2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)最新文献_第3页

Open-Source Educational Platform for FPGA Accelerated AI in Robotics FPGA加速人工智能机器人的开源教育平台

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734102

N. Malle, E. Ebeid

引用次数: 2

Design of a Haptic Interface Based on Cable Robot and Ultrasonic Transducers Array 基于电缆机器人和超声换能器阵列的触觉接口设计

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734100

Liqiang Fan, Ai-Guon Song, Haochen Zhang

引用次数: 0

3D Guidance Navigation and Human-Robot Shared Control for Motor Graders in Field Operation 平地机现场作业三维制导导航与人机共享控制

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734104

Peng Qi, Liang Gong

{"title":"3D Guidance Navigation and Human-Robot Shared Control for Motor Graders in Field Operation","authors":"Peng Qi, Liang Gong","doi":"10.1109/ICMRE54455.2022.9734104","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734104","url":null,"abstract":"Motor graders are widely used in road maintenance and airport constructions. With powerful hydraulic blades, they can be used to create wide and smooth surface with slope. Yet, it is time-consuming and labor-intensive to use motor grader because measuring, proofreading, driving, and grading occur at the same time during the grading process. Addressing this issue, we developed a 3D guidance navigation and human-robot shared control system to help automate the grading control based on the measurement and design data, only leaving the steering task to human drivers. This solution can improve the productivity, efficiency and safety while constructing with motor graders. Specifically, this solution leverages RTK (real-time kinematics) receiver and IMU (inertial measurement unit) sensor to locate the position of the blade, and compares it with the design map, while the controller is adjusting the blade position according to the error from the comparisons. With the blade driven by two separate hydraulic cylinders, the control is coupled, which causes a “seesaw” effect. That is, the motion of one cylinder will affect the other one and cause jittering. To solve this problem, we designed an elevation controller with angle compensation to decouple the process and used the fuzzy logic control to optimize the speed and response of the system. The system was tested and validated on an industrial motor grader in both pilot testing and real highway construction fields. The test results showed that blade control automation can eliminate the labor survey. The proposed human-robot shared control technique can be extensively used to increase efficiency, productivity and safety while decrease labor cost for field operations in semi-autonomous construction machinery, orchard mowers.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":"21 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":"127993502","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

Feature-Based Lane Detection Algorithms for Track Following: A Comparative Study 基于特征的车道检测跟踪算法的比较研究

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734077

Ahmed Hashem, T. Schlechter

引用次数: 1

A View Planning Method for 3D Reconstruction with Unknown Feature Prediction 基于未知特征预测的三维重建视图规划方法

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734106

Yanzi Kong, F. Zhu, Haibo Sun, Zhiyuan Lin, Qun Wang, Jianyu Wang

{"title":"A View Planning Method for 3D Reconstruction with Unknown Feature Prediction","authors":"Yanzi Kong, F. Zhu, Haibo Sun, Zhiyuan Lin, Qun Wang, Jianyu Wang","doi":"10.1109/ICMRE54455.2022.9734106","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734106","url":null,"abstract":"Active reconstruction can be considered as an intelligent perception problem that seeks to optimize the efficiency of the modeling tasks by adjusting the configuration of vision system on robotic platform automatically. We consider a feature as several local surfaces that have the same kinds of characteristics. A standard geometry can be defined by attributes abstracted from a set of features. For the regular geometry of the same category, descriptions and topological relations about these objects’ features are known before modeling tasks. In order to maximize the acquisition of an object’s surface in a few views, knowledge of its features is employed as partial prior information that guides the view planning in active reconstruction. Since each reconstruction task may have a different type of object to be rebuilt, in order to make the view planning algorithm suitable for different tasks, we store the prior information of the object in a fixed-form database, so as to call the content of the library to perform verification and reasoning of all features, and make predictions on unknown local surface and rough shape of the object. The predicted unknown surface is discretized and then marked as predicted voxels in the voxel space, which are used to evaluate the priority of all candidate viewpoints, together with the detected voxels. A novel hybrid optimization function is proposed that takes the constraint on overlap, the accessibility of predicted surface, and the amount of unknown object surface into account. Simulated experiments are conducted and the results show that our method is efficient for reconstruction.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":"12 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":"129895459","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

Experimental Evaluation of the Deterministic Wireless Communication System Industrial LTE 确定性无线通信系统工业LTE的实验评估

