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2021 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献

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Development of Interface for Turning Motion Assist of Power Assist System using 3D sensor 基于三维传感器的助力系统转向运动辅助接口开发
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512670
Hironao Yamada, Takahiro Ikeda, S. Ueki, K. Ootsubo
{"title":"Development of Interface for Turning Motion Assist of Power Assist System using 3D sensor","authors":"Hironao Yamada, Takahiro Ikeda, S. Ueki, K. Ootsubo","doi":"10.1109/ICMA52036.2021.9512670","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512670","url":null,"abstract":"In this research, we aimed to improve the operability of industrial power assist devices. In the previous research, we tried to improve the operability from the two viewpoints of the assist time of the turn assist system and the brake start time. This system was premised on working within a fixed working time. Also, the physical and mental burden caused by braking faster than the operator's intention was a problem. In this research, in order to solve these problems, we devised a new operation interface which measures human motion by using a 3D sensor (“Kinect” manufactured by Microsoft) to power-assist. Effectiveness was verified by subject experiment using the system implementing this method.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129978823","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 Combined Indoor Self-positioning Method for Robotic Fish Based on Multi-sensor Fusion 基于多传感器融合的机器鱼室内组合自定位方法
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512608
Yuzhuo Fu, Ben Lu, Xiaocun Liao, Qianqian Zou, Zhuoliang Zhang, Chao Zhou
{"title":"A Combined Indoor Self-positioning Method for Robotic Fish Based on Multi-sensor Fusion","authors":"Yuzhuo Fu, Ben Lu, Xiaocun Liao, Qianqian Zou, Zhuoliang Zhang, Chao Zhou","doi":"10.1109/ICMA52036.2021.9512608","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512608","url":null,"abstract":"In an experimental environment with limited conditions, it is always hard to achieve precise positioning of robotic fish. A combined indoor self-positioning method in this paper is introduced to solve the problem. For the short-distance range, coordinates are calculated by fusing the measured distances and angles. For the medium-distance range, a clustering-grid supervision (CGS) algorithm is proposed and adopted to correct the coordinates obtained by the four-point positioning method. An ostracion-like robotic fish is used as the experimental object to achieve centimeter-level positioning with an average positioning error of 4.492 cm in a short-distance range and decimeter-level positioning with an error of 2.049 dm in a medium-distance range. Compared with traditional methods, this comprehensive method has the advantages of low cost and high accuracy.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128285256","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
Research on Vehice Motion Control Based on Electromyography Signal Collected and Processed by MCU and Computer Platform 基于单片机和计算机平台采集和处理肌电信号的车辆运动控制研究
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512774
Baofeng Gao, Binkai Yang, Kaijun Guo, Tao Chen, Mingliang Zheng
{"title":"Research on Vehice Motion Control Based on Electromyography Signal Collected and Processed by MCU and Computer Platform","authors":"Baofeng Gao, Binkai Yang, Kaijun Guo, Tao Chen, Mingliang Zheng","doi":"10.1109/ICMA52036.2021.9512774","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512774","url":null,"abstract":"Human-computer interaction technology connects people with computers or other electronic devices to reflect people's will. With the advancement of science and technology, the means of human-computer interaction have become diversified, bringing a lot of convenience to people's lives. The application research on bioelectric signals is becoming more and more extensive, and its application in the field of human-computer interaction has become a research hot spot. EMG is a kind of bioelectric signal, which is distinguishable. Therefore, it is theoretically a feasible method to recognize specific patterns of muscle actions through EMG signals, and then convert them into control instructions for external devices. We designed the app-assisted control and display on the Android side of the mobile phone through the open source platform, and transmitted the processed EMG data to the robot car to control its movement through serial communication.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132656846","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
Investigation of Driving Principle of Non-Electrically Driven Robots Using Sound Waves as a Power Source 以声波为动力源的非电驱动机器人驱动原理研究
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512664
S. Otake, Mitsuharu Matsumoto
