Pub Date : 2023-03-15DOI: 10.1109/icm54990.2023.10102001
Ryoto Fujita, T. Ohhira, Hideki Hashimoto
In recent years, the number of traffic accidents attributable to human error has been increasing, and it is essential to monitor the biological state of drivers to avoid accidents. Biological sensors with skin contact are generally employed for such purposes, but using such skin-contact-based sensors in cars is challenging. To avoid skin contact, in this study, we focus on a capacitance-coupled electrode that can measure electrocardiogram (ECG) even when a person is wearing clothes. However, capacitance-coupled electrodes have a practical limitation in that the detection level of ECG differs between summer and winter. In addition, the detection level is unstable depending on the measurement environment and factors such as the number of layers of clothes worn. Based on experiments conducted in an in-vehicle environment, we propose a solution to the problem of overlapping clothing and a system that can acquire ECG by improving capacitive-coupled electrodes and analog signal processing circuits.
{"title":"Stable Electrocardiogram Measurement Using Capacitive-Coupled Electrodes*","authors":"Ryoto Fujita, T. Ohhira, Hideki Hashimoto","doi":"10.1109/icm54990.2023.10102001","DOIUrl":"https://doi.org/10.1109/icm54990.2023.10102001","url":null,"abstract":"In recent years, the number of traffic accidents attributable to human error has been increasing, and it is essential to monitor the biological state of drivers to avoid accidents. Biological sensors with skin contact are generally employed for such purposes, but using such skin-contact-based sensors in cars is challenging. To avoid skin contact, in this study, we focus on a capacitance-coupled electrode that can measure electrocardiogram (ECG) even when a person is wearing clothes. However, capacitance-coupled electrodes have a practical limitation in that the detection level of ECG differs between summer and winter. In addition, the detection level is unstable depending on the measurement environment and factors such as the number of layers of clothes worn. Based on experiments conducted in an in-vehicle environment, we propose a solution to the problem of overlapping clothing and a system that can acquire ECG by improving capacitive-coupled electrodes and analog signal processing circuits.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115353122","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 : 2023-03-15DOI: 10.1109/icm54990.2023.10101907
Momodayu Hattori, Subaru Murakami, T. Ohhira, H. Hashimoto
Electrical motors are used in a wide range of industrial fields, including drones and automobiles. With the development of these fields, motors are required to have higher torque, which can be achieved by applying a current higher than the rated value. However, conventional motors are limited by the current to prevent damage to the motor. In addition, the motor may get damaged if the current exceeds this rating. Therefore, it is essential to measure the coil temperature. Unfortunately, the complicated structure of the motors makes it difficult to install a thermometer inside them. A conventional study developed a coil temperature estimation formula to achieve high torque. The temperature estimation equation can only be estimated when a specific current is applied. Therefore, this study proposes a novel temperature estimation formula that uses heat conduction and heat transfer. The proposed estimation formula can always be used to estimate temperature, even if the current value changes. Finally, the proposed estimation formula was evaluated by comparing the measured values using an actual motor.
