Parallel-mechanism-based ultrasound robots bring the benefits of convenient robot-assisted remote ultrasound or automated scanning. During the use of this type of robot, accurate tracking and feedback of 6-DOF posture are critical for potential intelligent control and real-time navigation. However, this presents significant challenges due to the complex forward kinematics and environmental changes, making it difficult to apply in practical settings. To address this issue, we propose a novel 6-DOF pose tracking method based on an inertial measurement unit. This method directly senses the orientation and calculates the position using the intrinsic structural and kinematic characteristics of the parallel mechanisms. Therefore, it is possible to solve all posture information by only partial posture information. We conducted both simulation and physical experiments to evaluate effectiveness and robustness of the proposed method. The maximal tracking errors for the physical experiments are within the 2 mm and 0.6.°. The experimental results show promising performance, demonstrating the method’s potential for practical applications.
{"title":"A Novel IMU-Based 6-DOF Pose Tracking Method for Parallel-Mechanism-Based Ultrasound Robot","authors":"Zhaokun Deng, Xilong Hou, Peng-Cheng Zhang, Mingrui Hao, Cheng Chen, Shuangyi Wang","doi":"10.1109/ICMA57826.2023.10216060","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216060","url":null,"abstract":"Parallel-mechanism-based ultrasound robots bring the benefits of convenient robot-assisted remote ultrasound or automated scanning. During the use of this type of robot, accurate tracking and feedback of 6-DOF posture are critical for potential intelligent control and real-time navigation. However, this presents significant challenges due to the complex forward kinematics and environmental changes, making it difficult to apply in practical settings. To address this issue, we propose a novel 6-DOF pose tracking method based on an inertial measurement unit. This method directly senses the orientation and calculates the position using the intrinsic structural and kinematic characteristics of the parallel mechanisms. Therefore, it is possible to solve all posture information by only partial posture information. We conducted both simulation and physical experiments to evaluate effectiveness and robustness of the proposed method. The maximal tracking errors for the physical experiments are within the 2 mm and 0.6.°. The experimental results show promising performance, demonstrating the method’s potential for practical applications.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115839689","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215627
Xiaohan Feng, Feng Jia, Jianjun Shen, Zheng Tang
During the paving process, the posture of the screed is the main factor determining the evenness of the road surface. As the bottom of the screed is in direct contact with the high-temperature asphalt mixture at work, the bottom plate is heated and expands. This results in vertical deformation of the screed with upward heat deformation characteristics at both ends, thereby reducing the quality of the pavement. To minimize the deformation of the screed, a vertical deformation optimization method for the screed of pavers is proposed, which aims to apply appropriate forces to the bracing bars so that the thermal deformation could be improved. In this method, ABAQUS software is used to establish the thermal deformation simulation model between the forces of the bracing bars. Isight software is used to integrate ABAQUS for sensitivity analysis between forces and deformations and construct the approximate model, which substitutes the simulation model for optimization rapidly. Through the simulation results, the vertical deformation is obviously reduced and the flatness of the screed is significantly improved after optimization.
{"title":"Vertical Deformation Optimization for the Screed of Pavers Based on ABAQUS and Isight","authors":"Xiaohan Feng, Feng Jia, Jianjun Shen, Zheng Tang","doi":"10.1109/ICMA57826.2023.10215627","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215627","url":null,"abstract":"During the paving process, the posture of the screed is the main factor determining the evenness of the road surface. As the bottom of the screed is in direct contact with the high-temperature asphalt mixture at work, the bottom plate is heated and expands. This results in vertical deformation of the screed with upward heat deformation characteristics at both ends, thereby reducing the quality of the pavement. To minimize the deformation of the screed, a vertical deformation optimization method for the screed of pavers is proposed, which aims to apply appropriate forces to the bracing bars so that the thermal deformation could be improved. In this method, ABAQUS software is used to establish the thermal deformation simulation model between the forces of the bracing bars. Isight software is used to integrate ABAQUS for sensitivity analysis between forces and deformations and construct the approximate model, which substitutes the simulation model for optimization rapidly. Through the simulation results, the vertical deformation is obviously reduced and the flatness of the screed is significantly improved after optimization.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132517468","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10216269
Yonggang Yan, Shuxiang Guo, Chuqiao Lyu, D. Zhao, Z. Lin
To improve the operation success rate, the steerable catheter is theoretically significant and practically valuable to design. However, it is still difficult for most existing catheters to realize this function. In this paper, to steer the catheter head, a novel spring-based tendon-drive structure was proposed with a diameter of 1.5mm. To obtain precise tip poses, based on the local force analysis, it is demonstrated that the contact force at each point between the tendon and spring is equal. And under the premise of frictionless, the curvature at each point of the tendon is equal, which is only related to the tension of the tendon. Then the proposed structure is simplified to a cantilever beam only subjected to bending moment. And the deformation of the catheter tip with the control parameters is expressed. Finally, the experimental setup is established and the experimental results showed that the proposed spring-based tendon-driven catheter deflected in a circular. And the results justified the feasibility of the cantilever beam assumption and the correctness of the deformation formulas. The proposed tendon-driven catheter has the potential in improving the success rate of the vascular approach and operation safety.
