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2022 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献

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Research on The Optimal Sound Path of LCR Wave Detection Method and The Optimal Thickness Range of The Tested Sample LCR波检测方法最优声路及被测样品最优厚度范围的研究
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856039
Q. Pan, Wei Li, Peilu Li, Lang Xu, Sa Li, Yunmiao Zhang, X. Zhou, Haoshen Yu
Residual stress is a very important factor among many factors such as structural failure and fracture of key components of mechanical structures. It is necessary to study accurate measurement and characterization techniques for residual stress. The LCR (Longitudinal critically refracted) wave method has the characteristics of non-destructiveness, high efficiency and accuracy, and has high application value in industrial stress detection. In the LCR wave method, the sound path and the thickness of the tested sample will affect the time-of-flight obtained by the subsequent cross-correlation algorithm, resulting in inaccurate final stress detection values. In this paper, the ultrasonic nondestructive testing system is used to detect the sound path of different sizes and the thickness of the tested sample, and the sound path range and the thickness range of the tested sample for the LCR wave method are obtained. The obtained experimental results promote the development of non-destructive testing technology.
在机械结构关键部件的结构破坏和断裂等诸多因素中,残余应力是一个非常重要的因素。有必要研究精确的残余应力测量和表征技术。纵向临界折射波法具有无损、高效、准确等特点,在工业应力检测中具有很高的应用价值。在LCR波法中,声路和被测样品的厚度会影响后续互相关算法得到的飞行时间,导致最终应力检测值不准确。本文利用超声波无损检测系统对不同尺寸的声路和被测样品的厚度进行检测,得到了LCR波法的声路范围和被测样品的厚度范围。所获得的实验结果促进了无损检测技术的发展。
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引用次数: 0
Design of Fatigue Grade Classification System Based on Human Lower Limb Surface EMG Signal 基于人体下肢表肌电信号的疲劳等级分类系统设计
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855927
Kai Zhao, Jian Guo, Shuxiang Guo, Qiang Fu
With the deepening of the aging of China’s population, more and more people suffer from stroke. Stroke has three characteristics: high morbidity, high mortality, and high disability rate. At present, stroke has become one of the main causes of human death, and the population suffering from a stroke in China is gradually becoming younger, many patients can not work and live normally, destroying many happy families. However, stroke is not invincible. Once suffering from stroke, patients can still live and work independently as long as they actively carry out rehabilitation training. The surface EMG signal contains abundant physiological information and has remarkable effects on nerve rehabilitation and orthopedic rehabilitation. Patients with rehabilitation training less training can not play a rehabilitation effect, and excessive training is easy cause secondary injuries, therefore, this paper will design a fatigue state classification system based on surface EMG signals of human lower limb muscles, and analyze the fatigue state of patients’ lower limbs by collecting surface EMG signals of target muscles of human lower limbs, to ensure that patients can not only carry out effective training but also not cause secondary injuries due to excessive training.
随着中国人口老龄化的加深,越来越多的人患中风。脑卒中具有高发病率、高死亡率、高致残率三大特点。目前,中风已经成为人类死亡的主要原因之一,而且在中国中风患者的人群逐渐年轻化,很多患者无法正常工作和生活,破坏了很多幸福的家庭。然而,中风并不是不可战胜的。患者一旦中风,只要积极进行康复训练,仍然可以独立生活和工作。表面肌电信号含有丰富的生理信息,在神经康复和骨科康复中具有显著的作用。康复训练较少的患者训练不能起到康复效果,过度训练容易造成二次损伤,因此,本文将设计一种基于人体下肢肌肉表肌电信号的疲劳状态分类系统,通过采集人体下肢目标肌肉表肌电信号来分析患者下肢的疲劳状态。确保患者既能进行有效的训练,又不会因过度训练而造成二次损伤。
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引用次数: 2
Study on Real-time Recognition of Underwater Live Shrimp by the Spherical Amphibious Robot Based on Deep Learning 基于深度学习的球形两栖机器人对水下活虾的实时识别研究
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856265
Shaolong Wang, Jian Guo, Shuxiang Guo, Qiang Fu, Jigang Xu
In this paper, spherical robots are used for the detection and identification of lobsters in aquaculture. Lobster farmers are often faced with tasks such as observation, feeding, and fishing, which are all done manually, with low efficiency and high operating costs. Therefore, this paper proposes a real-time underwater lobster detector based on Generative Adversarial Networks and Convolutional Neural Networks, implemented by a spherical amphibious robot. Firstly, the underwater lobster image dataset is established, and the improved GAN algorithm and data increment method are used for data enhancement preprocessing. Secondly, the single-shot multi-frame detector (SSD) is improved as follows, using the lightweight network MobileNetV2 as the backbone of the SSD network; in the network prediction layer, using depthwise separable convolution instead of standard convolution to accelerate inference; compressing the fully connected layer The parameters construct a lightweight model. Finally, the model is trained on the underwater lobster dataset and deployed on a spherical amphibious robot, and the changes in the loss function value during training before and after image enhancement and algorithm improvement are plotted. Two sets of experimental test results show that the model optimizes the target recognition accuracy of underwater lobsters, and the recognition accuracy reaches 90.32%. The reduced model size facilitates model deployment and is only 24MB in size. The model has good stability and high recognition accuracy in identifying lobsters in complex situations.
