发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Stabilization of Double Inverted Pendulum (DIP) on a Cart using Optimal Adaptive Sliding Mode Control (OASMC) 基于最优自适应滑模控制(OASMC)的推车双倒立摆镇定
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512803
M. Habib, Samuel A. Ayankoso
{"title":"Stabilization of Double Inverted Pendulum (DIP) on a Cart using Optimal Adaptive Sliding Mode Control (OASMC)","authors":"M. Habib, Samuel A. Ayankoso","doi":"10.1109/ICMA52036.2021.9512803","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512803","url":null,"abstract":"The potential application of an inverted pendulum in different domains is the primary source of motivation for researchers to initiate innovative and new development. A DIP system is a nonlinear, inherently unstable, and underactuated system. It has a single input and multiple outputs. The mathematical model of this system is normally formulated either through Newtonian or Euler-Lagrange dynamic approaches. This article aims to analyze the stability of a DIP through optimal adaptive sliding mode control (OASMC) and for the purpose of comparison, an LQR controller is also developed. The linear model of DIP is used as a base to design the controllers. Then, the developed controllers are simulated with the nonlinear model of DIP using MATLAB/Simulink. To demonstrate the effectiveness of OASMC over LQR, the performance of LQR and OASMC controllers are analyzed. Besides, the performance outcomes were compared in terms of robustness and reference tracking with and without external disturbances (white noise and sine wave disturbances). The simulation test results indicate that the OASMC controller has better transient performance and disturbance rejection capabilities than the LQR controller.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"14 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":"121335535","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
Improved MB-LBP Feature Extraction Algorithm Based on Reduced-dimensional HOG 基于降维HOG的改进MB-LBP特征提取算法
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512648
Lijun Yu, Qing Li, Hui Wang, Ce Shi
{"title":"Improved MB-LBP Feature Extraction Algorithm Based on Reduced-dimensional HOG","authors":"Lijun Yu, Qing Li, Hui Wang, Ce Shi","doi":"10.1109/ICMA52036.2021.9512648","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512648","url":null,"abstract":"Biometrics identification technology has gradually become a research hotspot in the field of information processing. As a step of biometrics identification technology, feature extraction processing plays a vital role. Aiming at the shortcoming of existing feature extraction algorithms are vulnerable to noise interference, large amount of calculation, high dimension and incomplete features, this paper proposes an improved MB-LBP feature extraction algorithm based on reduced-dimensional HOG. The algorithm uses MB-LBP to extract texture features of the image, and uses reduced-dimensional HOG to extract edge features. Through serial fusion, complete image features are formed. The proposed algorithm is verified by experimental simulation comparison with HOG feature extraction, dimensionality reduction HOG feature extraction and MB-LBP feature extraction. The algorithm in this paper has the characteristics of strong anti-interference ability, low dimension and complete features in feature extraction.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"161 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":"114462255","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
Local Path Planning using Distance-Type Fuzzy Reasoning Method in Unstructured and Dynamic Construction Sites 基于距离型模糊推理方法的非结构化动态建筑场地局部路径规划
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512572
Guang Yang, Shuoyu Wang, H. Okamura, Yasuhiro Ueda, T. Yasui, Tetsuya Yamada, Yuki Miyazawa, Satomi Yoshida, Yuta Inada, Shingo In, Kazuo Okuhata, Yoshinobu Mizobuchi
{"title":"Local Path Planning using Distance-Type Fuzzy Reasoning Method in Unstructured and Dynamic Construction Sites","authors":"Guang Yang, Shuoyu Wang, H. Okamura, Yasuhiro Ueda, T. Yasui, Tetsuya Yamada, Yuki Miyazawa, Satomi Yoshida, Yuta Inada, Shingo In, Kazuo Okuhata, Yoshinobu Mizobuchi","doi":"10.1109/ICMA52036.2021.9512572","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512572","url":null,"abstract":"This paper proposes a local path planning method that utilizes the distance-type fuzzy reasoning method for the navigation of mobile robots in unstructured and dynamic environments. By using a distance-based fuzzy reasoning method: (i) both non-sparse and sparse input fuzzy sets representing sensor readings can be properly processed; (ii) benefiting from the modus ponens, when the input exactly matches one of the rules in the fuzzy rule base, the reasoning result is guaranteed to be the same as the consequent of that rule. Furthermore, we propose a behavioral controller that adopts the reasoning results to achieve efficient and safe local path planning. The presented approach has been evaluated by extensive experiments with our newly developed material transportation robots in real construction sites.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"1997 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":"125586877","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 Teleoperation Control Method for Vascular Interventional Surgery Robot 血管介入手术机器人的远程操作控制方法
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512797
H. Yuan, Nan Xiao, Mengqi Cheng, Kaidi Wang