{"title":"Investigation of Driving Principle of Non-Electrically Driven Robots Using Sound Waves as a Power Source","authors":"S. Otake, Mitsuharu Matsumoto","doi":"10.1109/ICMA52036.2021.9512664","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512664","url":null,"abstract":"The method of repairing concrete in hazardous areas such as nuclear power plants has not been established yet. Although many robots have been proposed to work in hazardous areas, they have problems such as not being able to operate wirelessly and being left as debris when an accident occurs. We aim to investigate the feasibility of a robot that uses its own structure as a repair material using a non-electric actuator. In this paper, we investigated the feasibility of a robot that operates using sound waves as a drive source without using electricity as the first attempt. Through several experiments, we confirmed that the developed robot could be controlled arbitrarily even if the installation location changes.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130927798","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: 2
Water Surface Targets Recognition and Tracking Based on Improved YOLO and KCF Algorithms 基于改进YOLO和KCF算法的水面目标识别与跟踪
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512577
Zhongli Ma, Yaohan Zeng, Lili Wu, Linshuai Zhang, Jiadi Li, Huixin Li
{"title":"Water Surface Targets Recognition and Tracking Based on Improved YOLO and KCF Algorithms","authors":"Zhongli Ma, Yaohan Zeng, Lili Wu, Linshuai Zhang, Jiadi Li, Huixin Li","doi":"10.1109/ICMA52036.2021.9512577","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512577","url":null,"abstract":"Main problems in the recognition and tracking of water surface targets include the recognition omission or error of small targets, and the bigger tracking error of occluded targets etc., This paper uses an improved YOLO v3 and KCF algorithms to obtain the accurate recognition and real-time tracking of water surface multi-target. Firstly, the water surface targets data set is established and preprocessed; then the improved YOLO v3 network based on Inception module is used to extract and identify the fine feature information of water surface targets. Next, the KCF algorithm is improved by using confidence judgment mechanism to avoid big tracking error for blocked target. Finally, combined with the data association algorithm, improved KCF can complete multi-target tracking. The test results show that the proposed recognition and tracking algorithm can recognize and track multiple targets on water surface and in the air accurately and continuously.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134127260","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: 2
Quick Response Code Application for Virtual Model 虚拟模型快速响应代码应用
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512735
Chenfei Chen, Xiaofei Wang, Jutao Wang, Bin Li
{"title":"Quick Response Code Application for Virtual Model","authors":"Chenfei Chen, Xiaofei Wang, Jutao Wang, Bin Li","doi":"10.1109/ICMA52036.2021.9512735","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512735","url":null,"abstract":"Quick response code (QR code) is a cutting technology which can contain much information. In this paper, a convenient app for virtual model showing is proposed through scanning a QR code. With the help of the app, videos can be obtained, virtual models can be rotated and scaled by touching the screen. The interactive environment enhances learners' spatial thinking and cultivates their sense of innovation.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"62 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132782186","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
Study on a Novel Network Nod Monitoring System based on the Spherical Multi-robot 基于球形多机器人的新型网络节点监控系统研究
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512728
Shuxiang Guo, Ran Wang, Jian Guo, Jigang Xu
{"title":"Study on a Novel Network Nod Monitoring System based on the Spherical Multi-robot","authors":"Shuxiang Guo, Ran Wang, Jian Guo, Jigang Xu","doi":"10.1109/ICMA52036.2021.9512728","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512728","url":null,"abstract":"The spherical multi-robot system is mainly used for water quality monitoring in large-scale aquaculture. The main research content of this article is how to realize the multi-robot system effectiveness of data transmission. Or, when the detection range is too large, the multi-robot system adopts the centralized control mode, once the instability of the central robot network occurs. If the data can not be fed back to the user, how to ensure the control ability of the entire multi-robot system. Novel network nod monitoring system has the advantages of Ad Hoc network, self - repair and not limited by the distance of router. It has been widely used in various fields. At the same time, cloud platform communication technology has also been widely used in the field of the Internet of Things. Its advantages are multi-purpose function, long transmission distance, strong safety performance, etc. By adopting self - owned cloud platform structure and the novel network nod monitoring system. It improves the flexibility and reliability of the multi-robot system and ensures the efficiency of large-scale data acquisition. In this paper, a Mesh network architecture and a network system based on cloud platform for spherical multi-robot systems are proposed. The experimental results show that it is feasible to construct the whole node monitoring system based on Mesh. With this system, the multi-robot system can accomplish more complex tasks.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"229 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113952950","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 Novel Contact Force Measurement Scheme for Slave Catheter Robot in Robotic Endovascular Surgery 机器人血管内手术中辅助导管机器人接触力测量新方案