{"title":"A Novel Steerable Catheter for Vascular Interventional Surgery","authors":"Yonggang Yan, Shuxiang Guo, Chuqiao Lyu, D. Zhao, Z. Lin","doi":"10.1109/ICMA57826.2023.10216269","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216269","url":null,"abstract":"To improve the operation success rate, the steerable catheter is theoretically significant and practically valuable to design. However, it is still difficult for most existing catheters to realize this function. In this paper, to steer the catheter head, a novel spring-based tendon-drive structure was proposed with a diameter of 1.5mm. To obtain precise tip poses, based on the local force analysis, it is demonstrated that the contact force at each point between the tendon and spring is equal. And under the premise of frictionless, the curvature at each point of the tendon is equal, which is only related to the tension of the tendon. Then the proposed structure is simplified to a cantilever beam only subjected to bending moment. And the deformation of the catheter tip with the control parameters is expressed. Finally, the experimental setup is established and the experimental results showed that the proposed spring-based tendon-driven catheter deflected in a circular. And the results justified the feasibility of the cantilever beam assumption and the correctness of the deformation formulas. The proposed tendon-driven catheter has the potential in improving the success rate of the vascular approach and operation safety.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134172699","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215802
Hong Zhang, Song-yan Wang, Ju Huo, T. Chao
In order to overcome the problems of collision avoidance and the pedestrian target loss in pedestrian-following system. This paper proposes a Collision-Free pedestrian following approach with a multi-sensor fusion-based pedestrian detector module and a path planning module. The pedestrian detector module use extended Kalman filter(EKF) to fuse a camera and a 3D LiDAR data for the target pedestrian positioning and perceive obstacles.for the path planning module, In order to track pedestrians in real time and collision-free, a global path planner and a local path planner will work simultaneously. Overall, we conducted experiments on pedestrian following in different environmental conditions to evaluate the performance of ours proposed approach.
{"title":"A Collision-Free Pedestrian-Following System for Mobile Robots Base on Path Planning","authors":"Hong Zhang, Song-yan Wang, Ju Huo, T. Chao","doi":"10.1109/ICMA57826.2023.10215802","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215802","url":null,"abstract":"In order to overcome the problems of collision avoidance and the pedestrian target loss in pedestrian-following system. This paper proposes a Collision-Free pedestrian following approach with a multi-sensor fusion-based pedestrian detector module and a path planning module. The pedestrian detector module use extended Kalman filter(EKF) to fuse a camera and a 3D LiDAR data for the target pedestrian positioning and perceive obstacles.for the path planning module, In order to track pedestrians in real time and collision-free, a global path planner and a local path planner will work simultaneously. Overall, we conducted experiments on pedestrian following in different environmental conditions to evaluate the performance of ours proposed approach.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134450520","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215929
Zheping Yan, Zhengkun Luan, Jianbo Liu, W. Xing
This paper investigates a cooperative localization problem of multiple unmanned underwater vehicles (UUVs) subject to non-Gaussian heavy-tailed measurement noise. In order to reduce noise effects, a maximum entropy factor graph (MEFG) algorithm is proposed by combining factor graph theory and maximum correlation entropy theory. To verify the effectiveness and advantages of the proposed algorithm, comparisons are made with traditional localization algorithms. The results show that the localization error of the proposed MEFG algorithm is significantly smaller than other algorithms.
