性能平面x型双足机器人低速极限循环行走

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218959

F. Asano, Cong Yan

{"title":"Low-speed Limit Cycle Walking of Planar X-shaped Bipedal Robot with Special Properties","authors":"F. Asano, Cong Yan","doi":"10.1109/ICARM58088.2023.10218959","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218959","url":null,"abstract":"This paper proposes a novel planar semicircular-footed X-shaped bipedal robot in which the center of mass of each leg link is at the same position as the hip joint, and discusses a method for generating a stable limit cycle gait on level ground. First, we outline the assumptions of the robot model with four degrees of freedom, and develop the mathematical equations of motion and collision. Second, we set the relative hip-joint angle as a control output and design a control system to follow it to the desired trajectory specified as a fifth-order function of time. Third, we mathematically show that there are special properties: the angular velocity of the swing leg does not change before and after the collision, and the time-integral of the control input becomes zero in a steady gait. We also mathematically show that the model has the feature that approximate linearization is effective and the antigravity effect of semicircular feet can be utilized. Through numerical simulations, we verify the validity of the theoretical results, and analyze some fundamental gait properties such as convergence speed and mechanical energy restoration.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"2 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":"127774394","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 Deeping-Learning-Based Foreign Object Inspection System Design for Overhead Power Transmission Lines 基于深度学习的架空输电线路异物检测系统设计

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218859

Xiang Yue, Yan Feng, Kai Qi, Yang Zhang, Yifeng Song

{"title":"A Deeping-Learning-Based Foreign Object Inspection System Design for Overhead Power Transmission Lines","authors":"Xiang Yue, Yan Feng, Kai Qi, Yang Zhang, Yifeng Song","doi":"10.1109/ICARM58088.2023.10218859","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218859","url":null,"abstract":"Overhead power transmission lines are widely used to transmit electrical energy for generation plants to distribution substations. Foreign objects such as kites, kite string or balloons may be accidently twisted on the power lines, which may lead to power outages if there are not removed. This paper proposed a foreign object inspection system based on deep learning for power transmission lines to overcome the shortages such as poor operation efficiency, high cost and time consuming of ordinary inspection methods. The system is consisted of inspection equipment and ground control station. The inspection equipment travels on the ground line of power transmission lines, and the deep learning algorithm is embedded in the software installed on the computer of the ground station, which can be used to control the inspection equipment remotely. The YOLOv3 algorithm is used to detect the foreign object, and the model is trained and tested in the field. Experimental results show the inspection system can inspect the lines semi-autonomously and the algorithm is capable of inspecting the foreign objects with 25fps in speed and 84% in accuracy, which helps in regular inspection task of the power transmission lines.","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":"124308254","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 Reliability Analysis Method for a Novel Inspection Robot of the Rail Conveyor 一种新型轨道输送机检测机器人可靠性分析方法

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218796

Yuanhai Huang, Ying Xu, Diansheng Chen, Yue Pan, Xin Chang, Dan Zhou, Hui Zhang, Chuanbao Jia

{"title":"A Reliability Analysis Method for a Novel Inspection Robot of the Rail Conveyor","authors":"Yuanhai Huang, Ying Xu, Diansheng Chen, Yue Pan, Xin Chang, Dan Zhou, Hui Zhang, Chuanbao Jia","doi":"10.1109/ICARM58088.2023.10218796","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218796","url":null,"abstract":"Belt conveyors are widely used in bulk material conveying. The rail conveyor is a new type of conveyors, which combines the advantages of belt conveyor and railroad transportation, and is more energy-saving and efficient than belt conveyors. To ensure the stable operation of the rail conveyor, inspection of the sections along its route is required. It is difficult to apply the inspection robot of belt conveyors to the rail conveyor due to the novel structure and extra inspection targets. In this paper, we propose an inspection robot for the rail conveyor. The robot is designed based on support carriages on the rail conveyor, which uses the conveyor rail as its own running rail, uses the conveyor running power as its own moving power, and carries detection devices for the track and the belt to realize the inspection along the rail conveyor. Since the proposed inspection robot is larger and heavier than support carriages, it may affect the normal operation of the conveyor when installed. In this paper, a reliability analysis method for the inspection robot is proposed, including the carry side, return side and the turnaround wheel. The inspection robot is fully adapted to the working conditions and inspection requirements of the rail conveyor, and the proposed reliability analysis method can guide the optimal design of the inspection robot.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"26 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":"121937829","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

Contralateral Movement Constraint Based Gait Intervention Using a Powered Hip Exoskeleton 基于对侧运动约束的动力髋外骨骼步态干预

