2023 IEEE International Conference on Mechatronics (ICM)最新文献_第2页

Soft Robotic Tongue that Mimicking English Pronunciation Movements 模仿英语发音动作的柔软机器舌头

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102027

Evan Krisdityawan, S. Yokota, A. Matsumoto, D. Chugo, S. Muramatsu, H. Hashimoto

引用次数: 1

Fitting-based Cutting Force Estimation for Machine Tool with Encoder Resolution Analysis 基于编码器分辨率分析的机床切削力拟合估计

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101950

Takumi Hayashi, H. Fujimoto, Yoshihiro Isaoka, Yuki Terada

引用次数: 0

Grasping complex shapes with the integration of high-speed vision and machine learning in a dynamic situation 结合高速视觉和机器学习在动态情况下抓取复杂形状

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/icm54990.2023.10101926

Hiromichi Kawahara, T. Senoo, I. Ishii

引用次数: 0

Posture Stabilization Control Compensating Variation of Body Center of Gravity in Underactuated System 欠驱动系统姿态稳定控制补偿重心变化

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101996

Hikaru Yajima, K. Ishizaki, Yasuhiro Miyata, Masamichi Nawa, Norihiko Kato, Toshiyuki Murakami

{"title":"Posture Stabilization Control Compensating Variation of Body Center of Gravity in Underactuated System","authors":"Hikaru Yajima, K. Ishizaki, Yasuhiro Miyata, Masamichi Nawa, Norihiko Kato, Toshiyuki Murakami","doi":"10.1109/ICM54990.2023.10101996","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101996","url":null,"abstract":"With the recent decreasing birthrate and aging population, cooperative robots are attracting attention for a new workforce. As cooperative robot, robots with a small footprint and high center of gravity, like humans, can be considered more suited. Robots with these features are generally unstable, and posture stabilization control becomes important when the center of gravity is shifted due to holding objects or other factors. Therefore, in this study, we select a two-wheeled robot as the target robot and carrying luggage as the target motion, and establish the posture stabilization. Many studies about two-wheeled transport robots do not adequately consider the shift in the center of gravity, which may lead to rapid acceleration and negatively affect position tracking performance. The purpose of this paper is to compensate the shift in the center of gravity of the vehicle, and can perform transport operations in a steady state. To achieve this purpose, we propose to apply Repulsive compliance control(RCC) to a two-wheeled transport robot. Several experiments show its effectiveness.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117290001","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

Local Path Planning with Turnabouts for Mobile Robot by Deep Deterministic Policy Gradient 基于深度确定性策略梯度的移动机器人带交叉口局部路径规划

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101921

Tomoaki Nakamura, Masato Kobayashi, N. Motoi

{"title":"Local Path Planning with Turnabouts for Mobile Robot by Deep Deterministic Policy Gradient","authors":"Tomoaki Nakamura, Masato Kobayashi, N. Motoi","doi":"10.1109/ICM54990.2023.10101921","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101921","url":null,"abstract":"This paper proposes local path planning with turn-abouts for a mobile robot by deep deterministic policy gradient (DDPG). DDPG is one of the actual reinforcement learning methods. This paper focuses on a non-holonomic mobile robot that has a minimum turning radius. Narrow roads exist in human living areas such as homes, commercial facilities, and factories. In this paper, a narrow road is defined as an impassable road with the minimum turning radius of the robot. Therefore, local path planning with turnabouts is needed for a mobile robot to pass a narrow road. However, most conventional local path planning methods do not consider turnabouts, since these methods select only forward velocity. This paper generates the local path planning which consists of forward and backward motion by using DDPG. For the trained model, simulation is used to obtain optimal velocity by minimizing the long-term reward. The reward is set considering goal arrival, number of turnabouts, and obstacle avoidance. The validity of the proposed local path planning by DDPG was confirmed by simulation and experimental results.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131112524","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

Rack force estimation from standstill to high speeds by hybrid model design and blending 基于混合模型设计和混合的静止到高速的齿条力估计

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102078

Fadi Snobar, Andreas Michalka, Maik Horn, Christoph Strohmeyer, K. Graichen

引用次数: 0

A New Design of Redundant 7-DOF Parallel Robot with Large Workspace 一种新的大工作空间冗余七自由度并联机器人设计

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10101947

Shunichi Sakurai, S. Katsura

{"title":"A New Design of Redundant 7-DOF Parallel Robot with Large Workspace","authors":"Shunichi Sakurai, S. Katsura","doi":"10.1109/ICM54990.2023.10101947","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101947","url":null,"abstract":"In recent years, the demand for the dexterous machine systems is increasing and various robot mechanisms have been developed. Above all, parallel robots have been taken attention because they have some advantages in the motion performance like high precision and high stiffness. However, the application is limited because the workspace is small and the kinematic characteristics including singularities is complex. Further consideration to overcome such problems at the view of the mechanism will lead to further application of parallel robots. In this study, we propose a new design of 7-DOF parallel robot with large workspace and high dynamic capability. The enlargement of the workspace is realized by the asymmetric architecture and additional joint at the base leading to the kinematic redundancy. The mechanism leads to a simple solution of the forward kinematics and the inverse kinematics available in the control cycle. The kinematic analysis leads to the simple control strategy to perform precise position control. Moreover, robust control is achieved utilizing the acceleration control method based on the disturbance observer. The experiments were conducted with the prototype and the results show that simple and robust position control is realized. This study gives insights to the mechanism of parallel robots and leads to the further application of them.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117217203","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

Improved Nonlinear Estimation in Thermal Networks Using Machine Learning 基于机器学习的热网络改进非线性估计

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102071

Markus Schumann, S. Ebersberger, K. Graichen

{"title":"Improved Nonlinear Estimation in Thermal Networks Using Machine Learning","authors":"Markus Schumann, S. Ebersberger, K. Graichen","doi":"10.1109/ICM54990.2023.10102071","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102071","url":null,"abstract":"Emerging new technologies as found in modern electric cars must compete with existing technology in terms of quality and price. The pressure on the price is especially high in the automotive section. Research in the field of state estimation is of high potential for reducing the number of sensors, thus enabling cost savings in production. The methods of machine learning are also increasingly influencing this field of research. This article focuses on the thermal behavior of fluid cooled automotive IGBT (insulated gate bi-polar transistor) inverters and the application of machine learning methods in estimation tasks in nonlinear thermal networks. For this purpose, a parameterized grey-box model is designed using a linear thermal Cauer network in combination with numerical parameter fitting. Special emphasis is put on regression methods that are used to fit nonlinear thermal resistances to measurement data. An unscented Kalman filter (UKF) is applied to estimate states of the thermal network. In addition, a feed-forward artificial neural network (ANN) is trained on the estimation error using sensor signals as predictors to improve the estimation. Results on measurement data from a test bench show a significant improvement by the methods.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131238317","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

Data-Driven Iterative optimization of TDOF Controller with Rational Model 基于Rational模型的TDOF控制器数据驱动迭代优化

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/ICM54990.2023.10102075

Taejune Kong, Hanul Jung, Sehoon Oh

引用次数: 0

Discrete-time adaptive pole placement control of a multi-inertia system with high-frequency resonance and time-delay 具有高频谐振和时滞的多惯量系统的离散自适应极点放置控制

2023 IEEE International Conference on Mechatronics (ICM) Pub Date : 2023-03-15 DOI: 10.1109/icm54990.2023.10101896

Toshiki Seki, Y. Masui, Nobumasa Ushiro, N. Uchiyama

引用次数: 0