{"title":"A Coil Temperature Estimation for Disk Rotor Type Brushless DC Motors","authors":"Momodayu Hattori, Subaru Murakami, T. Ohhira, H. Hashimoto","doi":"10.1109/icm54990.2023.10101907","DOIUrl":"https://doi.org/10.1109/icm54990.2023.10101907","url":null,"abstract":"Electrical motors are used in a wide range of industrial fields, including drones and automobiles. With the development of these fields, motors are required to have higher torque, which can be achieved by applying a current higher than the rated value. However, conventional motors are limited by the current to prevent damage to the motor. In addition, the motor may get damaged if the current exceeds this rating. Therefore, it is essential to measure the coil temperature. Unfortunately, the complicated structure of the motors makes it difficult to install a thermometer inside them. A conventional study developed a coil temperature estimation formula to achieve high torque. The temperature estimation equation can only be estimated when a specific current is applied. Therefore, this study proposes a novel temperature estimation formula that uses heat conduction and heat transfer. The proposed estimation formula can always be used to estimate temperature, even if the current value changes. Finally, the proposed estimation formula was evaluated by comparing the measured values using an actual motor.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116892572","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101880
A. Plummer
Using the opportunities provided by additive manufacture (AM), advanced high performance electrohydraulic actuators are emerging which exhibit tightly-integrated sensing, control and power stages. Not only do these provide excellent power density and dynamic response, but the potential for robust control and health monitoring built on their embedded sensing capability. This paper reviews the pros and cons of traditional hydraulic actuation and discuss concepts for improved performance. A key challenge is the poor energy efficiency of hydraulic actuators controlled by throttling valves, but this can be overcome by using servomotor driven pumps, or digital hydraulic architectures such as those using high-speed switching valves. Whichever architecture is used, AM allows the merging of separate parts into one structural unit giving enormous benefits in terms of compactness, reliability, reduced part count, and improved dynamic performance.
{"title":"Integrated Hydromechatronic Actuators","authors":"A. Plummer","doi":"10.1109/ICM54990.2023.10101880","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101880","url":null,"abstract":"Using the opportunities provided by additive manufacture (AM), advanced high performance electrohydraulic actuators are emerging which exhibit tightly-integrated sensing, control and power stages. Not only do these provide excellent power density and dynamic response, but the potential for robust control and health monitoring built on their embedded sensing capability. This paper reviews the pros and cons of traditional hydraulic actuation and discuss concepts for improved performance. A key challenge is the poor energy efficiency of hydraulic actuators controlled by throttling valves, but this can be overcome by using servomotor driven pumps, or digital hydraulic architectures such as those using high-speed switching valves. Whichever architecture is used, AM allows the merging of separate parts into one structural unit giving enormous benefits in terms of compactness, reliability, reduced part count, and improved dynamic performance.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124806971","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101972
Ahmed Ibnouf, Ayman Fadlallah, Muaiz Ali, A. Zidouri
In recent years, the number of car accidents has been gradually increasing. A major factor in this increase is the drowsiness of drivers. There are many image recognition research studies on drowsiness detection but tend to neglect the case of low-light conditions. This paper focuses on detecting drowsy drivers in low-light conditions. In this paper, a behavioralbased drowsy driver detection system (DDDS) was proposed. The proposed DDDS applies a preprocessing algorithm that improves illumination and then focuses on detecting the driver’s face and eyes to calculate eye blink duration. A deep neural network model was used for facial recognition, and Haar Cascade classifiers were used for eyes detection. Every single eye was based to a Convolutional Neural Network (CNN) model to predict its state as either ‘‘Open’’ or ‘‘Closed’’. The proposed CNN was developed using a dataset of 1452 samples and gave an accuracy of 97.92% on the testing dataset, 15% of the 1452 samples. Different case scenarios in poor light conditions were implemented to evaluate the proposed DDDS. The system was able to identify the state of the driver even in harsh and severe poor light conditions.
