2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)最新文献

Deep Belief Network-based Prediction for Gear Noise 基于深度信念网络的齿轮噪声预测

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734082

Long Liu, Binjie He, Dong Zhang, Hangyu Mao

引用次数: 0

A Predictive Model of Spindle Thermal Error Based on DCGAN 基于DCGAN的主轴热误差预测模型

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734098

Junhao Shi

引用次数: 0

Comparative Study on Vehicle Dynamics Behavior Using different Types of Controllers in Intersection Management Systems 交叉口管理系统中不同类型控制器对车辆动力学行为的比较研究

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734079

Mostafa K. Ghaith, Mohamed M. Rehaan, N. Shouman, Y. Abdalla, Omar M. Shehata

{"title":"Comparative Study on Vehicle Dynamics Behavior Using different Types of Controllers in Intersection Management Systems","authors":"Mostafa K. Ghaith, Mohamed M. Rehaan, N. Shouman, Y. Abdalla, Omar M. Shehata","doi":"10.1109/ICMRE54455.2022.9734079","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734079","url":null,"abstract":"Autonomous Intersection Management (AIM) controllers develop a distributed cooperative control logic to determine conflict-free trajectories for Connected Autonomous Vehicles (CAVs) in signal-free intersections. The work in this paper aims to allow AIM systems to work within narrow margins of error resulting in increased traffic throughput and reducing traffic congestion. The cooperative trajectory planning problem is formulated as vehicle-level mixed-integer non-linear programs that aim to minimize travel time of each vehicle and their speed variations while avoiding near-crash conditions. This paper implements and tests various dynamic velocity control strategies for vehicles within an intersection. Moreover, Model Predictive Controller (MPC), Fuzzy Logic and Proportional-Integral-Differential (PID) controllers were used and compared in terms of controller effort and velocity tracking. A Comparison is formulated based on different control parameters i.e., time response characteristics and control effort. The simulations have been implemented using unreal engine and RoadRunner. The simulation results have shown an acceptable performance for all controllers under test with varying features that has been discussed throughout this study.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124726459","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

Control of Redundant Flexible Manipulators with Redundancy Resolution 具有冗余分辨率的冗余柔性机械臂控制

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734097

Dipendra Subedi, I. Tyapin, G. Hovland

引用次数: 1

The Rapidly Exploring Random Tree Funnel Algorithm 快速探索随机树漏斗算法

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734089

Ole Petter Orhagen, Marius Thoresen, Kim Mathiassen

{"title":"The Rapidly Exploring Random Tree Funnel Algorithm","authors":"Ole Petter Orhagen, Marius Thoresen, Kim Mathiassen","doi":"10.1109/ICMRE54455.2022.9734089","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734089","url":null,"abstract":"This paper shows the feasibility of combining robust motion primitives generated through the Sums Of Squares programming theory with a discrete Rapidly exploring Random Tree algorithm. The generated robust motion primitives, referred to as funnels, are then employed as local motion primitives, each with its locally valid Linear Quadratic Regulator (LQR) controller, which is verified through a Lyapunov function found through a Sum Of Squares (SOS) search in the function space. These funnels are then combined together at execution time by the Rapidly-exploring-Random-Tree (RRT) planner, and is shown to provide provably robust traversal of a simulated forest environment. The experiments benchmark the RRT-Funnel algorithm against an RRT algorithm which employs a maximum distance to the nearest obstacle heuristic in order to avoid collisions, as opposed to explicitly handling uncertainty. The results show that employing funnels as robust motion primitives outperform the heuristic planner in the experiments run on both algorithms, where the RRT-Funnel algorithm does not collide a single time, and creates shorter solution paths than the benchmark planner overall, although it takes a significantly longer time to find a solution.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":"47 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131652493","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

Design of Haptic Vibrational Feedback Control in Upper Extremity Myoelectric Prostheses 上肢肌电假肢触觉振动反馈控制设计

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734101

Juan Diego Aguirre Cangalaya, José Antonio Cruz Anchiraico, Sliver Ivan Del Carpio Ramirez, Sario Angel Chamorro Quijano, Deyby Huamanchahua