{"title":"A Teleoperation Control Method for Vascular Interventional Surgery Robot","authors":"H. Yuan, Nan Xiao, Mengqi Cheng, Kaidi Wang","doi":"10.1109/ICMA52036.2021.9512797","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512797","url":null,"abstract":"Minimally invasive vascular interventional surgical robots can effectively improve the safety and accuracy of surgical operations, and reduce the cumulative radiation damage that doctors suffer, which has become the primary trend in the development of vascular interventional surgery. Domestic and foreign research mainly focuses on realizing surgical functions by using a master-slave control scheme to achieve robot control. However, there are still shortcomings in the use of robots to launch remote surgical interventions. Based on our existing surgical robots, we proposed a remote control method by means of a data transfer server, which is characterized by less data transmission and one-way data transmission. Finally, a series of verification experiments were carried out, such as the communication network delay test and packet loss rate test. The experimental results show that this method can meet the needs of remote surgical intervention when network conditions permit. The rapid popularization of 5G communication technology has provided us with great expectations. When 5G communication is popularized and applied, it can be utilized to conduct further tests.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"9 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":"125718401","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
Development of a Novel Intraoperative Information Monitor System for the Vascular Interventional Surgery Robotic System 新型血管介入手术机器人系统术中信息监测系统的研制
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512610
Wei Zhou, Shuxiang Guo, Zhengyang Chen, Fanxu Meng
{"title":"Development of a Novel Intraoperative Information Monitor System for the Vascular Interventional Surgery Robotic System","authors":"Wei Zhou, Shuxiang Guo, Zhengyang Chen, Fanxu Meng","doi":"10.1109/ICMA52036.2021.9512610","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512610","url":null,"abstract":"In the master-slave vascular interventional robot system, visual feedback can help surgeons to make better decisions about the surgical operation. A novel intraoperative information monitor system is developed based on the QT development platform. In this system, the numerical value and the curve are combined to display the collision force information of the slave manipulator, the displacement information with the errors of the master manipulator and slave manipulator and the video image of the camera in slave side. Meanwhile, through the color-changeable image to make surgeons more intuitive understanding of the changeable operation force, and then to assist surgeons to operate more smoothly, this system can also record the operation data of different surgeons, which lays a foundation for the research of the recognition and intelligent navigation of surgeon's operation. Finally, the effectiveness of the system is verified by the information communication experiments with the slave robot.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"141 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":"132533355","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
Three-dimensional Ambient Perception Method Based on Binocular Stereo Visual and Structural Light 基于双目立体视觉和结构光的三维环境感知方法
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512690
Qingxi Zeng, Junchao Zhu, Baofeng Zhang, Huifeng Cao, Chang Jia
{"title":"Three-dimensional Ambient Perception Method Based on Binocular Stereo Visual and Structural Light","authors":"Qingxi Zeng, Junchao Zhu, Baofeng Zhang, Huifeng Cao, Chang Jia","doi":"10.1109/ICMA52036.2021.9512690","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512690","url":null,"abstract":"Environmental awareness is a key technology in the study of assisted driving system or unmanned driving technology. Aiming at the problem that the environment perception system is difficult to reconstruct in the complex environment, such as dark light and weak texture, a 3D environment perception method based on binocular stereo vision and structured light was proposed. An improved gray-scale barycenter extraction algorithm was used to extract the center of the grating fringe, and a sweeping grating matching method based on polar constraint was used to match the left and right images. Finally, the three-dimensional information of the grating fringe was obtained. The experimental results show that the center extraction time of a single image is less than 0.5S, and the 3D data of the measured object can be obtained to meet the requirements of the system.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"93 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":"131645958","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
Structure Design and Mathematical Modeling of Bionic Butterfly Flapping Wing Aircraft 仿生蝴蝶扑翼飞行器结构设计与数学建模
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512601
Yue Zhu, Hengjing Huang, Yanlong Wang, Zhenfeng Han, Jun Zhong
