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2020 19th International Conference on Mechatronics - Mechatronika (ME)最新文献

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Evaluation of Psychological Load of Air Defense Members by Physiological Data Monitoring Compared to the Questionnaire Evaluation Method 用生理数据监测评价空防队员心理负荷与问卷法比较
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286626
P. Kutílek, J. Hejda, P. Volf, V. Křivánek, Ludek Cicmanec, K. Hána, P. Smrcka, I. Fajnerová
This paper aims to evaluate psychological load assessment methods in air defense members. The study is based on physiological data monitoring and compares this method with traditional questionnaire evaluation methods. Measurement using a biotelemetric system was conducted while training in flight simulators. A total of 28 subjects/soldiers were divided into seven four-member teams consisting of two pilots, an air traffic controller and a member of ground support. Physiological data was collected and monitored for all subjects during a mission flight operation. Calculations of the R-R interval length and respiratory rate were performed for all soldiers involved. Statistical analysis, i.e. the calculation of the median, maximum, minimum, first quartile and third quartile were used for physiological data presentation and the quantitative evaluation of mental stress. These results were then compared with results showing the subjective degree of psychological stress load, as determined by the questionnaire evaluation method. A simple rating scales repeatedly evaluated by individual subjects were used to determine their subjective level of mental stress before and after individual phases of the training. The data for takeoff, landing, horizontal flight and fall were evaluated and compared. Then the results for both evaluation approaches (physiological data measurement and questionnaire-based subjective evaluation) were compared. Since the normal data distribution was not shown, statistical evaluation was conducted through non-parametric tests. Based on the calculated values of the physiological parameters compared with the determined value of the questionnaire method’s rating scale, it was found that with increasing mental load determined by the subjective evaluation method, the length of the R-R interval decreased and the respiratory rate increased. These conclusions were consistent for different flight phases and within the groups of pilots, air traffic controllers and ground support members.
本文旨在探讨空防队员心理负荷评估方法。本研究基于生理数据监测,并将该方法与传统的问卷评估方法进行比较。在飞行模拟器训练时,使用生物遥测系统进行测量。共有28名受试者/士兵被分成7个4人小组,由两名飞行员、一名空中交通管制员和一名地面支援人员组成。在一次飞行任务中收集和监测所有受试者的生理数据。计算所有参与的士兵的R-R间隔长度和呼吸频率。生理数据的呈现和心理压力的定量评价采用统计分析,即计算中位数、最大值、最小值、第一四分位数和第三四分位数。然后将这些结果与问卷评估法确定的主观心理压力负荷程度的结果进行比较。采用简单的评定量表对受试者进行反复评估,以确定受试者在训练前后的主观精神压力水平。对起飞、降落、水平飞行和坠落的数据进行了评估和比较。然后比较两种评价方法(生理数据测量法和问卷主观评价法)的结果。由于未显示正态数据分布,故采用非参数检验进行统计评价。将生理参数的计算值与问卷法评定量表的确定值进行比较,发现主观评定法确定的脑力负荷越大,R-R间隔时间越短,呼吸频率越高。这些结论在不同的飞行阶段以及飞行员、空中交通管制员和地面支持人员的小组中是一致的。
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引用次数: 0
Cyber-physical Industry 4.0 laboratory test field to simulate self-optimizing intralogistics 网络物理工业4.0实验室测试场,模拟自我优化内部物流
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286614
X. Liu-Henke, Sven Jacobitz, Marian Göllner, Jie Zhang, Sören Scherler, O. Yarom
This paper presents a cyber-physical Industry 4.0 laboratory test field, test field for short, for the investigation of self-optimizing intralogistics and production planning. The test field allows strategies and functions to be evaluated and tested under reproducible real-time conditions. This closes the gap between simulation and real production application in the development process for intelligent functions of the Industry 4.0. We will introduce a detailed concept of the test field as well as a brief overview of the design. Core of the test field are automated guided vehicles (AGVs) for intralogistics, which interact autonomously with other participants in an Internet of Things (IoT) network. The concept of an AGV will be presented in the course of this paper. Also, the independent guideline-free navigation will be integrated into Software-in-the-Loop simulations of the test field.