{"title":"A Cooperative Localization Method for Multiple Unmanned Underwater Vehicles Based on Improved Factor Graph","authors":"Zheping Yan, Zhengkun Luan, Jianbo Liu, W. Xing","doi":"10.1109/ICMA57826.2023.10215929","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215929","url":null,"abstract":"This paper investigates a cooperative localization problem of multiple unmanned underwater vehicles (UUVs) subject to non-Gaussian heavy-tailed measurement noise. In order to reduce noise effects, a maximum entropy factor graph (MEFG) algorithm is proposed by combining factor graph theory and maximum correlation entropy theory. To verify the effectiveness and advantages of the proposed algorithm, comparisons are made with traditional localization algorithms. The results show that the localization error of the proposed MEFG algorithm is significantly smaller than other algorithms.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134458487","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215622
Yanwen Liu, Shilong Liu, Shuai Zhao
The singular system with time delay is generally described by differential equations with algebraic constraints. Due to the action of the time delay, the frequency response characteristics of such kinds of systems are different from conventional linear systems, and it can not be directly given by the existing MATLAB functions and SIMULINK simulation tools. In this paper, based on the characteristics of linear time-delay singular systems and the basic definition of frequency response, a simple and intuitive calculation method of closed-loop frequency response characteristics is given by applying the Laplace transformation to the state space description of the system. Combined with specific examples, the frequency response of a time-delay singular system is calculated and the singular value curve is drawn. The simulation results are compared with those obtained by the linear system analysis tool in SIMULINK and several time-delay linearization approximation methods, which further proves the accuracy and superiority of the approach presented in this paper. This method is simple and intuitive, and it can be also applied to other time-delay singular systems.
{"title":"Frequency Response Calculation Approach for Linear Singular Systems with Time Delay","authors":"Yanwen Liu, Shilong Liu, Shuai Zhao","doi":"10.1109/ICMA57826.2023.10215622","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215622","url":null,"abstract":"The singular system with time delay is generally described by differential equations with algebraic constraints. Due to the action of the time delay, the frequency response characteristics of such kinds of systems are different from conventional linear systems, and it can not be directly given by the existing MATLAB functions and SIMULINK simulation tools. In this paper, based on the characteristics of linear time-delay singular systems and the basic definition of frequency response, a simple and intuitive calculation method of closed-loop frequency response characteristics is given by applying the Laplace transformation to the state space description of the system. Combined with specific examples, the frequency response of a time-delay singular system is calculated and the singular value curve is drawn. The simulation results are compared with those obtained by the linear system analysis tool in SIMULINK and several time-delay linearization approximation methods, which further proves the accuracy and superiority of the approach presented in this paper. This method is simple and intuitive, and it can be also applied to other time-delay singular systems.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131984432","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215842
Liu Han, Jingang Jiang, L. Yanze, Yongde Zhang
Based on the manual orthodontic wire bending motion, the type and number of degrees of freedom required for bending complex closed gap curves were analysed, and the resulting degrees of freedom were processed and calculated as the basic requirements for the structural design of the robot, while the current problem of the orthodontic wire bending robot not being able to continuously feed the wire was solved by using the counter-rotating collet feeding mechanism, which improved the operational efficiency of the robot. The kinematic model of the robot was established using the D-H method, and the kinematic analysis and simulation of the robot were carried out using MATLAB to verify the smoothness of the robot’s motion. At the same time, ANSYS simulation software was used to verify the stiffness characteristics of the robot during operation, completing the verification of feasibility.
{"title":"Structural design and simulation analysis of an orthodontic wire bending robot","authors":"Liu Han, Jingang Jiang, L. Yanze, Yongde Zhang","doi":"10.1109/ICMA57826.2023.10215842","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215842","url":null,"abstract":"Based on the manual orthodontic wire bending motion, the type and number of degrees of freedom required for bending complex closed gap curves were analysed, and the resulting degrees of freedom were processed and calculated as the basic requirements for the structural design of the robot, while the current problem of the orthodontic wire bending robot not being able to continuously feed the wire was solved by using the counter-rotating collet feeding mechanism, which improved the operational efficiency of the robot. The kinematic model of the robot was established using the D-H method, and the kinematic analysis and simulation of the robot were carried out using MATLAB to verify the smoothness of the robot’s motion. At the same time, ANSYS simulation software was used to verify the stiffness characteristics of the robot during operation, completing the verification of feasibility.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133616718","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215834
Y. Niu, Liwei Shi, Shuxiang Guo
With the increasing demand for ocean exploration and development, the research about the amphibious robot is of great significance. In this paper, a natatores-like amphibious robot was designed by using the driving method of paddling by webbed foot. This mode has the advantages of high propulsion efficiency, good mobility and good stability. Due to the characteristics of this propulsion mode, the leg structure of the robot is often applied with periodic loads. And therefore it is necessary to verify the mechanical performance of the leg structure. The elastoplastic finite element model of the leg structure of the robot was modelled, and the fatigue analysis of the model under the walking gait were carried out. The results showed that the fatigue failure of the thigh and the shank would not occur within the design life, which met the design requirements. The analysis results can provide reference for the material selection and structural optimization design of leg in the subsequent work.
