2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)最新文献_第4页

Research on Multi-AGV Autonomous Obstacle Avoidance Strategy Based on Improved A* Algorithm 基于改进A*算法的多agv自主避障策略研究

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600834

F. Jia, Xiaolong Liu, Jichao Wu, Yunde Shi, Fengyu Xu, Z. S. Zhang

引用次数: 4

Stability Control of Mobile Inverted Pendulum Through an Added Movable Mechanism 通过增加可动机构控制活动倒立摆的稳定性

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600909

Mostafa Nikpour, Loulin Huang, A. Al-Jumaily, B. Lotfi

引用次数: 3

3D Point Cloud Coarse Registration based on Convex Hull Refined by ICP and NDT 基于ICP和无损检测改进凸壳的三维点云粗配准

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600843

Mouna Attia, Y. Slama, L. Peyrodie, H. Cao, Farah Haddad

{"title":"3D Point Cloud Coarse Registration based on Convex Hull Refined by ICP and NDT","authors":"Mouna Attia, Y. Slama, L. Peyrodie, H. Cao, Farah Haddad","doi":"10.1109/M2VIP.2018.8600843","DOIUrl":"https://doi.org/10.1109/M2VIP.2018.8600843","url":null,"abstract":"Non-rigid registration is a crucial step for many applications such as motion tracking, model retrieval, and object recognition. The accuracy of these applications is highly dependent on the initial position used in registration step. In this paper we propose a novel Convex Hull Aided Coarse Registration refined by two algorithms applied on projected points. Firstly, the proposed approach uses a statistical method to find the best plane that represents each point cloud. Secondly, all the points of each cloud are projected onto the corresponding planes. Then, two convex hulls are extracted from the two projected point sets and then matched optimally. Next, the non-rigid transformation from the reference to the model is robustly estimated through minimizing the distance between the matched point’s pairs of the two convex hulls. Finally, this transformation estimation is refined by two methods. The first one is the refinement of coarse registration by Iterative Closest Point (ICP). The second one consists of the refinement of coarse registration by the Normal Distribution Transform (NDT). An experimental study, carried out on several clouds, shows that the refinement of coarse registration with ICP gives, in the most cases, a better result than refinement with NDT.","PeriodicalId":365579,"journal":{"name":"2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132762505","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

Force Feedback Control of a Robotic Needle Insertion into Layered Soft Tissues 机器人针入分层软组织的力反馈控制

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600883

Tangwen Yang, Lifang Xiao, Panfei Chen, Haifeng Zhu, Xingang Zhao, G. Song, Jianda Han, Weiliang Xu

引用次数: 2

Towards Real-Time Capable Simulations with a Containerized Simulation Environment 用容器化仿真环境实现实时仿真

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600827

Christoph Hinze, T. Tasci, A. Lechler, A. Verl

引用次数: 4

Generative models for direct generation of CNC toolpaths 直接生成CNC刀具路径的生成模型

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600856

Benjamin Kaiser, A. Csiszar, A. Verl

{"title":"Generative models for direct generation of CNC toolpaths","authors":"Benjamin Kaiser, A. Csiszar, A. Verl","doi":"10.1109/M2VIP.2018.8600856","DOIUrl":"https://doi.org/10.1109/M2VIP.2018.8600856","url":null,"abstract":"Today, numerical controls (CNC) are the standard for the control of machine tools and industrial robots in production and enable highly flexible and efficient production, especially for frequently changing production tasks. A numerical control has discrete inputs and outputs. Within the NC channel, however, it is necessary to analytically describe curves for the calculation of the position setpoints and the jerk limitation. The resulting change between discrete and continuous description forms and the considerable restrictions in the parallelisation of the interpolation of continuous curves within the NC channel lead to a performance overhead that limits the performance of the NC channel with regard to the calculation of new position setpoints. This can lead to a drop in production speed and thus to longer production times. To solve this problem, we propose a new approach in this paper. This is based on the use of deep generative models and allows the direct generation of interpolated toolpaths without calculation of continuous curves and subsequent discretization. The generative models are being trained to create curves of certain types such as linear and parabolic curves or splines directly as discrete point sequences. This approach is very well feasible with regard to its parallelization and reduces the computing effort within the NC channel. First results with straight lines and parabolic curves show the feasibility of this new approach for the generation of CNC toolpaths.","PeriodicalId":365579,"journal":{"name":"2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114190305","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