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734108

Philipp Neher, A. Lechler, A. Verl

{"title":"Experimental Evaluation of the Deterministic Wireless Communication System Industrial LTE","authors":"Philipp Neher, A. Lechler, A. Verl","doi":"10.1109/ICMRE54455.2022.9734108","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734108","url":null,"abstract":"The demand for highly customized products will be met in the future by smart and flexible factories. Future factories will rise to this challenge by employing stationary and mobile Cyber Physical Systems (CPS) which need to exchange various information. With mobile systems, this should be done wirelessly. This paper evaluates a previously proposed concept for a deterministic wireless communication system based on LTE. The concept combines LTE for data transmission with GPS for time synchronization and a time-based control scheme to enable a deterministic exchange of control information. To conduct experimental evaluation, an implementation of the concept is necessary. A prototypical implementation using off-the-shelf hardware and custom software is presented. Using two exemplary test cases, the concept and implementation are evaluated with regard to the overall system latency and the quality of the time synchronization of the internal clocks. The level of synchronicity of coordinated output values after transmitting the corresponding set-point values over the communication system is evaluated in another exemplary test case using a total of three communication end devices. With a measured maximum offset of 814 µs between the synchronized output of two receivers, the concept and implementation stand validated and deemed feasible.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":"83 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":"131151964","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

Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators 硬件在环仿真在关节磨损模拟器先进控制系统开发与测试中的应用

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734078

K. Iyer, D. Keeling, R. Hall

{"title":"Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators","authors":"K. Iyer, D. Keeling, R. Hall","doi":"10.1109/ICMRE54455.2022.9734078","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734078","url":null,"abstract":"Hardware-in-the-loop (HIL) simulation is an advanced technique for developing and testing complex real-time control systems. This paper presents the benefits of HIL simulation to develop, test and validate advanced control algorithms used in an artificial joint wear simulator for the tribological testing of prostheses.A benchtop HIL setup is created for experimentation, controller verification, and validation purposes, allowing different control strategies to be tested rapidly in a safe environment. The HIL simulation attempts to replicate similar joint motion and loading conditions of that of the spinal wear simulator. The simulator contains a four-bar link powered by electromechanical actuators. As a result, the implant articulates with an angular motion specified in the international standards, ISO-18192-1, that defines fixed sinusoid motion and load profiles for wear testing of both lumbar and cervical disc implants.Using a PID controller, a velocity-based position control algorithm was developed to interface with the benchtop setup that performs HIL simulation. The simulation results strongly support the efficacy of the test setup using HIL simulation to verify and validate the accuracy and robustness of the prospective controller before its deployment into the spinal wear simulator. This method of testing controllers enables a wide range of possibilities to test advanced control algorithms that can potentially utilize real-world data of patients performing daily living activities that place adverse demands on the artificial joint.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":"25 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":"125484872","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

Autonomous Customized Quadrotor With Vision-Aided Navigation For Indoor Flight Challenges 自主定制四旋翼与视觉辅助导航室内飞行挑战

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734105

Wang Yongtian, Toh Yan Jie, Seo Gimin, Leck Bing Yu Kenny, S. Srigrarom

引用次数: 1

Universal Sinhala Library: Language Specific Encryption Platform for Sinhala Language 通用僧伽罗语库:僧伽罗语特定语言加密平台

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734085

Dinindu Koliya Harshanath Webadu Wedanage, S. Thelijjagoda

{"title":"Universal Sinhala Library: Language Specific Encryption Platform for Sinhala Language","authors":"Dinindu Koliya Harshanath Webadu Wedanage, S. Thelijjagoda","doi":"10.1109/ICMRE54455.2022.9734085","DOIUrl":"https://doi.org/10.1109/ICMRE54455.2022.9734085","url":null,"abstract":"Security has become a significant challenge in the modern world. Number science and mathematics opened up a vast path to work with programming models to create innovative mechanisms which improve text encryption. Universal Sinhala Library is a Sinhala language-specific text encryption platform. Platform architecture has been designed to demonstrate every possible combination of the Sinhala alphabet, including comma, space and period. The hypothetical architecture includes every book that ever has been written in Sinhala, and every book that ever could be, including every poem, every scientific paper and every piece of document in Sinhala. The main goal of the research is to create an encryption mechanism for the Sinhala language. Linear congruential generator and extended euclidean algorithm have been used along with the Hull–Dobell Theorem to outline the backbone of the encryption platform. At present, it contains all possible combinations of Sinhala characters virtually. Sinhala text to be encrypted should be searched in the platform, and it will return the location of that particular text in the virtual library architecture, which is the encrypted text string for the searched Sinhala text. It is helpful to the people who are using or working with the Sinhala language, moreover for sharing and transferring Sinhala context securely.","PeriodicalId":419108,"journal":{"name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","volume":"10 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":"128437780","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

Predicting the Remaining Life of Lithium-ion Batteries Using a CNN-LSTM Model 使用CNN-LSTM模型预测锂离子电池的剩余寿命

2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pub Date : 2022-02-10 DOI: 10.1109/ICMRE54455.2022.9734081

Alireza Rastegarpanah, Yuan Wang, Rustam Stolkin

引用次数: 4