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

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Fault Diagnosis Method of Reciprocating Compressor Based on Domain Adaptation under Multi-working Conditions 多工况下基于域自适应的往复式压缩机故障诊断方法
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512625
Lijun Zhang, Lixiang Duatt, Xiaocui Hong, Xinyun Zhang
{"title":"Fault Diagnosis Method of Reciprocating Compressor Based on Domain Adaptation under Multi-working Conditions","authors":"Lijun Zhang, Lixiang Duatt, Xiaocui Hong, Xinyun Zhang","doi":"10.1109/ICMA52036.2021.9512625","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512625","url":null,"abstract":"The complex structure and changeable working conditions of reciprocating compressor lead to the strong noise interference of collected monitoring data, the poor universality of diagnosis model and so on. A fault diagnosis method of reciprocating compressor based on domain adaptation is proposed in this paper to solve the above-mentioned problems. It breaks away from the assumption of the same distribution of source domain and target domain data in the traditional artificial intelligence algorithm. In addition, it contributes a new idea to the intelligent diagnosis of reciprocating compressor equipment. Firstly, the vibration signal is decomposed and reconstructed by CEEMDAN. Besides, in combination with wavelet transform, one-dimensional signal is converted into two-dimensional time-frequency image. Finally, a MK-MMD layer is added in front of the classifier for adaptation to the source domain and target domain, so as to realize fault diagnosis of multi-working conditions for the reciprocating compressor based on ResNet50. According to the experimental results, the combination of CEEMDAN and WT can be effective in reducing the noise-induced interference, and the time-frequency image contains rich information. In addition, the ResNet50-MK-MMD method is used for fault diagnosis under multi-working condition, with the average accuracy reaching above 97%.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"2 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":"122940274","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
Profile Fitting-based Small Target Detection in Water for Side-scan Sonar Image 基于轮廓拟合的水中小目标侧扫声纳图像检测
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512764
Zhanshuo Liu, Xiufen Ye, Shuxiang Guo, Huiming Xing, Z. Hao, Yao Li
{"title":"Profile Fitting-based Small Target Detection in Water for Side-scan Sonar Image","authors":"Zhanshuo Liu, Xiufen Ye, Shuxiang Guo, Huiming Xing, Z. Hao, Yao Li","doi":"10.1109/ICMA52036.2021.9512764","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512764","url":null,"abstract":"Side-scan sonars have seen wide deployment in underwater imaging, but the substantially lower visual quality of sonar images leads to a few questions, such as bright spots-like small target with a few pixels, the difficult distinguish of bright spot and speckle noise. In order to solve this problem, we propose a two-stage detection method without obtaining sample information in advance. In the first stage, we fit across-track signal to obtain the peak points of the signal profile, which indicates the position where the target or shadow may be located at this across-track signal. In the second stage, the disordered peak points are clustered using a tree-growing clustering method. A cluster represents the place where the target or shadow may appear in the side-scan sonars image. The target is then detected by matching lights and shadows with possible locations. Experimental results verified that the proposed method is efficient in small target detection from lower visual quality images.","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":"123886819","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
Study on Hydrodynamic Characteristics and Dynamics Model of Underwater Spherical Robot 水下球形机器人的水动力特性及动力学模型研究
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512739
Ao Li, Shuxiang Guo, Liwei Shi, Xihuan Hou, Zan Li, Debin Xia
{"title":"Study on Hydrodynamic Characteristics and Dynamics Model of Underwater Spherical Robot","authors":"Ao Li, Shuxiang Guo, Liwei Shi, Xihuan Hou, Zan Li, Debin Xia","doi":"10.1109/ICMA52036.2021.9512739","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512739","url":null,"abstract":"In order to simplify parameter adjustment process of the AUV controller in the pool experiments, many researchers established the robot dynamics model and pre-adjusted the parameters in the simulation. This paper mainly studied the characteristics of underwater spherical robot hydrodynamic model and the verification of the model through experiments. First, we obtained the hydrodynamic force acting of the robot in different fluid environments through Computational Fluid Dynamic method. Then, the hydrodynamic coefficients of the dynamic model were calculated by the regression of the above force data. Finally, these hydrodynamic coefficients obtained from the above simulation were verified by pool experiments. The experimental results showed that these coefficients obtained by this method was well fitted with the experimental data and may be used as a reference for the hydrodynamic model. In addition, the nonlinear characteristics of hydrodynamic coefficients under different disturbances were also studied. This will provide further reference for model identification and control in complex underwater environment.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"92 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":"121286232","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