本文提出了一个信息物理工业4.0实验室测试场,简称测试场,用于研究自优化内部物流和生产计划。测试场允许在可重复的实时条件下评估和测试策略和功能。这缩小了工业4.0智能功能开发过程中模拟与实际生产应用之间的差距。我们将详细介绍试验场的概念以及设计的简要概述。测试领域的核心是用于内部物流的自动导引车(agv),它与物联网(IoT)网络中的其他参与者自主交互。本文将介绍AGV的概念。此外,独立的无指南导航将集成到测试场的软件在环模拟中。
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引用次数: 3
Theoretical analysis of simultaneous influence of induced circular and linear birefringence on linear birefringence compensation in fiber optics sensory applications 光纤传感应用中诱导圆双折射和线性双折射同时影响线性双折射补偿的理论分析
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286716
R. Motuz, P. Drexler, T. Hejtmánek, N. Papež
In this paper we propose the analysis of integral magneto-optics sensors performed by Jones matrix calculus including impacts of simultaneous influence of induced circular and undesired linear birefringence. The incorporated Faraday mirror as a compensating element of linear birefringence is taken into account in analysis and simulation respectively.
本文提出用琼斯矩阵演算法对积分磁光传感器进行分析,包括感应圆双折射和非期望线性双折射同时影响的影响。采用法拉第反射镜作为线性双折射补偿元件,分别进行了分析和仿真。
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引用次数: 0
Camera System for Efficient non-contact Measurement in Distance Medicine 远距离医疗中高效非接触式测量的摄像系统
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286647
P. Kutílek, J. Hejda, L. Lhotská, Jindrich Adolf, J. Dolezal, Michaela Hourova, Pavel Kral, Yoram Segal, Raz Birman, O. Hadar
The posture of body segments can be negatively influenced by many diseases of the nervous, visual and musculoskeletal systems. This article outlines a newly designed system and related procedures to record and evaluate anatomical body angles. The system is equipped with two mutually calibrated cameras allowing the evaluation of body movement in two anatomical planes. The hardware part of the camera system and calibration method was designed for practical use in clinical practice. Moreover, the proposed camera system allows for the recording and evaluation of motion data in a home environment or at a safe distance. It enables non-invasive and non-contact measuring of body segments and, therefore, can be used in distance rehabilitation and distance diagnosing. The study also demonstrates the hardware’s performance accelerator based on a human body tracking algorithm. The device utilizes the third party algorithms, such as OpenPose, for the extraction of major body points from selected video frames. Any missing data points are then interpolated through the proposed tracking algorithm. This procedure results in an acceleration of the overall hardware performance.
身体各部分的姿势会受到神经、视觉和肌肉骨骼系统的许多疾病的负面影响。本文概述了一种新设计的记录和评估解剖体角度的系统和相关程序。该系统配备了两个相互校准的摄像机,允许在两个解剖平面上评估身体运动。设计了摄像机系统的硬件部分和标定方法,以供临床实际使用。此外,所提议的摄像系统允许在家庭环境或安全距离内记录和评估运动数据。它可以实现身体部位的非侵入性和非接触式测量,因此可以用于远程康复和远程诊断。该研究还展示了基于人体跟踪算法的硬件性能加速器。该设备利用第三方算法,如OpenPose,从选定的视频帧中提取主体点。然后通过所提出的跟踪算法对缺失的数据点进行插值。这个过程会导致整体硬件性能的加速。
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引用次数: 2
Determinations of Stator Windings Thermal Model with Various Filling Factor 不同填充系数下定子绕组热模型的确定
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286452
R. Pechánek, Martin Skalicky, Jiri Drazan
The main part of this work deals with the description of the created mathematical model for calculating the magnitude of the thermal resistance of the stator slot winding of an electric machine. The given model is able to perform calculations for several different slot shapes. One of the mains input values of the calculation is the slot filling factor. The output values of the model are dependent at this factor and the total thermal resistance of the slot winding. At the end of this work is a comparison of the resulting values of the calculation and evaluation of the functionality of the mathematical model.