本文将球形机器人用于水产养殖中龙虾的检测与识别。龙虾养殖户经常面临观察、饲养和捕捞等任务,这些任务都是人工完成的,效率低,运营成本高。因此,本文提出了一种基于生成对抗网络和卷积神经网络的水下龙虾实时检测方法,并由球形水陆两栖机器人实现。首先,建立水下龙虾图像数据集,采用改进的GAN算法和数据增量法对数据进行增强预处理;其次,采用轻量级网络MobileNetV2作为SSD网络的骨干,对单镜头多帧检测器(SSD)进行如下改进;在网络预测层,用深度可分离卷积代替标准卷积加速推理;这些参数构建了一个轻量级模型。最后,在水下龙虾数据集上对模型进行训练,并将其部署在一个球形两栖机器人上,绘制出图像增强和算法改进前后训练过程中损失函数值的变化情况。两组实验测试结果表明,该模型优化了水下龙虾的目标识别精度,识别精度达到90.32%。减小的模型尺寸便于模型部署,并且只有24MB大小。该模型在复杂情况下对龙虾的识别具有良好的稳定性和较高的识别精度。
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引用次数: 0
Design And Simulation Of Implantable Carotid Sinus Electrical Stimulator 植入式颈动脉窦电刺激器的设计与仿真
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856032
Pinzheng Ni, Haoyang Liu, H. Yuan, Mengqi Cheng, Nan Xiao
Studies have shown that the prevalence of adult hypertension in my country is 23.2%, the treatment rate is 40.7%, the control rate is 15.3%, the treatment rate is 37.5%, 60% of patients who are receiving hypertensive treatment Blood pressure did not obtain significant control, including those with refractory hypertension. The carotid sinus electrical stimulation method is a new way to treat hypertension in recent years. Our carotid sinus electrical stimulator includes pulse generation modules, battery management modules, neural electrical signal sampling modules, and wireless communication modules. This paper focuses on the design of the pulse generating module, using the STM32L433 as the core circuit system of the central control unit, which produces an amplitude adjustable, pulse width, flexible, and pulse width-adjustable pulse generating circuit.
研究表明,我国成人高血压患病率为23.2%,治疗率为40.7%,控制率为15.3%,治疗率为37.5%,60%接受高血压治疗的患者血压未得到显著控制,其中包括难治性高血压患者。颈动脉窦电刺激法是近年来治疗高血压的一种新方法。我们的颈动脉窦电刺激器包括脉冲产生模块、电池管理模块、神经电信号采样模块和无线通信模块。本文重点设计了脉冲产生模块,采用STM32L433作为中央控制单元的核心电路系统,产生一个幅度可调、脉宽可调、柔性、脉宽可调的脉冲产生电路。
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引用次数: 0
A Real-time Artificial Intelligence Recognition System on Contaminated Eggs for Egg Selection 一种用于虫卵选择的实时人工智能识别系统
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856045
C. Chiang, Yu-Hsiang Wu, Ching-Hsien Chao
A real-time artificial intelligence (AI) recognition system is newly used for applications of selecting unqualified in chicken cages. The proposed recognition system can detect dirty eggs from those clean ones by using the developed artificial intelligence. Furthermore, the recognition system can classify those contaminated eggs into three categories by a covered contamination area. Performing this functionality of the proposed real-time AI recognition system, the system can successfully detect unqualified eggs in cage. In addition, by deleting the unnecessary predicted bounding boxes and performing the non-maximum suppression algorithm utilized in the experiment, the time spending on every picture will be fewer than normal videos. The proposed recognition system could be used for selecting unqualified eggs applications.
