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2021 IEEE International Conference on Mechatronics (ICM)最新文献

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Underwater Suction Gripper for Object Manipulation with an Underwater Robot 用于水下机器人物体操纵的水下吸力抓手
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385703
Hikaru Kumamoto, N. Shirakura, J. Takamatsu, T. Ogasawara
{"title":"Underwater Suction Gripper for Object Manipulation with an Underwater Robot","authors":"Hikaru Kumamoto, N. Shirakura, J. Takamatsu, T. Ogasawara","doi":"10.1109/ICM46511.2021.9385703","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385703","url":null,"abstract":"The diversity of end-effectors for manipulation enables a robot to grasp objects with various shapes. As underwater manipulation becomes more common, various types of end-effectors for underwater robots are required. In this paper, we develop an underwater suction gripper (USG) for object manipulation. By using a thruster, the suction force is easily controlled by the electric drive, and the resulting size and weight allow the proposed gripper to be installed on a robot. In the experiments, we evaluate the grasping performance of the USG quantitatively. Furthermore, we installed the USG on an actual underwater robot to perform a manipulation task. The results showed that the USG can perform the pick-and-place task in a shorter and easier grasping motion compared to a typical 2-finger gripper. The implementation code can be found here: https://github.com/kumahika/usg","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127757455","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 New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Control 基于双侧控制的指令补偿自回归神经网络模仿学习模型
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385691
Kazuki Hayashi, Ayumu Sasagawa, S. Sakaino, T. Tsuji
{"title":"A New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Control","authors":"Kazuki Hayashi, Ayumu Sasagawa, S. Sakaino, T. Tsuji","doi":"10.1109/ICM46511.2021.9385691","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385691","url":null,"abstract":"In the near future, robots are expected to work with humans or operate alone and may replace human workers in various fields such as homes and factories. In a previous study, we proposed bilateral control-based imitation learning that enables robots to utilize force information and operate almost simultaneously with an expert's demonstration. In addition, we recently proposed an autoregressive neural network model (SM2SM) for bilateral control-based imitation learning to obtain long-term inferences. In the SM2SM model, both master and slave states must be input, but the master states are obtained from the previous outputs of the SM2SM model, resulting in destabilized estimation under large environmental variations. Hence, a new autoregressive neural network model (S2SM) is proposed in this study. This model requires only the slave state as input and its outputs are the next slave and master states, thereby improving the task success rates. In addition, a new feedback controller that utilizes the error between the responses and estimates of the slave is proposed, which shows better reproducibility.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"571 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128149178","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
Deep Learning Based Singular Spectrum Analysis for Realization of Wideband Force Sensing 基于深度学习的奇异频谱分析实现宽带力传感
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385603
Thao Tran Phuong, K. Ohishi, Y. Yokokura
{"title":"Deep Learning Based Singular Spectrum Analysis for Realization of Wideband Force Sensing","authors":"Thao Tran Phuong, K. Ohishi, Y. Yokokura","doi":"10.1109/ICM46511.2021.9385603","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385603","url":null,"abstract":"This paper proposes a new approach for realization of wideband sensor-less force sensing based on deep learning based singular spectrum analysis. The force sensation function is performed by a disturbance observer. The wideband force sensing is realized at high value of observer pole. To extract force information from the noisy estimation of the disturbance observer, the deep learning based singular spectrum analysis is designed with consideration of variable noise characteristics during operation. The deep learning algorithm is employed to design the online estimation of the embedded dimension, which is related to the noise extraction performance of the singular spectrum analysis. The effectiveness of the proposed method is verified by numerical simulations and simulations based on experimental results.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125806597","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
Passivity Based Hierarchically Decentralized Range Extension Control of In-wheel-motor Vehicles 基于被动的轮式机动车辆分层分散增程控制
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385666
B. Nguyen, M. Kawanishi, S. Hara, Hung Nguyen-Van, M. C. Ta, J. Trovão, T. Narikiyo
