2023 International Conference on Advanced Robotics and Mechatronics (ICARM)最新文献_第9页

Magnetic Microrobot Control Based on a Designed Nonlinear Disturbance Observer 基于设计的非线性扰动观测器的磁微机器人控制

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218931

Qigao Fan, Hao Wang, Xiaoyu Wu, Yueyue Liu

{"title":"Magnetic Microrobot Control Based on a Designed Nonlinear Disturbance Observer","authors":"Qigao Fan, Hao Wang, Xiaoyu Wu, Yueyue Liu","doi":"10.1109/ICARM58088.2023.10218931","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218931","url":null,"abstract":"Medical microrobots show great promise for precision therapy and drug delivery, such as the treatment of chronic total occlusions. However, magnetic medical microrobots are affected by several factors, such as the medium, the geometry of the microrobots, and the imaging procedure. Notably, traditional control approaches make it difficult or even impossible to obtain reliable physical motion performance of the system. Since the microrobots suffers various uncertainties, the dynamics of microrobots in human tissues (blood or body fluids) is highly nonlinear with multiple uncertainties. Therefore, to achieve accurate motion tracking control for microrobots control system, the obstacles mentioned above must be overcome. In this paper, aiming at the motion control problem of magnetically driven microrobots under the conditions of input saturation constraints, unknown disturbances and model uncertainties, an observer-based control scheme is designed, which uses the minimum knowledge of the system to achieve precise control. The proposed controller consists of an observer designed to obtain an unknown nonlinear magnetic driven microrobots system. According to the designed control law, the exponential disturbance tracking is guaranteed. The experimental results show that the proposed method can effectively overcome the interference problem caused by the unknown uncertainties. Besides, the control performance can be guaranteed.","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":"133786528","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

Development of an Extrusion-based Five-axis 3D Printing System for Manufacturing of Complex Parts 基于挤压的复杂零件五轴3D打印系统的开发

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218892

Lufeng Chen, Qihang Chen, Xuan Tan, Shuang Liu, Xiaojie Xue

引用次数: 0

Force Calibration and Prediction of Soft Stretch Sensor Based on Deep Learning 基于深度学习的软拉伸传感器力标定与预测

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218756

Luying Feng, Lianghong Gui, Zehao Yan, Linfan Yu, Canjun Yang, Wei Yang

{"title":"Force Calibration and Prediction of Soft Stretch Sensor Based on Deep Learning","authors":"Luying Feng, Lianghong Gui, Zehao Yan, Linfan Yu, Canjun Yang, Wei Yang","doi":"10.1109/ICARM58088.2023.10218756","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218756","url":null,"abstract":"Soft stretch sensors are increasingly used in wearable devices and flexible exoskeleton. This paper presents a novel sensing-actuation integrated unit for elastic tension transmission and force estimation. The unit consists of a capacitive sensor, four elastic bands, which can provide enough stiffness, and two stretchable paper-cut fabric shielding layers, which can greatly shield the external interference. The mechanical and electrical properties of the unit were tested on a universal material testing machine and then a simulation test platform was designed to generate the sine curve with different travels and stretch rates. A great amount of data with a total of 35 cases were collected to train our models. Results demonstrated mean square error (MSE) less than 0.21 N2, normalized root mean square error (NRMSE) less than 1.7% for the selected calibration model, and MSE less than 0.28 N2, NRMSE less than 2.0% for the selected prediction model. Our unit together with its calibration and prediction methods in this paper holds great promise in applications such as lightweight flexible exoskeletons.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"50 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":"131180671","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

Lower Limb Joint Torque Estimation by Neural Network and Sparse Gaussian Process with RIO Kernel 基于RIO核的神经网络和稀疏高斯过程下肢关节力矩估计

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218774

Mengsi Wang, Zhenlei Chen, Qing Guo, Haoran Zhang, Yao Yan, D. Jiang

引用次数: 1

Tactile-Based Object Pose Estimation Employing Extended Kalman Filter 基于触觉的扩展卡尔曼滤波目标姿态估计