介绍了一种新型的实时人工智能识别系统,用于鸡笼不合格产品的筛选。该识别系统利用先进的人工智能技术,从干净的鸡蛋中识别出脏鸡蛋。此外,识别系统还可以根据受污染区域将受污染的鸡蛋分为三类。执行所提出的实时人工智能识别系统的这一功能,系统可以成功地检测出笼中不合格的鸡蛋。此外,通过删除不必要的预测边界框并执行实验中使用的非最大抑制算法,每张图片花费的时间将比普通视频少。该识别系统可用于筛选不合格卵子。
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引用次数: 1
Research on real-time positioning and map construction technology of intelligent car based on ROS 基于ROS的智能汽车实时定位与地图构建技术研究
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856339
R. Liu, Zhiwei Guan, Bin Li, Guoqiang Wen, B. Liu
Real-time localization and map construction (SLAM) is a key technology to realize autonomous navigation of smart cars, which mainly solves the problems of mobile robots in mapping, positioning and path planning. This paper introduces and analyzes SLAM. By comparing three different mapping algorithms, gmapping, hector, and cartographer, and through analysis and comparison experiments, the gmapping-based algorithm is finally used for mapping. On the basis of AMCL positioning, global and local path planning is carried out through A* algorithm and DWA algorithm to realize autonomous navigation and obstacle avoidance functions. And the experimental verification was carried out under the autolabor smart car. The experiment proved that using this algorithm, autolabor can perform accurate pose estimation, map construction and autonomous navigation in an unfamiliar environment.
实时定位与地图构建(SLAM)是实现智能汽车自主导航的关键技术,主要解决移动机器人在地图绘制、定位和路径规划等方面的问题。本文对SLAM进行了介绍和分析。通过比较gmpapping、hector和cartographer三种不同的制图算法,并通过分析和对比实验,最终采用基于gmpapping的算法进行制图。在AMCL定位的基础上,通过A*算法和DWA算法进行全局和局部路径规划,实现自主导航和避障功能。并在自动驾驶智能车上进行了实验验证。实验证明,该算法可以在陌生环境下进行准确的姿态估计、地图构建和自主导航。
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引用次数: 0
Parameter Optimization of PID Controller Based on Improved Sine-SOA Algorithm 基于改进正弦- soa算法的PID控制器参数优化
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9855989
Ma You, Yanjuan Wu, Yunliang Wang, Xiyang Xie, Chen Xu
Aiming at the problem that the traditional PID controller was not ideal, the parameters could not be adjusted to the best state, and the control system could not achieve good control effect, an improved seagull optimization algorithm (SOA) based on improved Sine chaotic mapping was proposed to optimize the parameters of PID controller. Sine mapping strategy was adopted to make the initial seagull population evenly distributed in the search space, to improve the shortcomings of the seagull optimization algorithm, such as low solution accuracy, slow convergence speed and easy to fall into premature convergence, and improve the convergence speed and convergence accuracy of the algorithm. Eight standard test functions were tested, and the improved gull optimization algorithm was compared with the unimproved gull algorithm, particle swarm optimization algorithm (PSO), beetle antennae search algorithm (BAS), particle swarm optimization -beetle antennae search algorithm (PSO-BAS) and the seeker optimization algorithm (TSOA), to verify that the improved gull optimization algorithm has better optimization effect. The improved algorithm is applied to a second-order system and double closed-loop DC motor speed regulation system to optimize the parameters of PID controller. The results show that the algorithm has high precision, simple principle, better convergence precision and faster convergence speed.
针对传统PID控制器性能不理想、参数不能调整到最佳状态、控制系统不能达到良好控制效果的问题,提出了一种基于改进正弦混沌映射的改进海鸥优化算法(SOA)对PID控制器参数进行优化。采用正弦映射策略,使初始海鸥种群均匀分布在搜索空间中,改善海鸥优化算法求解精度低、收敛速度慢、容易陷入过早收敛的缺点,提高算法的收敛速度和收敛精度。对8个标准测试函数进行了测试,将改进的海鸥优化算法与未改进的海鸥算法、粒子群优化算法(PSO)、甲虫天线搜索算法(BAS)、粒子群优化-甲虫天线搜索算法(PSO-BAS)和导引头优化算法(TSOA)进行了比较,验证了改进的海鸥优化算法具有更好的优化效果。将改进算法应用于二阶系统和双闭环直流电机调速系统,对PID控制器参数进行优化。结果表明,该算法具有精度高、原理简单、收敛精度好、收敛速度快等优点。
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引用次数: 3
Study on Marine Diesel Engine Fault Identification Based on Neural Network 基于神经网络的船用柴油机故障识别研究
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856137
Defu Zhang, Tongyu Hou, J. Yang, Jianjiang Xiao
In order to further improve the accuracy and real-time of Marine diesel engine fault identification, an intelligent identification method based on Shffled Frog Leaping algorithm and Harmonic search algorithm and optimized RBF neural network was proposed to diagnose Marine diesel engine fault. This method optimizes the hidden node, center vector and width parameters of RBF neural network, and carries out simulation experiment on Marine diesel engine fault identification under MATLAB environment. In the experimental process, the RBF neural network was built, and the HS algorithm was used to optimize the hyperparameters of the RBF network, and the SFLA algorithm was used to optimize the harmony memory library to further improve the accuracy of fault identification. Experimental results show that the RBF neural network trained by this method has good convergence effect and high diagnostic accuracy, which verifies the validity and rationality of the proposed method.