Analysis of the Effects of Path Properties on Autonomous Motion Control of a Hydraulic Tracked Vehicle 路径特性对液压履带车辆自主运动控制的影响分析

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600880

Teemu Mononen, M. M. Aref, J. Mattila

{"title":"Analysis of the Effects of Path Properties on Autonomous Motion Control of a Hydraulic Tracked Vehicle","authors":"Teemu Mononen, M. M. Aref, J. Mattila","doi":"10.1109/M2VIP.2018.8600880","DOIUrl":"https://doi.org/10.1109/M2VIP.2018.8600880","url":null,"abstract":"Mobile working machines have recently been developed towards field robotics systems that are more self-aware, intelligent, autonomous and energy-efficient. Such autonomy can offer advantages in, for example, construction sites, where a number of tasks involve accurate path following. From the robotic viewpoint, a mobile robot is supposed to follow the desired values perfectly to remain on a certain path as long as its localization provides the necessary pose feedback. In field robotics, especially in the cases of hydraulic working machines, there are nonlinear system dynamics affecting the mobile platform, which makes accurate motion control challenging. The sources of these nonlinearities can be the internal system dynamics or environmental effects. Due to the use of generic autonomous motion planning and control methods in the existing literature, there are certain effects of hydrostatic driveline on the system that have been overlooked. To fill such a gap, this paper first analyzes and points out the effects of geometrical path properties on the performance of hydraulic actuators in path-following control. Then, using a closed-loop model of a skid-steered vehicle with hydraulic propulsion, we show simulation results with the machine following paths with different curvatures around an obstacle. Analysis of the results show the significant role of the system dynamics in shifting the optimal path when the dynamics of the driveline and terrain contact are included.","PeriodicalId":365579,"journal":{"name":"2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128232139","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 Novel Method for Agile Planning Production Systems based on 3D Digitalization 基于 3D 数字化的敏捷规划生产系统新方法

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600848

M. Schindler, A. Verl

引用次数: 3

Evaluation of the effects of controlled ultrasonic acetone vaporisation on Fused Deposition Modelling 3D Printed Acrylonitrile Butadiene Styrene 可控超声丙酮汽化对3D打印丙烯腈-丁二烯-苯乙烯熔融沉积建模影响的评价

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600831

J. Schutte, Pamitha Wijisundira, Muhammad Harris, J. Potgieter

{"title":"Evaluation of the effects of controlled ultrasonic acetone vaporisation on Fused Deposition Modelling 3D Printed Acrylonitrile Butadiene Styrene","authors":"J. Schutte, Pamitha Wijisundira, Muhammad Harris, J. Potgieter","doi":"10.1109/M2VIP.2018.8600831","DOIUrl":"https://doi.org/10.1109/M2VIP.2018.8600831","url":null,"abstract":"The application of vapour exposure systems upon 3D printed objects as a means for surface modification is a thoroughly established technique. This study investigated the utilization of a generated controlled vapour chamber device to further derive the relationship between surface modification exposure to that of part structural properties, namely interlayer bonding. This controlled utilization of vapour is intended to identify potential for future sequential 3D printing methodologies. The study mirrored previous work as such an UPBox Fused deposition modelling printer was required to produce thirty acrylonitrile butadiene styrene ASTM D638 Type IV dog-bone samples. Each of these was subjected to controlled vapour exposure relative to defined sample sets, namely groups of 5 representing exposure intervals at 0%, 20%, 25%, 50%, and 100% printing completion. Analysis for these was conducted via Instron 5967 tensile testing and a Hitachi TM3030Plus Scanning electron microscopy. These samples depicted a directly proportional increase in ultimate tensile strength and layer fusion with increased vapour exposure. These values contradicted the previous uncontrolled study.","PeriodicalId":365579,"journal":{"name":"2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129512089","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 Reluctance Magnetic Gear for High Speed and Vibration Motor Systems 一种用于高速和振动电机系统的磁阻齿轮

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI: 10.1109/M2VIP.2018.8600905

Kaiyuan Li, Zina Zhu, Peng Wu

引用次数: 3