{"title":"Drowsy Driver Detection System For Poor Light Conditions","authors":"Ahmed Ibnouf, Ayman Fadlallah, Muaiz Ali, A. Zidouri","doi":"10.1109/ICM54990.2023.10101972","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101972","url":null,"abstract":"In recent years, the number of car accidents has been gradually increasing. A major factor in this increase is the drowsiness of drivers. There are many image recognition research studies on drowsiness detection but tend to neglect the case of low-light conditions. This paper focuses on detecting drowsy drivers in low-light conditions. In this paper, a behavioralbased drowsy driver detection system (DDDS) was proposed. The proposed DDDS applies a preprocessing algorithm that improves illumination and then focuses on detecting the driver’s face and eyes to calculate eye blink duration. A deep neural network model was used for facial recognition, and Haar Cascade classifiers were used for eyes detection. Every single eye was based to a Convolutional Neural Network (CNN) model to predict its state as either ‘‘Open’’ or ‘‘Closed’’. The proposed CNN was developed using a dataset of 1452 samples and gave an accuracy of 97.92% on the testing dataset, 15% of the 1452 samples. Different case scenarios in poor light conditions were implemented to evaluate the proposed DDDS. The system was able to identify the state of the driver even in harsh and severe poor light conditions.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115071075","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101989
Thijs Van der Veken, J. M. Jordan, B. Blockmans, Matteo Kirchner, F. Naets
During the operation cycle of geared transmissions, remaining useful lifetime predictions are key information for maintenance and future design decisions. These predictions are usually obtained by combining modelling efforts with limited sensor data. This contribution proposes an estimation method that aims to be robust to the operating conditions and the statistical properties of the introduced damage. As damage on the tooth surface causes a reduction in the gear pair mesh stiffness due to the changed contact conditions, this time-varying mesh stiffness is proposed as health indicator. The mesh stiffness is parameterized in a piecewise interpolation scheme to guarantee the local detectability of the involved parameters. The parameters are estimated concurrently with the states using an augmented extended Kalman filter. The method is applied on a single helical gear pair of an industrial gearbox, combining a lumpedparameter contact model with angular position data of both gear shafts. For the validation, virtual measurement data are generated using a gear contact model with pitting defects. The estimation results show a proof of concept and highlight the potential of the method for more complex cases.
{"title":"State-parameter estimation for a helical gear transmission with pitting defects","authors":"Thijs Van der Veken, J. M. Jordan, B. Blockmans, Matteo Kirchner, F. Naets","doi":"10.1109/ICM54990.2023.10101989","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101989","url":null,"abstract":"During the operation cycle of geared transmissions, remaining useful lifetime predictions are key information for maintenance and future design decisions. These predictions are usually obtained by combining modelling efforts with limited sensor data. This contribution proposes an estimation method that aims to be robust to the operating conditions and the statistical properties of the introduced damage. As damage on the tooth surface causes a reduction in the gear pair mesh stiffness due to the changed contact conditions, this time-varying mesh stiffness is proposed as health indicator. The mesh stiffness is parameterized in a piecewise interpolation scheme to guarantee the local detectability of the involved parameters. The parameters are estimated concurrently with the states using an augmented extended Kalman filter. The method is applied on a single helical gear pair of an industrial gearbox, combining a lumpedparameter contact model with angular position data of both gear shafts. For the validation, virtual measurement data are generated using a gear contact model with pitting defects. The estimation results show a proof of concept and highlight the potential of the method for more complex cases.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116194585","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 : 2023-03-15DOI: 10.1109/icm54990.2023.10101928
Kazu Nagaya, T. Ohhira, H. Hashimoto
We propose a control method for a two-wheeled robot that can carry a load in a staircase environment without increasing the burden on humans through power-assist control using admittance control. Considering that the motion of lifting the robot burdens a human in a staircase environment, it was necessary to reduce the peak value of the human force when pulling the robot upward. We evaluated the proposed, conventional, and the case without control (no control’’) methods by simulations and experiments on actual machines. Hence, the proposed method reduces the human workload to about 75% of that of the conventional method and about 50% of that without control. The proposed method can also enable the machine climb upstairs at a velocity of 1 step/s, which is about three times faster than the conventional method.