为了进一步提高船用柴油机故障识别的准确性和实时性,提出了一种基于Shffled青蛙跳跃算法、谐波搜索算法和优化RBF神经网络的船用柴油机故障智能识别方法。该方法对RBF神经网络的隐节点、中心向量和宽度参数进行了优化,并在MATLAB环境下对船用柴油机故障识别进行了仿真实验。在实验过程中,构建了RBF神经网络,利用HS算法对RBF网络的超参数进行优化,利用SFLA算法对和声记忆库进行优化,进一步提高故障识别的准确率。实验结果表明,该方法训练的RBF神经网络具有良好的收敛效果和较高的诊断准确率,验证了所提方法的有效性和合理性。
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引用次数: 0
Periodic Event-Triggered Resilient Control for Multiarea Interconnected Power Systems under Denial-of-Service Attacks 拒绝服务攻击下多区域互联电力系统的周期性事件触发弹性控制
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856389
Qiang Gao, Ziyu Du, Yu Song, Yuehui Ji
The open communication network environment brings potential security trouble to the power grid. In this paper, a state model for the load frequency control is described, and it is studied under DoS attacks. Firstly, the limitation conditions of DoS attacks and control targets are given. An $H_{infty}$ observer and event triggering mechanism are added to the sensor system. A predictor is designed in the controller system. Due to the existence of the maximum transmission interval, Lyapunov stability theorem is used to prove that the input to the state of the system is stable. Finally, a two-area model is used to proof availability of the control scheme.
开放的通信网络环境给电网带来了潜在的安全隐患。本文提出了一种负载频率控制的状态模型,并对DoS攻击下的负载频率控制进行了研究。首先给出了DoS攻击的限制条件和控制目标。在传感器系统中增加了$H_{infty}$观测器和事件触发机构。在控制器系统中设计了一个预测器。由于最大传输区间的存在性,利用Lyapunov稳定性定理证明系统状态的输入是稳定的。最后,利用双区域模型验证了控制方案的有效性。
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引用次数: 0
Building-level Demand-side Energy Management Based on Game Theory 基于博弈论的建筑需求侧能源管理
Pub Date : 2022-08-07 DOI: 10.1109/ICMA54519.2022.9856118
Yang Zhang, Yunfei Ma, Shuang Zhang, Lixian Chen, Hongda Liu
In this paper, an improved building-level demand-side management method is proposed based on load classification and real-time electricity pricing. Firstly, the loads are classified into uncontrollable loads, interruptible loads and transferable loads. The uncontrollable loads are forecasted as a part of the system state. The interruptible loads are controlled all the time. The transferable loads can be managed to work in proper periods in a day. Then, the user’s electricity consumption is managed by the energy consumption controller, which solves a game problem between the user and the others. At last, we generate users’ electricity consumption conditions using the Monte Carlo method and simulate the proposed managed system. Proved by experiments, the proposed method effectively reduces both the system cost and the users’ payment, and improves the temporal distribution of the system load.
本文提出了一种改进的基于负荷分类和实时电价的建筑级需求侧管理方法。首先将负荷分为不可控负荷、可中断负荷和可转移负荷。将不可控负荷作为系统状态的一部分进行预测。可中断负载一直处于控制状态。可转移负载可以在一天中的适当时段进行管理。然后,通过能耗控制器对用户的用电量进行管理,解决了用户与他人之间的博弈问题。最后,利用蒙特卡罗方法生成用户用电情况,并对所提出的管理系统进行仿真。实验证明,该方法有效地降低了系统成本和用户付费,改善了系统负载的时间分布。
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引用次数: 0
期刊
2022 IEEE International Conference on Mechatronics and Automation (ICMA)
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