本工作的主要部分是描述所建立的用于计算电机定子槽绕组热阻大小的数学模型。给定的模型能够对几种不同的槽形进行计算。计算的主要输入值之一是槽填充系数。模型的输出值取决于该系数和槽绕组的总热阻。在本工作的最后对所得值进行了比较计算,并对数学模型的功能性进行了评价。
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引用次数: 2
Locomotive, principally kinematic system of snakelike robot mathematical model with variable segment length 机车,主要是变段长蛇形机器人运动系统的数学模型
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286621
E. Prada, M. Kelemen, A. Gmiterko, Ivan Virgala, Ľ. Miková, D. Hroncová, Martin Varga, P. Sinčák
In this work, we focused on the principle of locomotion and its description using the formalism of geometric mechanics, applied to a specific robotic mechanism. By applying non-holonomic constraints to the mechanism, we know that the speed at which the entire system can move is sideways limited, but without changing the configuration environment. By expressing the language of differential geometry, the nonholonomic constraint is defined by the function on the system’s configuration tangent bundle TQ. Although the non-holonomic constraints prevent us from performing a certain type of movement, in the end it is still true that the mechatronic system can reach a defined point of the manifold $mathcal{S}E(2)$ when performing a certain combination of possible movements. Among other things, the existing two types of configuration variables affecting the overall locomotion of the mechanism were presented in the work. The first type of configuration variables are the so-called shape variables and the second type are positional variables or also group variables. The work shows that the specific locomotion of a snake-like robot is the result of a suitable combination of changes in shape and position variables.
在这项工作中,我们专注于运动原理及其使用几何力学的形式描述,应用于特定的机器人机构。通过对机构应用非完整约束,我们知道整个系统可以移动的速度是有限的,但不改变配置环境。通过表达微分几何的语言,将非完整约束定义为系统组态切束TQ上的函数。尽管非完整约束阻止我们进行某种类型的运动,但最终机电一体化系统在执行某种可能的运动组合时仍然可以达到流形$mathcal{S}E(2)$的定义点。其中,提出了影响机构整体运动的现有两类构型变量。第一类配置变量是所谓的形状变量,第二类是位置变量或组变量。研究表明,蛇形机器人的特定运动是形状和位置变量变化的适当组合的结果。
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引用次数: 0
Virtual commissioning as part of the educational process 虚拟委托作为教育过程的一部分
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286613
Jakub Brazina, J. Vetiška, V. Stanek, F. Bradáč, Michal Holub
This paper focuses on virtual commissioning of a robotic production system with elements of Industry 4.0. This model production system is located on the grounds of the Institute of Production Machines, Systems and Robotics, Faculty of Mechanical Engineering, Brno University of Technology. Production systems serve as a teaching support in the fields of robotics and automation. Students are acquainted with the mechatronic approach to the design of robotic production systems which are model based design For the production system design advanced software is used which is capable of simulating its kinematics, dynamics, their connection with controlling system and their mutual co-simulation. The outcome of the abovementioned is a virtually commissioned workplace. The entire design is then verified in a real workplace.
本文重点研究了工业4.0机器人生产系统的虚拟调试。该模型生产系统位于布尔诺理工大学机械工程学院生产机器、系统和机器人研究所的场地上。生产系统作为机器人和自动化领域的教学支持。掌握机器人生产系统的机电一体化设计方法,即基于模型的设计方法。生产系统的设计采用先进的软件进行运动学、动力学仿真、与控制系统的连接仿真以及相互协同仿真。上述结果是一个几乎委托的工作场所。然后在真实的工作场所验证整个设计。
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引用次数: 2
Deep Learning Techniques for Model Reference Adaptive Control and Identification of Complex Systems 复杂系统模型参考自适应控制与辨识的深度学习技术
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286698
M. Jamshidi, J. Talla, Z. Peroutka
Although many mathematical and analytical techniques have been presented to control and identify the dynamic systems, there are vast fields of research needing to be developed and extended through Deep Learning (DL) approaches. In this paper, we try to describe how intelligent controllers can interact under control systems in a unique DL-based package. Despite the fact that conventional techniques have some advantages, such as the appropriate reliability and simple implementation for industrial goals, intelligent methods have potential to solve complex problems and identify nonlinear systems. Hence the concentration of this research is on the use of DL techniques to improve the system identification and control in model reference adaptive controllers. A dataset is also used to validate the responses of the proposed techniques. The simulation results demonstrate that not only are the proposed methods consistently appropriate to control the complex systems but also they have acceptable responses in order to utilize for system identification.