{"title":"Passivity Based Hierarchically Decentralized Range Extension Control of In-wheel-motor Vehicles","authors":"B. Nguyen, M. Kawanishi, S. Hara, Hung Nguyen-Van, M. C. Ta, J. Trovão, T. Narikiyo","doi":"10.1109/ICM46511.2021.9385666","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385666","url":null,"abstract":"Range extension control of in-wheel-motor electric vehicles have been studied for years. However, there is still lack of theoretical results for rigorously stabilizing the overall control system which suffers nonlinear tire-force characteristics. In addition, it is required to locally guarantee safe motion of each driven wheel while globally increase the cruising range per charge. To deal with aforementioned issues, this paper utilizes passivity theory to present a hierarchical range extension control system. Each wheel is provided a local disturbance observer based anti-slip controller. By managing the aggregation of local wheel velocities, the global controller gives the total driving command which is optimally allocated to each wheel. The torque of each wheel is, therefore, the sum of the local control signal and the distributed signal from the global controller. Beside proving the stability rigorously, the effectiveness of the proposed control system is evaluated using Carsim-Matlab co-simulator.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126652331","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
Improvement of McKibben Type Artificial Rubber Muscle Model Based on End Shape Deformation 基于末端形状变形的McKibben型人造橡胶肌肉模型的改进
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385626
Jun Kadowaki, D. Sasaki, Hayato Yase, Ryutaro Kusaka
{"title":"Improvement of McKibben Type Artificial Rubber Muscle Model Based on End Shape Deformation","authors":"Jun Kadowaki, D. Sasaki, Hayato Yase, Ryutaro Kusaka","doi":"10.1109/ICM46511.2021.9385626","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385626","url":null,"abstract":"We proposed mathematical model of McKibben type artificial rubber muscle, which considers the hysteresis characteristics, in previous work. The expansion force generated in the radial direction of the artificial muscle was calculated under the cylindrical pressure receiving area in previous model and the shape difference of the pressure receiving area was large from the actual artificial muscle. In this study, accuracy of this model is improved by calculating the pressure receiving area as a combination of a cylindrical shape at center and hemispherical shape at both ends. In this paper, outline of proposed model is discussed and then this model is evaluated by comparing with calculated value of previous model and actual measured value.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115263635","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 mechatronic apparatus for shear stress application on endothelial cells: design, development and experimental tests 一种用于内皮细胞剪切应力的机电一体化装置:设计、研制和实验测试
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385611
P. Righettini, R. Strada, A. Remuzzi
{"title":"A mechatronic apparatus for shear stress application on endothelial cells: design, development and experimental tests","authors":"P. Righettini, R. Strada, A. Remuzzi","doi":"10.1109/ICM46511.2021.9385611","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385611","url":null,"abstract":"Mechanical stimulation is an important component in vascular cell physiology. As reported in literature, several endothelial functions are affected by cell exposure to flow of blood shear stress. Experimental studies on such topics have largely been based on the use of bioreactors and in vitro apparatus. This paper deals with the design and development of a novel mechatronic apparatus, based on the cone-and-plate configuration, for the exposure of endothelial cells to strongly time-variant shear stress. The main characteristics of the developed apparatus are the high dynamic performances and the possibility to generate whatever shear stress waveform, driving the cone with an appropriate angular speed. The paper ends with the discussion of some experimental tests performed to validate the design process and to investigate the apparatus performances.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129542018","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 Design of Back-Drivable Tendon-Driven Mechanism on Robotic Finger 机器人手指背驱动肌腱驱动机构的设计
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385602
K. Egawa, S. Katsura
