2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)最新文献_第2页

Aeroelastic Model of a Morphing Wing for Control Design and Optimization 用于控制设计与优化的变形机翼气动弹性模型

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680832

A. Balon, P. Beneš, Z. Šika

引用次数: 1

An Adaptive Fuzzy Observer Based Delay Compensator for Time Delayed Bilateral Teleoperation Systems 基于自适应模糊观测器的时滞双侧遥操作系统延迟补偿器

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680867

Linping Chan, Qingqing Huang, Ping Wang, Yan Han

引用次数: 0

Multispectral data classification with deep CNN for plastic bottle sorting 基于深度CNN的多光谱数据分类用于塑料瓶分类

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680850

R. Maliks, R. Kadikis

{"title":"Multispectral data classification with deep CNN for plastic bottle sorting","authors":"R. Maliks, R. Kadikis","doi":"10.1109/ICMERR54363.2021.9680850","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680850","url":null,"abstract":"Current global trends and green policies indicate the importance of smart waste sorting. Polymer type identification plays a key role in the circular economy model, where high precision is vital to reduce the impurities of recycled plastic flakes. In this paper, we present a robust, high-accuracy plastic bottle polymer type classification using Convolutional Neural Network (CNN). Near-infrared (NIR) absorbance spectroscopy is used to gather polypropylene (PP), polyethene terephthalate (PET), high-density polyethene (HDPE), and low-density polyethene (LDPE) spectra in a dry and wet state. We propose a data augmentation method that generates additional training examples, and we experimentally determine the impact of the ratio of real and generated samples on the accuracy of the classification. In addition, we compare this classification approach with Support Vector Machine (SVM), Principal Component Analysis (PCA) and t-distributed Stochastic Neighbour Embedding (t-SNE) clas-sification methods and also provide data-preprocessing steps for these methods. Finally, we combine pre-processing, component analysis, and CNN to achieve 98.4% accuracy rate while reducing the sizes of CNN input feature vectors and the CNN model itself.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123109684","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

Object class-agnostic segmentation for practical CNN utilization in industry 在工业中实际应用CNN的对象类别不可知分割

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680821

Anas Gouda, Abraham Ghanem, Pascal Kaiser, M. ten Hompel

{"title":"Object class-agnostic segmentation for practical CNN utilization in industry","authors":"Anas Gouda, Abraham Ghanem, Pascal Kaiser, M. ten Hompel","doi":"10.1109/ICMERR54363.2021.9680821","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680821","url":null,"abstract":"The speed of adopting new technologies in industrial automation depends on two factors, reliability and ease of integration. CNN-based object segmentation is one of those technologies that are well developed in research and other industries but still not well established in industrial automation. It is an essential processing step for robotic grasping. Nevertheless, most of the grasping in the industry is still computed by classical non-learning algorithms or based on simple manually programmed hypotheses. The traditional setup in most research related to the object segmentation problem is to have a finite number of objects/classes. While this is suitable for some other problems, it is the hurdle stopping the ease of integrating CNN object segmentation in the industry. A more practical approach is to use object class-agnostic segmentation, where a CNN is used to segment objects in an image without classifying them. Then classical feature extractors can be used for the classification process. This method would avoid the need for manual tailoring of CNNs for each individual setup/environment. In this work, we propose an image processing pipeline that is general and invariant to setup. We also show the feasibility of the class-agnostic segmentation, discuss the feasibility of using purely synthetic data for the CNN training and its results when deployed and tested on our real setup.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127848667","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

Study on effectiveness of vibrating wheel's shape for improving running performance of small planetary exploration rovers with wheels on loose ground 振动轮形状对改善小型行星探测车在松散地面上运行性能的有效性研究

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680865

Tomohiro Watanabe, K. Iizuka

{"title":"Study on effectiveness of vibrating wheel's shape for improving running performance of small planetary exploration rovers with wheels on loose ground","authors":"Tomohiro Watanabe, K. Iizuka","doi":"10.1109/ICMERR54363.2021.9680865","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680865","url":null,"abstract":"In planetary explorations, exploring robots which are called rovers has been used. They achieved significant results in these missions. In recent years, small wheel typed rovers are focused on as exploring rovers in order to reduce the cost of planetary explorations. The ground of some planets is covered with loose soil. Therefore, these rovers must be able to run on these ground. The purpose of this study is improving running performance of small wheel typed rovers using the changes of the ground by giving vibration. In previous study, we could get knowledge that the running performance for small wheel typed rovers was improved using the changes of the ground by giving vibration. However, it was also confirmed that sinkage of the wheels to the ground is increased when vibration is given to the ground from the wheels. Sinkage of the wheels to the ground decreases the running performance of these rovers. In this study, the relationship between shapes of wheels and resistance force from the ground is confirmed in order to propose the wheel which reduces subsidence amount to the ground when vibration is given to the ground. Moreover, the relationship between shapes of wheels and running performance of rovers is confirmed by the experiment that the testbed runs on the loose ground. In the experimental result, the running performance of the testbed is improved using the wheel which reduces subsidence amount to the ground.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"75 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123182294","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

Robot-Guided Lightweight Engineering Fixtures: Process Lightweight Engineering for More Flexible, Resource-Saving and Energy-Efficient Production 机器人引导的轻量化工程夹具:实现更灵活、资源节约和节能生产的工艺轻量化工程

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680849

Marten Geschonke, M. Rössinger, B. Hecht, M. Todtermuschke, S. Ihlenfeldt

{"title":"Robot-Guided Lightweight Engineering Fixtures: Process Lightweight Engineering for More Flexible, Resource-Saving and Energy-Efficient Production","authors":"Marten Geschonke, M. Rössinger, B. Hecht, M. Todtermuschke, S. Ihlenfeldt","doi":"10.1109/ICMERR54363.2021.9680849","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680849","url":null,"abstract":"When planning and developing new production plants, the focus is no longer only on the required investment costs and the required unit output, but a shift in focus to operating costs, energy consumption and sustainability can be observed. In the case of car body production lines in vehicle manufacturing, there is also a demand for increasing flexibility due to ever shorter product life cycles and smaller product volumes. Concepts for increasing flexibility in car body construction and for more energy-efficient production are already being implemented. In this paper, a new concept is presented that takes both requirements into account and implements them. The impact of the implementation of lightweight engineering and of a new approach, process lightweight engineering, are investigated on a change of operating resources concept. The results of both studies are presented, and the potentials of the results are evaluated and discussed. The results shown that this method enables an increase in flexibility with reduced energy consumption. It is a method to improve the production lines and fulfill the requirements of the future car body shop.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115459680","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

Finite Element Analysis of Key Parts of Deformation Wheel for All Terrain Vehicle 全地形车变形轮关键部件有限元分析

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680845

J. Ma

引用次数: 0

Copyright 版权

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/icmerr54363.2021.9680846

引用次数: 0

Dynamic Power Management on a Mobile Robot 移动机器人的动态电源管理

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680818

Rodrigo De Carvalho Techi, Plinio Thomaz Aquino

引用次数: 0

A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting 一种基于位置控制的动态鲁棒四足小跑框架

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680860

Boxing Wang, Lihao Jia, Song Liu, Haoyu Zhang, Zeya Yin

引用次数: 1