尽管已经提出了许多数学和分析技术来控制和识别动态系统,但仍有大量的研究领域需要通过深度学习(DL)方法来开发和扩展。在本文中,我们试图描述智能控制器如何在一个独特的基于dll的包中与控制系统进行交互。尽管传统技术具有一些优势,例如适当的可靠性和简单的实现工业目标,但智能方法具有解决复杂问题和识别非线性系统的潜力。因此,本研究的重点是利用深度学习技术来改进模型参考自适应控制器的系统识别和控制。还使用数据集来验证所建议技术的响应。仿真结果表明,所提出的方法不仅具有较好的控制效果,而且具有可接受的响应,可用于系统辨识。
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引用次数: 4
Modelling and Simulation of Missile Guidance in WEBOTS Simulator Environment 基于WEBOTS模拟器的导弹制导建模与仿真
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286610
V. Starý, L. Gacho
The article deals with the modelling and simulation (M&S) of missile guidance systems and methods, especially the Line-Of-Sight Beam Riding (LOSBR) guidance and passive homing (PH) guidance in WEBOTS robot simulation environment. The major goal is to evaluate general possibilities and aspects of M&S of missile guidance systems, methods and describe the process of implementation and suitability of WEBOTS simulator. The main focus is on the implementation and functionality verification of launcher, missile and target models. Functionality model includes the essential parts of given guidance system, such as laser beam emitter, photo detectors, IR emitter, range finder, optical sensor and other devices for position settings. Simulation results are verified, evaluated and compared with expected behaviour and mathematical models.
本文研究了导弹制导系统的建模与仿真方法,特别是在WEBOTS机器人仿真环境下的视距波束制导和被动寻的制导。主要目标是评估导弹制导系统M&S的一般可能性和方面,方法和描述WEBOTS模拟器的实施过程和适用性。主要重点是发射器、导弹和目标模型的实现和功能验证。功能模型包括给定制导系统的基本部件,如激光束发射器、光电探测器、红外发射器、测距仪、光学传感器和其他用于位置设置的设备。对仿真结果进行了验证、评估,并与预期行为和数学模型进行了比较。
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引用次数: 4
Predictive Energy Management for an Electric Vehicle with Fuel Cell Range Extender in Connected Traffic Systems 互联交通系统中燃料电池增程器电动汽车的预测能量管理
Pub Date : 2020-12-02 DOI: 10.1109/ME49197.2020.9286631
Soeren Scherler, X. Liu-Henke, M. Henke
This paper presents the design of a predictive energy management (pEEM) for an automated electric vehicle with fuel cell range extender in connected traffics systems. An essential task of the pEEM is the optimization of the power supply by a controlled power distribution to battery and fuel cell for the entire journey to minimize energy losses considering restrictions by operating limits or available energy. To solve this optimization problem, a nonlinear model predictive control structure is designed, since it considers the future system behavior on the one hand and is excellently suited for the integration of constraints or restrictions on the other hand. This control structure consists of several model predictive controllers (MPC), which cover different time horizons with different sampling times in a time cascaded structure. This structure reduces the accuracy of time periods far in the future, which are subject to high uncertainty. Furthermore, the computational effort is considerably reduced, so that a realization under real-time conditions is possible. The paper concludes with an exemplary application of power supply that demonstrates the functionality of the pEEM both in simulation and under real-time conditions on a HiL test bench.
提出了一种基于燃料电池增程器的互联交通自动驾驶汽车预测能量管理(pEEM)的设计方法。pEEM的一项基本任务是通过控制电池和燃料电池在整个旅程中的功率分配来优化电源,以最大限度地减少由于操作限制或可用能量的限制而造成的能量损失。为了解决这一优化问题,设计了一种非线性模型预测控制结构,因为它一方面考虑了系统的未来行为,另一方面又非常适合于约束或限制的集成。该控制结构由多个模型预测控制器(MPC)组成,这些模型预测控制器在时间级联结构中覆盖不同的时间范围和不同的采样时间。这种结构降低了遥远未来时期的准确性,因为这些时期具有很高的不确定性。此外,计算量大大减少,因此可以在实时条件下实现。最后给出了一个电源的示例应用,演示了pEEM在仿真和实时条件下在HiL试验台上的功能。
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引用次数: 3
期刊
2020 19th International Conference on Mechatronics - Mechatronika (ME)
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