{"title":"Developing power-assisted two-wheeled luggage-carrying robot for stair-lifting using admittance control","authors":"Kazu Nagaya, T. Ohhira, H. Hashimoto","doi":"10.1109/icm54990.2023.10101928","DOIUrl":"https://doi.org/10.1109/icm54990.2023.10101928","url":null,"abstract":"We propose a control method for a two-wheeled robot that can carry a load in a staircase environment without increasing the burden on humans through power-assist control using admittance control. Considering that the motion of lifting the robot burdens a human in a staircase environment, it was necessary to reduce the peak value of the human force when pulling the robot upward. We evaluated the proposed, conventional, and the case without control (no control’’) methods by simulations and experiments on actual machines. Hence, the proposed method reduces the human workload to about 75% of that of the conventional method and about 50% of that without control. The proposed method can also enable the machine climb upstairs at a velocity of 1 step/s, which is about three times faster than the conventional method.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122154182","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101944
Muneue Suwa, K. Hirata, Yukinori Nakamura
In this paper, we consider the $mathcal{H}_{infty}$ stabilization problem of the Furuta pendulum with backlash in the drive train and analyze the effect of fictitious bounded-disturbance approximately representing the nonlinearity. Based on the reachable set analysis of the disturbance with an $mathcal{L}_{2}$ constraint, a subset of the reachable region with $mathcal{L}_{infty}$ constraint is computed. By estimating its volume in the state space, the performance against the backlash nonlinearity is evaluated. The behaviour of the closed-loop system is verified through numerical simulations of the time response.
{"title":"H∞ Control of the Furuta Pendulum with Backlash and Analysis of the Effect of Bounded-Disturbance","authors":"Muneue Suwa, K. Hirata, Yukinori Nakamura","doi":"10.1109/ICM54990.2023.10101944","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101944","url":null,"abstract":"In this paper, we consider the $mathcal{H}_{infty}$ stabilization problem of the Furuta pendulum with backlash in the drive train and analyze the effect of fictitious bounded-disturbance approximately representing the nonlinearity. Based on the reachable set analysis of the disturbance with an $mathcal{L}_{2}$ constraint, a subset of the reachable region with $mathcal{L}_{infty}$ constraint is computed. By estimating its volume in the state space, the performance against the backlash nonlinearity is evaluated. The behaviour of the closed-loop system is verified through numerical simulations of the time response.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129724856","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101938
Kazuki Yane, T. Nozaki
The use of robots is desired as a replacement for human labor. However, it is difficult for robots to respond flexibly to changes in objects and environments and perform tasks. Recently, many systems have been proposed that can flexibly respond to changes by generating robot motions using machine learning. Many machine learning methods use a camera to acquire environmental information, and feature extraction is performed using images acquired from the camera using CNN (Convolutional Neural Network), CAE (Convolutional Auto Encoder), or other methods. Many methods estimate the input values in the next step by inputting the image features, position data and reaction force data acquired from the robot together into the RNN (Recurrent Neural Network), etc. However, in most cases, the relationship between the image and robot data is learned without explicitly stating it. Therefore, in this paper, the data acquired from the robot is converted to images and used in combination with images from the camera to make the interaction between the robot and the environment explicit and to improve the estimation accuracy of NNs. In simulations, the proposed method was used to perform the task of discriminating the target of motion, and the high estimation accuracy was confirmed. In the future, we plan to use this method as input data for motion generation to generate motion according to the object.