{"title":"Design of Haptic Vibrational Feedback Control in Upper Extremity Myoelectric Prostheses","authors":"Juan Diego Aguirre Cangalaya, José Antonio Cruz Anchiraico, Sliver Ivan Del Carpio Ramirez, Sario Angel Chamorro Quijano, Deyby Huamanchahua","doi":"10.1109/ICMRE54455.2022.9734101","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734101","url":null,"abstract":"Current prosthesis systems use haptic technology, have a brain-machine interaction that is dependent on visual feedback from the user, also have limitations by the details of the sense of touch both textures, roughness, weights, and contact forces applied. This research shows the development and implementation of haptic technology in a myoelectric prosthesis of the upper extremity, to simulate the sense of touch in the claw of the prosthesis to obtain a better control in the grip force taking as parameter the reaction and efficiency that the device has in different conditions for the patient to have an improvement in the feedback and the grip force of the prosthesis. For the development of the investigation, the VDI2206 methodology was used, simulating each part of the myoelectric prosthesis in different software for an improvement in the process of signal interpretation. Also by diagramming the motor execution process it facilitates the interpretation of the design. The results of the investigation show an alternative model of the conventional ones contributing with improvements in the signals received by the haptic prosthesis and better ergonomics, in addition, the perceived signals showed a better subjection and sensitivity. From the presented design it is desired to replicate to future research since the presented model can be taken as research material.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":" 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115258456","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

Learning Fruit Class from Short Wave Near Infrared Spectral Features, an AI Approach Towards Determining Fruit Type 从短波近红外光谱特征学习水果类别——一种确定水果类型的人工智能方法

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734107

Ayesha Zeb, W. S. Qureshi, A. Ghafoor, Dympna O'Sullivan

{"title":"Learning Fruit Class from Short Wave Near Infrared Spectral Features, an AI Approach Towards Determining Fruit Type","authors":"Ayesha Zeb, W. S. Qureshi, A. Ghafoor, Dympna O'Sullivan","doi":"10.1109/ICMRE54455.2022.9734107","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734107","url":null,"abstract":"This paper analyzes the potential of using short-wave NIRS (near-infrared spectroscopy) for fruit classification problems. The research focuses on O-H and C-H overtone features of fruit and its correlation with NIRS and therefore opens a new dimension of fruit classification problems using NIRS. Eleven fruits, which include apple, cherry, hass, kiwi, grapes, mango, melon, orange, loquat, plum, and apricot, were used in this study to cover physical characteristics such as peel thinness, pulp, seed thickness, and size. NIR spectral data is collected using the industry-standard F-750 fruit quality meter (wavelength range 300-1100nm) for all fruit mentioned above. Different shallow machine learning architectures were trained to classify fruits using spectral feature vectors. At first, using 83 features vectors within the range of 725-975nm (3nm-resolution) and then using only four features of wavelength 770nm, 840nm, 910nm, and 960nm (corresponding to O-H and C-H overtone features). For the 83 spectral features range as an input, the QDA classifier achieved a cross-validation accuracy of 100% and a test data accuracy of 93.02%. For the four features vector as an input, the QDA classifier achieved a cross-validation accuracy of 97.1% and test data accuracy of 90.38%. The results demonstrate that fruit classification is mainly a function of absorptivity of short wave NIR radiation primarily with respect to O-H and C-H overtones features. An LED-based device mainly having 770nm, 840nm, 910nm, and 960nm range LEDs can be used in applications where automation in fruit classification is required.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114629770","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

Quality Prediction of Plasticizing and Molding Process of Single-Based Gun Propellant Based on GG-KECA-RVM Multi-Stage Model Fusion 基于GG-KECA-RVM多级模型融合的单基火炮推进剂塑化成型质量预测

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734083

Mingyi Yang, Zhigang Xu, Junyi Wang, Tingjiang Yu, Shubo Chen

引用次数: 0

Distributed Self-organized Collective Motion Control with Layered Structure for Robot Swarm 机器人群分层结构的分布式自组织集体运动控制

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734093

Truong Nhu, Pham Duy Hung, T. Ngo

引用次数: 0

Evolutionary Optimization of Multi-step Dynamic Systems Learning 多步动态系统学习的进化优化

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734110

Edgar Ademir Morales-Perez, H. Iba

引用次数: 1