{"title":"A Design of Back-Drivable Tendon-Driven Mechanism on Robotic Finger","authors":"K. Egawa, S. Katsura","doi":"10.1109/ICM46511.2021.9385602","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385602","url":null,"abstract":"To adapt the robot to the human environment, it is necessary to implement the robot's dexterity and force control. To achieve each of these functions, there are studies on tendon-driven hands that generate extension torque with springs and studies on wideband sensing using a disturbance observer (DOB), but few studies integrate them. In this paper, in order to their integration, we proposed a robotic finger whose tendon routing is improved from FLLEX that is considered to be the most effective for wideband sensing using DOB among the existing tendon-driven hands that generate extension torque with a spring. In order to confirm the effectiveness of the proposed robot finger, we conducted an experiment to evaluate the force transmission performance for the finger that reproduced the tendon routing of FLLEX and the proposed robot finger, and compared the results obtained in each experiment.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129705031","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
High-precision Visual Servoing in Asteroid Flyby with Multirate Feedforward Control and Trajectory Estimation 基于多速率前馈控制和轨迹估计的小行星飞掠高精度视觉伺服
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385625
Yusuke Ogata, H. Fujimoto, Y. Hori
{"title":"High-precision Visual Servoing in Asteroid Flyby with Multirate Feedforward Control and Trajectory Estimation","authors":"Yusuke Ogata, H. Fujimoto, Y. Hori","doi":"10.1109/ICM46511.2021.9385625","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385625","url":null,"abstract":"In the flyby search for an asteroid, it is necessary to precisely direct the observation mirror to the viewing angle, which changes significantly at the closest approach point. In order to develop a control law for the mirror, we have to deal with the quantization due to resolution of the camera and dead time due to image processing. This paper proposes an application of multirate feedforward control based on the estimation of relative trajectory. The proposed method reduces the tracking error generated by the influence of quantization noise and enables to keep the angular error within one pixel or less by using an estimation of the relative trajectory.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130269761","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
Frequency-domain experimental setup for mechatronic and suspension system components 机电及悬架系统元件频域实验装置
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385640
Rafael Tavares, M. Ruderman
{"title":"Frequency-domain experimental setup for mechatronic and suspension system components","authors":"Rafael Tavares, M. Ruderman","doi":"10.1109/ICM46511.2021.9385640","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385640","url":null,"abstract":"This paper presents a frequency-domain experimental setup for modal analysis of mechatronic and suspension system components. Design, instrumentation and dynamic behavior of the one degree-of-freedom (DOF) system, capable of providing both, periodic and application-specific, excitation forces is described. The excitation is realized by an electromagnetic modal shaker with additional assembly and interface components designed and instrumented for frequency -domain analysis of vertical dynamics. Frequency response functions (FRFs) of the implemented system are experimentally measured and the associated basic model parameters are calculated, correspondingly identified. Accurate fit between the measured FRFs and modeled dynamics is shown for sufficiently large frequency range 0.1-30 Hz of the mechanical system response. Exemplary standard road profile excitations are also conducted to demonstrate the applicability of the designed system for frequency-domain testing of components in the vehicle suspension systems.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128285965","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
Multirate State Tracking for Improving Intersample Behavior in Iterative Learning Control 改进迭代学习控制中样本间行为的多速率状态跟踪
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385661
W. Ohnishi, Nard Strijbosch, T. Oomen
{"title":"Multirate State Tracking for Improving Intersample Behavior in Iterative Learning Control","authors":"W. Ohnishi, Nard Strijbosch, T. Oomen","doi":"10.1109/ICM46511.2021.9385661","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385661","url":null,"abstract":"Iterative learning control (ILC) enables highperformance output tracking at sampling instances for systems that perform repetitive tasks. The aim of this paper is to present a state tracking ILC framework that reduces oscillatory intersample behavior often encountered in output tracking ILC. A multirate inversion is performed to achieve state tracking in ILC, which achieves perfect state tracking at every $n$ samples, where $n$ denotes system order. Consequently, this improves the intersample tracking performance. Moreover, convergence criteria based on frequency response data are derived and exploited in a design approach. The approach is successfully applied to a motion system confirming improved intersample tracking accuracy compared to standard frequency domain ILC.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117144633","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: 5
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