{"title":"Preliminary Study of Object Recognition by Converting Physical Responses to Images in Two Dimensions","authors":"Kazuki Yane, T. Nozaki","doi":"10.1109/ICM54990.2023.10101938","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101938","url":null,"abstract":"The use of robots is desired as a replacement for human labor. However, it is difficult for robots to respond flexibly to changes in objects and environments and perform tasks. Recently, many systems have been proposed that can flexibly respond to changes by generating robot motions using machine learning. Many machine learning methods use a camera to acquire environmental information, and feature extraction is performed using images acquired from the camera using CNN (Convolutional Neural Network), CAE (Convolutional Auto Encoder), or other methods. Many methods estimate the input values in the next step by inputting the image features, position data and reaction force data acquired from the robot together into the RNN (Recurrent Neural Network), etc. However, in most cases, the relationship between the image and robot data is learned without explicitly stating it. Therefore, in this paper, the data acquired from the robot is converted to images and used in combination with images from the camera to make the interaction between the robot and the environment explicit and to improve the estimation accuracy of NNs. In simulations, the proposed method was used to perform the task of discriminating the target of motion, and the high estimation accuracy was confirmed. In the future, we plan to use this method as input data for motion generation to generate motion according to the object.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126663796","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101931
V. F. Buskes, M. Kaczmarek, J. C. Veenstra, C. Coulais, S. Hosseinnia
Metamaterials are artificial structures with properties that are rare or non-existent in nature. These properties are created by the geometry and interconnection of the metamaterial unit cells. In active metamaterials, sensors and actuators are embedded in each unit cell to achieve greater design freedom and tunability of properties after the fabrication. While active metamaterials have been used in vibration control applications, the influence of applied control architectures on damping performance has not been thoroughly studied yet. This paper discusses the relationship between suitable control architectures for increased damping in finite active metamaterials and the number of damped modes. A metamaterial beam consisting of links with measured and actuated joints is considered. Optimal controllers for each of the considered scenarios are designed in the modal domain using linear-quadratic regulator (LQR). We show that, when all modes of a structure should be damped, the optimal solution can be reduced to a decentralised controller. When modes in a smaller range of frequencies are targeted, distributed controllers show better performance. The results are confirmed with experiments.
{"title":"Control Architectures for Metamaterials in Vibration Control","authors":"V. F. Buskes, M. Kaczmarek, J. C. Veenstra, C. Coulais, S. Hosseinnia","doi":"10.1109/ICM54990.2023.10101931","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101931","url":null,"abstract":"Metamaterials are artificial structures with properties that are rare or non-existent in nature. These properties are created by the geometry and interconnection of the metamaterial unit cells. In active metamaterials, sensors and actuators are embedded in each unit cell to achieve greater design freedom and tunability of properties after the fabrication. While active metamaterials have been used in vibration control applications, the influence of applied control architectures on damping performance has not been thoroughly studied yet. This paper discusses the relationship between suitable control architectures for increased damping in finite active metamaterials and the number of damped modes. A metamaterial beam consisting of links with measured and actuated joints is considered. Optimal controllers for each of the considered scenarios are designed in the modal domain using linear-quadratic regulator (LQR). We show that, when all modes of a structure should be damped, the optimal solution can be reduced to a decentralised controller. When modes in a smaller range of frequencies are targeted, distributed controllers show better performance. The results are confirmed with experiments.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123832783","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10102054
Lingzi Xie, Darong Huang, Zhenyu Lu, Ning Wang, Chenguang Yang
Precise leader-follower control is critical for teleop- eration. This paper designs and implements a low-cost leader device for unilateral teleoperation scenario. Monocular vision based on fiducial markers and MEMS Inertial Measurement Unit (IMU) are utilized to constitute the pose sensing system of the handheld device. To increase the positioning output frequency and deal with the motion blur of the fiducial markers, the IMU data and vision message are fused by an Error State Kalman Filter (ESKF). An assembly experiment was carried out to verify the effectiveness of the proposed device and the feasibility of the fusion algorithm.
{"title":"Handheld Device Design for Robotic Teleoperation based on Multi-Sensor Fusion","authors":"Lingzi Xie, Darong Huang, Zhenyu Lu, Ning Wang, Chenguang Yang","doi":"10.1109/ICM54990.2023.10102054","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102054","url":null,"abstract":"Precise leader-follower control is critical for teleop- eration. This paper designs and implements a low-cost leader device for unilateral teleoperation scenario. Monocular vision based on fiducial markers and MEMS Inertial Measurement Unit (IMU) are utilized to constitute the pose sensing system of the handheld device. To increase the positioning output frequency and deal with the motion blur of the fiducial markers, the IMU data and vision message are fused by an Error State Kalman Filter (ESKF). An assembly experiment was carried out to verify the effectiveness of the proposed device and the feasibility of the fusion algorithm.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123628515","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：