A Super Baseline for Pedestrian Re-Identification 行人再识别的超级基线
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512703
Jiwei Zhang, Haiyuan Wu
{"title":"A Super Baseline for Pedestrian Re-Identification","authors":"Jiwei Zhang, Haiyuan Wu","doi":"10.1109/ICMA52036.2021.9512703","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512703","url":null,"abstract":"In this paper, we propose a new baseline that combines and improves two types of deep learning algorithms to achieve more accurate pedestrian re-identification from images taken by surveillance cameras. We introduce some tricks into a famous strong baseline [1]. The main contributions are: 1) We improve IBN-Net [2] to replace the original ResNet50 (last stride = 1). 2) We perform model learning by using three common databases with different characteristics at the same time, except for the operation part of random erasing augmentation. 3) We add two new classifiers. 4) We optimize the parameters to prevent overfitting. We conducted ablation experiments on each trick using unlearned data and confirmed the effectiveness and stability of the proposed method from the results.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"162 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":"121451613","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 Kind of Sea-fog Removal Algorithm Fusing Image Enhancement and End-to-end Network 一种融合图像增强和端到端网络的海雾去除算法
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512702
Zhongli Ma, Lili Wu, Linshuai Zhang, Jiadi Li, Yuehan Zeng
{"title":"A Kind of Sea-fog Removal Algorithm Fusing Image Enhancement and End-to-end Network","authors":"Zhongli Ma, Lili Wu, Linshuai Zhang, Jiadi Li, Yuehan Zeng","doi":"10.1109/ICMA52036.2021.9512702","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512702","url":null,"abstract":"Generally, for images with sea fog, the distribution of fog density is uneven, and the whole scenes tend to the darkness, if only the image enhancement algorithm is used to defog, it could cause color distortion of the overall image, and the details blurring of the target image; the end-to-end defogging algorithm has obvious defogging effects for the uniform mist image on the land, but it is not good for sea fog images with dense fog and dark scenes. In this paper, a kind of single sea fog image defogging method is proposed, which fuses the image enhancement with end-to-end network. Firstly, the image enhancement based on Multi Scale Retinex was adopted, to improve the contrast and brightness of the uneven fog image; Then, the end-to-end network was used to extract the transmittance, and then the transmittance was optimized by the guided filter; Finally, through removing fog based on the atmospheric scattering model, the edge blur and color distortion of the object are improved. We had experimental analysis compared our proposed method with several mainstream defogging algorithms, to evaluate the defogging quality from both subjective and objective aspects separately, the experimental results show that the proposed single-image sea fog removal algorithm has obvious defogging effects and good image restoration ability.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"89 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":"129214500","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
Motor Fault Diagnosis System Based on Single Chip Microcomputer and Artificial Intelligence 基于单片机和人工智能的电机故障诊断系统
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512810
Meng Hao, Xin Wang, Peiyu Li, Fan He, Liu Yang, Meng Xiao, X. Bian, Zixuan Zhang
{"title":"Motor Fault Diagnosis System Based on Single Chip Microcomputer and Artificial Intelligence","authors":"Meng Hao, Xin Wang, Peiyu Li, Fan He, Liu Yang, Meng Xiao, X. Bian, Zixuan Zhang","doi":"10.1109/ICMA52036.2021.9512810","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512810","url":null,"abstract":"An artificial intelligence motor fault diagnosis system based on STM32 single-chip microcomputer and deep learning is designed. After algorithm optimization and a small number of sample learning, the real-time recognition rate of fault diagnosis can reach 96.07%. First, the hardware circuit is designed, the ADXL335 acceleration sensor is used to collect the motor running vibration signal, and the Kalman filter is used to improve the sampling accuracy. Then the Kalman filtered signal is output to the host computer through the serial port, and then converted into the deep learning model for training and recognition using FFT. Finally, experiments are carried out on a self-made motor fault diagnosis simulation experiment platform, and the results show that the system has a better recognition effect.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"30 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":"115924776","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 Multi-Physics Simulation Approach to Predict Shape Morphing of Flexible Devices in Magnetic Field 一种多物理场模拟方法预测柔性器件在磁场中的形状变形
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512696
Huichen Ma, Junjie Zhou