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512750
Qiang Gao, Jiabin Wu, Yu Song, Junjie Liu, Zemin Mao, Yu Zhan
{"title":"A Novel Contact Force Measurement Scheme for Slave Catheter Robot in Robotic Endovascular Surgery","authors":"Qiang Gao, Jiabin Wu, Yu Song, Junjie Liu, Zemin Mao, Yu Zhan","doi":"10.1109/ICMA52036.2021.9512750","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512750","url":null,"abstract":"In this paper, an intravascular robotic teleoperation system (IRTS) has proposed to reduce the physical stress and xray exposure to surgeons during vascular interventional surgery (VIS), reducing the probability of occupational diseases. The system, through its ergonomic design, allows the surgeon to bring the experience to robot-assisted VIS. For this reason, a master haptic module based on magnetorheological (MR) fluid technology was designed to provide fast and accurate haptic feedback while capturing the surgeon's hand movements (radial and axial direction) in operating the catheter. In the slave side, the catheter manipulator is designed to mimic the surgeon's action at the main end, with a novel grasper designed to provide sufficient clamping force while protecting the catheter surface from damage. At the same time, the contact force between the catheter and the patient's vessels can be measured by the motor current loss-speed-resistance model, which has less impact on surgery and a more accurate way to measure force. Compared with traditional VIS, the IRTS not only achieves the same results, but also reduces the cognitive workload of the operation and further improves the transparency and safety of the VIS.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116817221","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: 1
Design of the Lower Limb Rehabilitation Training System Based on Virtual Reality 基于虚拟现实的下肢康复训练系统设计
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512760
Jian Guo, K. Zhao, Shuxiang Guo
{"title":"Design of the Lower Limb Rehabilitation Training System Based on Virtual Reality","authors":"Jian Guo, K. Zhao, Shuxiang Guo","doi":"10.1109/ICMA52036.2021.9512760","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512760","url":null,"abstract":"Cerebral apoplexy is easy to cause nerve damage, which brings a lot of inconvenience to patients' life. A large number of studies have shown that rehabilitation training through the use of rehabilitation robots can have a very positive impact on the injury of stroke patients. In this paper, a virtual reality rehabilitation training system based on the lower limb rehabilitation robot of our team was proposed, which organically combined visual feedback, vibration feedback and sound feedback with the lower limb rehabilitation robot. First of all, a standard human body model was established. According to the ergonomics principle, the common movements of lower limb rehabilitation were made into standard animations. We have built the mannequin here and import the mannequin into the virtual reality software. Through the communication between the MCU and the virtual reality software, the patients can realize the visualization in the process of rehabilitation training.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132370885","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
Experimental Verification on the Rotational and Sway Control of a Suspended Horizontally Movable Multi-Rotor 悬挂式水平移动多转子旋转摆动控制的实验验证
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512800
Kazuya Miyamoto, Shinsuke Kanda, Keigo Watanabe, I. Nagai
{"title":"Experimental Verification on the Rotational and Sway Control of a Suspended Horizontally Movable Multi-Rotor","authors":"Kazuya Miyamoto, Shinsuke Kanda, Keigo Watanabe, I. Nagai","doi":"10.1109/ICMA52036.2021.9512800","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512800","url":null,"abstract":"Suspending and transporting a load is met in many situations. However, it has been regarded as a problem because it leads to a decrease in work efficiency and an accident if the load is oscillated or rotated during transportation due to disturbances caused by winds or operational errors. As a countermeasure to this problem, a method for controlling sway and rotation with a suspending machine has been studied. However, such a method can only control swaying and not rotation, and are not applicable to all transport machines or aircrafts. Therefore, in this research, it is aimed at controlling the tip of the wire directly by using a horizontally movable multi-rotor, which is applicable to all types of suspending machines or aircrafts and can control the rotation as well as the swing. Then, a rotational control experiment and a sway control experiment are conducted using the developed horizontally movable multi-rotor to verify its usefulness for the sway and rotational motions.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122134101","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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