{"title":"Fatigue Analysis of Leg Structure of a Natatores-Like Amphibious Robot","authors":"Y. Niu, Liwei Shi, Shuxiang Guo","doi":"10.1109/ICMA57826.2023.10215834","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215834","url":null,"abstract":"With the increasing demand for ocean exploration and development, the research about the amphibious robot is of great significance. In this paper, a natatores-like amphibious robot was designed by using the driving method of paddling by webbed foot. This mode has the advantages of high propulsion efficiency, good mobility and good stability. Due to the characteristics of this propulsion mode, the leg structure of the robot is often applied with periodic loads. And therefore it is necessary to verify the mechanical performance of the leg structure. The elastoplastic finite element model of the leg structure of the robot was modelled, and the fatigue analysis of the model under the walking gait were carried out. The results showed that the fatigue failure of the thigh and the shank would not occur within the design life, which met the design requirements. The analysis results can provide reference for the material selection and structural optimization design of leg in the subsequent work.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133745257","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215930
Rui Wang, Chengjiao Sun
To achieve visual communication between Drone and operator, a static gesture recognition and Drone control system based on residual neural network is designed. The system segments static gestures through YCrCb colour space and elliptical skin colour detection model, extracts gesture features using the residual neural network ResNet34 and uses deep learning techniques to realise the combination of gesture recognition and UAV control. The system uses the gesture images taken from the UAV viewpoint as the dataset and will send the corresponding control signals to the UAV side according to the calibrated control commands to achieve stable control of the UAV, and the classification accuracy is used as an evaluation index to assess the performance of the model of this system in gesture recognition. Finally, the control performance of the system was verified in a real flight in a Tello vehicle platform, and the experimental results showed that the average accuracy rate could reach 90.43%.
{"title":"A Gesture Recognition and Drone Control System based on Residual Neural Network","authors":"Rui Wang, Chengjiao Sun","doi":"10.1109/ICMA57826.2023.10215930","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215930","url":null,"abstract":"To achieve visual communication between Drone and operator, a static gesture recognition and Drone control system based on residual neural network is designed. The system segments static gestures through YCrCb colour space and elliptical skin colour detection model, extracts gesture features using the residual neural network ResNet34 and uses deep learning techniques to realise the combination of gesture recognition and UAV control. The system uses the gesture images taken from the UAV viewpoint as the dataset and will send the corresponding control signals to the UAV side according to the calibrated control commands to achieve stable control of the UAV, and the classification accuracy is used as an evaluation index to assess the performance of the model of this system in gesture recognition. Finally, the control performance of the system was verified in a real flight in a Tello vehicle platform, and the experimental results showed that the average accuracy rate could reach 90.43%.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"333 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133838016","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}
Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215608
Huhe Chen, Guangchun Li, Zichen Zhao, Yuntao Han
A band-limited multiple Fourier linear combiner (BMFLC) algorithm based on frequency estimation is proposed for the problem of scattering of data from the strapdown inertial navigation system due to low frequency interference and random wandering coefficients of inertial devices. Firstly, the relationship between the input signal frequency and the overrun angle is analyzed under the condition that the IIR filter is designed to cause the output phase overrun after the secondary integration of the acceleration data collected by the inertial measurement unit; Secondly, the signal frequency band is estimated based on Fast Fourier Transform (FFT) and the frequency of the heaving signal is corrected by the M-Rife algorithm; Finally, the phase angle and amplitude of the heave model are fitted by the BMFLC algorithm, and then the fitted trajectory curve is used to compensate for the error. The simulation results show that the designed improved BMFLC algorithm based on frequency estimation can well solve the error effects brought by the traditional digital filter and can realize the accurate measurement of the ship’s instantaneous line motion.
{"title":"BMFLC Algorithm for Ship Heave Measurement Based on Frequency Estimation","authors":"Huhe Chen, Guangchun Li, Zichen Zhao, Yuntao Han","doi":"10.1109/ICMA57826.2023.10215608","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215608","url":null,"abstract":"A band-limited multiple Fourier linear combiner (BMFLC) algorithm based on frequency estimation is proposed for the problem of scattering of data from the strapdown inertial navigation system due to low frequency interference and random wandering coefficients of inertial devices. Firstly, the relationship between the input signal frequency and the overrun angle is analyzed under the condition that the IIR filter is designed to cause the output phase overrun after the secondary integration of the acceleration data collected by the inertial measurement unit; Secondly, the signal frequency band is estimated based on Fast Fourier Transform (FFT) and the frequency of the heaving signal is corrected by the M-Rife algorithm; Finally, the phase angle and amplitude of the heave model are fitted by the BMFLC algorithm, and then the fitted trajectory curve is used to compensate for the error. The simulation results show that the designed improved BMFLC algorithm based on frequency estimation can well solve the error effects brought by the traditional digital filter and can realize the accurate measurement of the ship’s instantaneous line motion.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121997587","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}
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