{"title":"A Multi-Physics Simulation Approach to Predict Shape Morphing of Flexible Devices in Magnetic Field","authors":"Huichen Ma, Junjie Zhou","doi":"10.1109/ICMA52036.2021.9512696","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512696","url":null,"abstract":"This paper develops an approach for general multiphysics finite element simulations of multifunctional hydrogels. Herein, a magneto-thermal-mechanical coupled model is presented. Negative thermal expansion coefficient which can simulate the swelling behavior of hydrogel is introduced into the model. By constructing the free energy function of hydrogel, the deformation as a function of temperature obtained from the PNIPAM-water solution can be used to analyze and predict shape morphing associated with PNIPAM hydrogel. Based on multiphysics simulation platform, the basic parameters affecting the shape morphing of the bilayer hydrogel are investigated. Additionally, the multi-physics coupling analysis of flexible devices is carried out. The simulation results are close to similar reported experimental results. The present multi-physics approach may provide a guidance to design the magnetic hydrogel in alternative magnetic field.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"25 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":"117027964","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: 3
Unit Dual Quaternion Based Set-Point Control with Input Constraints 基于单位对偶四元数的输入约束设定点控制
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512580
Wenxin Hu, Yajing Wang, Xiangke Wang
{"title":"Unit Dual Quaternion Based Set-Point Control with Input Constraints","authors":"Wenxin Hu, Yajing Wang, Xiangke Wang","doi":"10.1109/ICMA52036.2021.9512580","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512580","url":null,"abstract":"Control input constraints especially velocity saturations make a gap between theoretical control laws and applications on real vehicles. This paper presents a first attempt to solve the set-point control problem for the unit dual quaternion (UDQ) based kinematic system subject to input constraints. It strictly proves that the UDQ-logarithm based proportional control law can still make this system stable by using Lyapunov method. The control performance of the system is illustrated and verified by numerical simulations.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"10 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":"115593501","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
Mobile Robot Path Planning Based on Improved Ant Colony Fusion Dynamic Window Approach 基于改进蚁群融合动态窗口法的移动机器人路径规划
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512795
Lei Shao, Qi Li, Chao Li, W. Sun
{"title":"Mobile Robot Path Planning Based on Improved Ant Colony Fusion Dynamic Window Approach","authors":"Lei Shao, Qi Li, Chao Li, W. Sun","doi":"10.1109/ICMA52036.2021.9512795","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512795","url":null,"abstract":"Aiming at the shortcomings of ant colony algorithm in the complex environment, such as being easy to fall into local optimum and difficult to guarantee real-time path planning of robots, this paper proposes a dynamic window algorithm based on improved ant colony (IACO-DWA). In order to avoid the blind search of ants in the early stage, this method designs an adaptive distance induction factor, and combines the maximum and minimum ant system (MMAS) to improve the pheromone update rule to prevent falling into the local optimum; to improve the probability transfer rule by constructing a corner suppression factor, Reduce the path inflection points, and integrate the global path points generated by the DWA tracking ant colony to construct a new position evaluation function, and then plan a smooth path trajectory. The simulation results show that the method in this paper strengthens the optimization performance of the global path while realizing the local dynamic obstacle avoidance.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"5 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":"114183138","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
Trajectory Tracking Control for a Biomimetic Spherical Robot Based on ADRC 基于自抗扰控制器的仿生球形机器人轨迹跟踪控制
2021 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2021-08-08 DOI: 10.1109/ICMA52036.2021.9512570
Mugen Zhou, Shuxiang Guo, Xihuan Hou, He Yin, Ao Li, Debin Xia, Zan Li, Meng Liu
{"title":"Trajectory Tracking Control for a Biomimetic Spherical Robot Based on ADRC","authors":"Mugen Zhou, Shuxiang Guo, Xihuan Hou, He Yin, Ao Li, Debin Xia, Zan Li, Meng Liu","doi":"10.1109/ICMA52036.2021.9512570","DOIUrl":"https://doi.org/10.1109/ICMA52036.2021.9512570","url":null,"abstract":"In this article, a two-dimensional trajectory tracking control framework is proposed for biomimetic spherical robots (BSR) in a constrained workspace despite the lack of dynamic model parameters information and the effects of disturbances on the robot motion. Meanwhile, The research presents the general dynamics models of the robot and the thrusters allocator scheme to ensure the force generated by the propellers within the feasible range. Our trajectory tracking control framework relies on three active disturbance rejection controllers (ADRC) for the case of biomimetic spherical robots. More importantly, the controllers consider various practical operational constraints, such as continuous and smooth controller outputs, predefined velocity bounds, and thruster saturations. Finally, We assess the performance and feasibility of the proposed control framework through the simulations.","PeriodicalId":339025,"journal":{"name":"2021 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"2 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":"114278408","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
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