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218914

Qiguang Lin, Chao Yan, Qiang Li, Yonggen Ling, Yu Zheng, Wangwei Lee, Zhaoliang Wan, Bidan Huang, Xiaofeng Liu

引用次数: 0

An Adaptive Grasping Strategy for Dexterous Hands Based on Proximity-Contact Sensing 基于接近接触感知的灵巧手自适应抓取策略

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218873

Pengwen Xiong, Yifan Yin, Junjie Liao, Yang Xiao

引用次数: 0

SSNet: Learning Self-Similarity for Few-Shot Semantic Segmentation SSNet:基于少镜头语义分割的自相似学习

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218769

Weisheng Lan, Yu Liu

引用次数: 0

Path Planning of Unmanned Underwater Vehicles Based on Deep Reinforcement Learning Algorithm 基于深度强化学习算法的无人潜航器路径规划

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218902

Yu Wang, Zhenzhong Chu, Yongli Hu

引用次数: 0

Automated Creation of Topological Structure Models of Parallel Mechanisms for Kinematic Performance Evaluation 面向运动性能评价的并联机构拓扑结构模型的自动创建

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218779

Hongye Wu, Ping Lin, Yue Ma, Bin Li, Qi Liu, Hongqing Li

{"title":"Automated Creation of Topological Structure Models of Parallel Mechanisms for Kinematic Performance Evaluation","authors":"Hongye Wu, Ping Lin, Yue Ma, Bin Li, Qi Liu, Hongqing Li","doi":"10.1109/ICARM58088.2023.10218779","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218779","url":null,"abstract":"Considering the diversity of topological structures of parallel mechanisms (PMs), this paper presents an approach for the automated generation of topological structure models based on CAD technology. In this method, joints and links are treated as fundamental elements in the skeleton model of a mechanical system, leading to the development of a library of fundamental components readily available to compose a variety of limbs and PMs. A connection graph and its data structure are then developed for describing, in a hierarchical manner, the assembly information among the fundamental components. Equipped with the knowledge and information mentioned above, the limbs and PMs can finally be assembled automatically by identifying and imposing the geometrical constraints that have been already embedded in the models. The merit of this method lies in that 3D schematic diagrams (termed topological structure models) of various limbs and PMs can be created in an illustrative manner by properly selecting a set of fundamental components and then setting their connections, leading to the digitalized and visible topological structure models that are readily for kinematic performance evaluation. Combined with the CAD-CAE integration technology for the mechanical structure design and static/dynamic performance evaluation, a digital design and simulation framework can be formulated for the rapid design of parallel robotic equipment.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"29 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":"121838443","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

Prescribed Performance Control of Mobile Wheeled Inverted Pendulum Systems Under Arbitrary Initial Conditions 任意初始条件下移动轮式倒立摆系统的规定性能控制

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI: 10.1109/ICARM58088.2023.10218825

Mengshi Zhang, Yu Cao, Bo Yang, Jian Huang

{"title":"Prescribed Performance Control of Mobile Wheeled Inverted Pendulum Systems Under Arbitrary Initial Conditions","authors":"Mengshi Zhang, Yu Cao, Bo Yang, Jian Huang","doi":"10.1109/ICARM58088.2023.10218825","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218825","url":null,"abstract":"Mobile wheeled inverted pendulum (MWIP) is a typical naturally unstable underactuated system and it is very necessary to constrain its transient response to improve the overall safety. Prescribed performance control (PPC) is an effective method, however the system initial conditions are usually required to be known and constraint, otherwise it can lead to singularity problems. In practical systems, it is often difficult to obtain the exact initial state leading to limitations in the application of PPC. To overcome this issue, this paper presented a composite error transformation function to address the problem of initial condition dependence. A continuous bounded function was designed to compress the arbitrary initial error into the predefined bound to avoid singularities. After a set time, it was degraded to an original system error. Based on this composite transformation, a state feedback controller was proposed for the underactuated MWIP system to achieve the constraint outputs. Then, by employing the Lyapunov theorem, it was guaranteed that the closed-loop system would remain stable. Various numerical simulations under different initial conditions were carried out to prove the validity of the proposed controller.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"54 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":"121857351","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