{"title":"Structure Design and Mathematical Modeling of Bionic Butterfly Flapping Wing Aircraft","authors":"Yue Zhu, Hengjing Huang, Yanlong Wang, Zhenfeng Han, Jun Zhong","doi":"10.1109/ICMA52036.2021.9512601","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512601","url":null,"abstract":"Based on the principle and flying mode of butterfly flying in reality, a bionic butterfly flapping-wing robot is studied. The design of the robot is based on a crank-connecting rod mechanism. The input of the crank connecting rod mechanism is provided by the first-stage reducer driven by a brushless DC motor, which can realize the periodic flapping of the wings and adjust the flapping frequency of the wings. The robot is equipped with a steering tail and an elevator tail, the input of which is provided by a steering gear, which realizes the controllability of the flight height and direction. The comparison and analysis of the simulation results of kinematics and dynamics modeling with theoretical results prove the feasibility of this flying mechanism. The structure of this flying mechanism is simple, which provides a new feasible scheme for the bionic flapping wing mechanism.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"38 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":"133174449","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
The Vector Control Scheme for Amphibious Spherical Robots Based on Reinforcement Learning 基于强化学习的水陆两栖球形机器人矢量控制方案
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512624
He Yin, Shuxiang Guo, Liwei Shi, Mugen Zhou, Xihuan Hou, Zan Li, Debin Xia
{"title":"The Vector Control Scheme for Amphibious Spherical Robots Based on Reinforcement Learning","authors":"He Yin, Shuxiang Guo, Liwei Shi, Mugen Zhou, Xihuan Hou, Zan Li, Debin Xia","doi":"10.1109/ICMA52036.2021.9512624","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512624","url":null,"abstract":"Due to variable underwater working conditions and unfavorable environments, it is difficult to design a controller suitable for underwater robots. This paper uses the adaptive ability of reinforcement learning to propose a two-layer network framework based on reinforcement learning to realize the control of amphibious spherical robots. The upper planning layer mainly plans the total torque of the robot at each moment according to the desired position and speed. The lower control layer mainly configures the parameters of the four machine legs according to the planning instructions of the upper planning layer. Through the cooperation of the planning layer and the control layer, the adaptive motion control of the amphibious spherical robot can finally be realized. Finally, the proposed scheme was verified on a simulated amphibious spherical robot.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"210 S656","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120852161","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
Design of Convenient Structured Light Projection System for Microscopic Measurement 用于显微测量的便捷结构光投影系统设计
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512746
Yimeng Du, Yuezong Wang, Youfan Peng
{"title":"Design of Convenient Structured Light Projection System for Microscopic Measurement","authors":"Yimeng Du, Yuezong Wang, Youfan Peng","doi":"10.1109/ICMA52036.2021.9512746","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512746","url":null,"abstract":"This paper presents a convenient structured light projection system for microscopic measurement, which is used to design the structured-light pattern on the computer, you can freely edit the pattern structure, color, geometric size, motion mode, projection brightness, contrast and other attributes. An optional path system with zoom function is designed, which can output 10 micron wide structured-light fringe. The vision system is established by using camera and microscope, which is used to shoot the pattern of structured-light, and the 3D morphology is reconstructed by analyzing the pattern of structured-light. The experimental results show that the system can project small feature-size structured-light patterns and is very suitable for 3D morphology measurement of micro objects from tens of microns to hundreds of microns.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"167 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":"116035316","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
Radar Target MTD 2D-CFAR Algorithm Based on Compressive Detection 基于压缩检测的雷达目标MTD 2D-CFAR算法
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512828
Cong Liu, Yunqing Liu, Qi Li, Zikang Wei
{"title":"Radar Target MTD 2D-CFAR Algorithm Based on Compressive Detection","authors":"Cong Liu, Yunqing Liu, Qi Li, Zikang Wei","doi":"10.1109/ICMA52036.2021.9512828","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512828","url":null,"abstract":"In order to solve the problem of large data volume brought by the traditional Nyquist sampling theorem in radar signal detection, a compressive detection (CD) model based on compressed sensing (CS) theory is proposed by analyzing the sparsity of the radar target in the range domain. The lower sampling rate completes the compressive sampling of the radar signal on the range field. On this basis, the two-dimensional distribution of the Doppler unit is established by moving target detention moving target detention (MTD), and the detection of the target is achieved with the two-dimensional constant false alarm rate (2D-CFAR) detection algorithm. The simulation experiment results prove that the algorithm can effectively detect the target without the need for reconstruction signals, and has good detection performance.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"122 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":"116175751","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信