2021 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献_第4页

Deep Q-learning for Control: Technique and Implementation Considerations on a Physical System: Active Automotive Rear Spoiler Case 用于控制的深度q -学习:物理系统的技术和实现考虑:主动汽车后扰流板案例

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512669

Velazquez Espitia Victor Miguel, Gonzalez Gonzalez Jose Angel, Mat Omar, Ponce Pedro, Molina G. Arturo

{"title":"Deep Q-learning for Control: Technique and Implementation Considerations on a Physical System: Active Automotive Rear Spoiler Case","authors":"Velazquez Espitia Victor Miguel, Gonzalez Gonzalez Jose Angel, Mat Omar, Ponce Pedro, Molina G. Arturo","doi":"10.1109/ICMA52036.2021.9512669","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512669","url":null,"abstract":"Deep Q-learning is the combination of artificial neural networks advantages (ANNs) with Q-learning. ANNs have expanded the possibilities on a variety of algorithms by enhancing their capabilities and surpassing their limitations. This is the case of reinforcement learning. Nowadays, Deep Q-learning is used in a variety of applications in different fields, including the development of intelligent algorithms to control physical systems. Deep Q-learning has demonstrated the possibility of achieving effective results by solving specific tasks that are highly complex to model through classical approaches. An important drawback is that these models require an elaborated implementation process, and several design decisions must be taken in order to achieve reliable results. Often, developers might find the design process mostly experimental rather than ruled-based. Addressing this problem, the present work describes in detail the implementation process of Deep Q-learning to control a physical system, proposes considerations and analysis parameters for each of the main steps. Demonstrated in the development of the “Active automotive rear spoiler”, the results present a methodology that successfully guides towards a proper implementation of Deep Q-learning. The knowledge of this paper should not be taken as a recipe, but rather as an evaluation reference to equip the reinforcement learning developers with tools for the development of projects.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"1 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":"129378945","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

Energy Conserving Path when Chasing an Intruder by Autonomous Guards 自主警卫追逐入侵者时的节能路径

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512628

D. Nussbaum

引用次数: 0

Design and Development of a Bladder Volume Determination Device Based on A-mode Ultrasound 基于a型超声的膀胱容量测定装置的设计与研制

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512651

Qiang Gao, Yunfei Gao, Zemin Mao, Chunping Liu, Yu Song, Haobo Zhang, Zixuan Zhang

{"title":"Design and Development of a Bladder Volume Determination Device Based on A-mode Ultrasound","authors":"Qiang Gao, Yunfei Gao, Zemin Mao, Chunping Liu, Yu Song, Haobo Zhang, Zixuan Zhang","doi":"10.1109/ICMA52036.2021.9512651","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512651","url":null,"abstract":"Many older adults with Alzheimer's disease and patients with conditions such as spinal nerve injuries have symptoms of urinary incontinence. In order to improve their quality of life, B-mode ultrasound and drainage tubes are often used to measure the urine accumulation in the human bladder. In this paper, an ultrasonic urine system based on A-mode ultrasound is developed for measuring the urine accumulation in the human bladder. The ultrasound urine system contains three parts: the collection device, the mobile terminal, and the upper data processing software. In the collection device, the STM32 microcontroller sends out a pulse signal with a rate of 2.5MHz to excite the ultrasonic transducer through the ultrasonic transmitter circuit. Ultrasonic transducer receives the echo signals by the ultrasonic receiving circuit processing into digital signals, STM32 microcontroller transmits them to the mobile terminal. The mobile terminal transmits the digital signals to the upper data processing software for processing and receives the calculation results for display. We conducted tests on a bladder simulator. We conducted three sets of experiments and measured the transducer to baffle distance of 30mm, 40mm, and 50mm. The accuracy of the system measurements in three sets of experiments were 99.8%, 99.65%, and 99.52%. Experimental results verify the effectiveness of the system.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"149 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":"132902507","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

Error-constrained Moving Path-Following Control for a Stratospheric Airship 平流层飞艇的误差约束运动路径跟踪控制

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512644

Liran Sun, Ming Zhu, Xiao Guo, Jiace Yuan, Huabei Gou

引用次数: 0

Modeling and Control Strategy Simulation of Dual Active Bridge DC-DC Converter 双有源桥式DC-DC变换器建模与控制策略仿真

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512593

Youjie Ma, H.-T. Wen, X. Zhou, Jie Yin

引用次数: 1

Classification and detection method of Blood lancet based on VGG16 network 基于VGG16网络的血刺针分类检测方法

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512686

Feng Zhao, Baofeng Zhang, Zhili Zhang, Xinghui Zhang, Chunyu Wei

引用次数: 2

Evaluation of a Clamping Mechanism for Vascular Interventional Surgery Robotic System 血管介入手术机器人系统夹紧机构的评估

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512694

Chaochao Shi, Shuxiang Guo

{"title":"Evaluation of a Clamping Mechanism for Vascular Interventional Surgery Robotic System","authors":"Chaochao Shi, Shuxiang Guo","doi":"10.1109/ICMA52036.2021.9512694","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512694","url":null,"abstract":"At present, the vascular interventional surgery has attracted more attention. Because it has the advantages of smaller trauma, lower pain, and quicker recovery after the operation. As for the design of the clamping mechanism, fast and lossless clamping of the catheter has always been a hot and difficult point in the current research. In this paper, a novel slave manipulator is introduced (contains coordinate system). It simulates the twisting of human fingers for the catheter during the actual vascular interventional surgery. Moreover, we evaluated its clamping form. Simulation results show that: From the angle of total deformation, strain, and stress, it is analyzed that there is no damage to the catheter; From the point of view of the clamping force analysis, it is obtained that the clamping force is enough to guarantee the forward and backward of the catheter; From the perspective of conflict protection, the size of the clamping force can be changed by adjusting the clamping depth. In this way, the tip of the catheter can be avoided puncturing the vessel wall, thus increasing the actual clinical safety performance.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"85 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":"126041731","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: 4

A Bio-Inspired Quadruped Robot with Foldable Torso Capable of Omnidirectional Motion 具有可折叠躯干的仿生四足机器人

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512600

Zhe Wang, Yixiang Liu, Qing Bi, Bin Yang, Rui Song

引用次数: 0

A Novel Remote Control Method Oriented to Underwater Maninulators 一种面向水下机械手的新型遥控方法

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512585

Zhiheng Zheng, Jirong Xie, Tao Su, Xinguang Li, Yu Ni

引用次数: 0

Structural Synthesis of Nested Hyper-redundant Mechanisms Inspired by the Mackerel Fishes 受鲭鱼启发的嵌套超冗余机制的结构综合

2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512629

Weiwei Chen, Hongzhou Jiang

引用次数: 0