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218849

Zilu Wang, Zhihao Zhou, Qining Wang

引用次数: 0

Autonomous Emergency Landing on 3D Terrains: Approaches for Monocular Vision-based UAVs 三维地形上的自主紧急降落:基于单目视觉的无人机方法

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218933

Weiming Du, Junmou Lin, Binqing Du, Uddin Md. Borhan, Jianqiang Li, Jie Chen

{"title":"Autonomous Emergency Landing on 3D Terrains: Approaches for Monocular Vision-based UAVs","authors":"Weiming Du, Junmou Lin, Binqing Du, Uddin Md. Borhan, Jianqiang Li, Jie Chen","doi":"10.1109/ICARM58088.2023.10218933","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218933","url":null,"abstract":"With the increasing use of unmanned aerial vehicles (UAVs) in a variety of applications, their safety has become a critical concern. UAVs face numerous emergencies during missions, in these situations, the UAVs need to autonomously find a suitable landing site, plan flight routes, and avoid obstacles in unstructured environments. However, due to the limitations of computing power and sensors, it is challenging to achieve this goal. This research aims to explore the monocular emergency autonomous landing algorithm. Specifically, this work focuses on extracting depth and vision information. A topology information extractor is designed to convert image to graph and assess the connectivity of terrain. Additionally, a depth information extractor is designed to calculate the slope and roughness of the ground. A 3D topology optimizer is designed to optimize the graph by depth information and evaluate the landing suitability by a heuristic strategy. To make the action decision, a hybrid decision network (DGN) based on 3D topology information is proposed. Finally, this work build a simulated scenario based on real scene to verify the efficiency of DGN. The results of the experiment show that DGN outperforms its counterparts in terms of action prediction accuracy and landing success rate.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"24 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":"131274994","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

Adaptive Neural Network Sliding Mode Control Method Based on Udwadia-Kalaba Theory 基于Udwadia-Kalaba理论的自适应神经网络滑模控制方法

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218891

Runmei Zhang, Jiaxiang Li, Zhong Chen, Fangfang Dong, Zhennan Jia, Bin Yuan

引用次数: 0

High Precision Fixed Time 4-Order S-Curve Trajectory Planning for Multi-Channel Double Crystal Monochromator 多通道双晶单色仪高精度定时四阶s曲线轨迹规划

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218855

Haolin Lu, Siyu He, Zhao Feng, Xiaohui Xiao

{"title":"High Precision Fixed Time 4-Order S-Curve Trajectory Planning for Multi-Channel Double Crystal Monochromator","authors":"Haolin Lu, Siyu He, Zhao Feng, Xiaohui Xiao","doi":"10.1109/ICARM58088.2023.10218855","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218855","url":null,"abstract":"Double crystal monochromator (DCM) is the key component of quick-scanning X-ray absorption fine structure (QXAFS) method. It is responsible for the crucial task of monochromitizing hard X-rays emitted from synchrotron radiation facility. A novel multi-channel DCM consisting of two regular hexagon revolvers is discussed in this paper. To compensate the error angles of the crystals introduced by manual assembly accurately and effectively, ensuring the the quality and stability of the spectrum, planning an appropriate motion trajectory of the multi-channel DCM is of great importance. A high precision fixed time vibration-suppressed S-curve trajectory planning method is proposed in this paper. Multi-channel DCM motion analysis, S-curve trajectory planning method, trajectory tracking simulation are discussed in detail. The simulation results on the multi-channel DCM system demonstrate that, the maximum position tracking error is reduced to 5.9 arcsec by proposed S-curve trajectory, which is reduced by 24.46%, 39.16% and 76.63% respectively, compared with conventional 5-order polynomial and B-spline and straight line while the spectrum scanning frequency is 36Hz. The result verifies that the proposed 4-order S-curve trajectory can significantly improve the position tracking accuracy and suppress the vibration of the multi-channel DCM system.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"39 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":"125663994","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

Robust Intelligent Control of Second Order Nonlinear System With Application to MEMS Gyroscopes 二阶非线性系统的鲁棒智能控制及其在MEMS陀螺仪上的应用

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218783

Rui Zhang, Hai Wang, Fangze Zuo, Bin Xu

引用次数: 0

Experimental Characterization and Comparison of Three Typical Omnidirectional Mobile Robots 三种典型全向移动机器人的实验表征与比较

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218777

Zhuolun Li, Jiajun Long, Ximan Zhang, Chengyuan Gao, Shixing Jiang, Zheng Zhu, Zhenzhong Jia

引用次数: 0

A Soft Robot for Finger Rehabilitation Driven By Dielectric Elastomer Air Pump: Structure Design and Performance Analysis 介电弹性体气泵驱动手指康复软体机器人:结构设计与性能分析

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218768

Heqiang Tian, Debao Meng, Bin Tian, Zhe Lin

引用次数: 0