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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Li, Chunying Guo, Shuxiang Yang, Xujie Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Genetic algorithms (GA) and ant colony algorithm (ACO) are computational models that simulate the process of biological evolution and are widely applied to problems related to path planning. This paper proposes a path planning algorithm which combines the genetic algorithm and the ant colony algorithm. The hybrid algorithm overcomes the problem of genetic algorithm's poor ability in local search, and overcomes the slow convergence speed, local optimal solution of ant colony algorithm's in the process of convergence. The effectiveness and rapidity of the proposed hybrid algorithm is verified by simulation and experiment. The overall performance is better than the genetic algorithm and the ant colony algorithm. Finally, we carried out the experiments to verify the effectiveness of the proposed hybrid algorithm which could avoid collision and reach the target safely, and the proposed hybrid algorithm was compared with ACO and GA respectively. The experimental results showed that the proposed hybrid algorithm overcame the defects of ACO and GA, verified the effectiveness and rapidity of the proposed hybrid algorithm. © 2018 IEEE.

关键词： Genetic algorithms

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Design of a novel drug-delivery module for active locomotive intestinal capsule endoscopy 15

Design of a novel drug-delivery module for active locomotive...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Bao, Zihong Guo, Shuxiang Fu, Qiang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Current Wireless Capsule Endoscopic systems (WCE) provide only diagnostic tools, but in the future, advanced functionalities such as controllable drug delivery could be available for clinicians. This paper proposes a spiral capsule robot driven by external magnetic field control wireless targeted drug delivery module, the module includes two radial magnetizing magnetic ring and a simple plastic chain, and it has a volume of 1.15 ml medicine cavity integration within the interior space. The control system of the robot including the driven system, motion control and drug release of the robots was presented. The robot module has two spiral grooves outside the module, which can be controlled in the external magnetic field. The inner two ring magnets can be operated and closed under the control of external strong pulse magnetic field. Then the robot was driven by a three-axis Helmholtz coil system. Finally, the feasibility of the function of drug release is verified. The developed capsule robot can be used to improve the capsule robot system, increase the function of the capsule robot, and can be used in the future medical treatment. © 2018 IEEE.

关键词： robots

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Design of wireless mobile environment monitoring system based on spherical amphibious robots 15

Design of wireless mobile environment monitoring system base...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Yang, Xujie Guo, Jian Li, Chunying Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Tianjin391 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu761-0396 Japan

ISBN: (纸本)9781538660720

A wireless mobile environmental monitoring system based on spherical amphibious robots is proposed in this paper, which is used to monitor environmental data in *** control interface is designed by using labVIEW to display the collected environmental *** XBee module is used to realize the wireless communication between robot and PC. The robot is equipped with temperature and humidity sensors, pressure sensors and high-definition cameras to collect environmental information. An adaptive weighted fusion algorithm is proposed for deal with the multi source data collected by multiple robots and improve the accuracy of *** this paper, the underwater kinematic model of amphibious robot is established, and the proportional-integral-derivative(PID) controller is designed to control the depth of spherical amphibious robot. The simulation and experimental results verified the effectiveness of the system. © 2018 IEEE.

关键词： robots

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Performance evaluation of a magnetically actuated microrobot with screw jet motion in vertical plane 15

Performance evaluation of a magnetically actuated microrobot...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Fu, Qiang Guo, Shuxiang Guo, Jian Tianjin Key Laboratory for Control Theory Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan

ISBN: (纸本)9781538660720

Various kinds of magnetically actuated microrobot have been proposed to deal with the performance evaluation in medical application and industry application. In this paper, we discuss the mechanical structure design and the control method for obtaining the optimal performance of the microrobot in fluid condition. We analyzed the magnetic field to obtain the relationship between the magnetic flux density and the region of interest in the three-axis Helmholtz coils to adjust the position and posture of the microrobot which is controlled by our proposed magnetic actuation system. This result indicated that the magnetically microrobot has characteristics of multi-functions, controllability, stability. © 2018 IEEE.

关键词： Image segmentation

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Vascular environment modeling and verification for the virtual vessel interventional surgery training system 15

Vascular environment modeling and verification for the virtu...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Zhan, Qi Guo, Jian Meng, Cheng Jin, Xiaoliang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Tianjin391 China Intelligent Mechanical Systems Engineering Department Kagawa University 2217-20 Hayashi-cho Takamatsu761-0396 Japan

ISBN: (纸本)9781538660720

At present, cerebrovascular disease has become the number one killer of endangering human health, and minimally invasive interventional surgery is its main treatment method. However, the vascular intervention surgery places high demands on doctors' surgical procedures, and the actual model and training cost are relatively high. Therefore, the research of vascular interventional surgeon training system based on virtual reality technology becomes more and more important. The quality of a training system depends on whether it can provide a training environment that is close to reality. Based on the study of the training system of vascular interventional surgeons before the laboratory, the concept of blood flow resistance and viscous resistance was increased to improve the authenticity of training system. In this paper, the original vascular model was cut into discrete cylindrical containers, and then the Poiseuille's law and Stokes's law were used to calculate the blood flow resistance and viscous resistance in each container. The blood flow resistance module and the viscous drag module were added to the previous model to simulate blood flow resistance and viscous resistance in a virtual environment. This study helps trained doctors to provide a more realistic training environment. Finally, the relevant verification experiment was carried out in this paper, which proved that the training system with added blood flow resistance and viscous resistance was closer to the real environment. © 2018 IEEE.

关键词： Virtual reality

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LimeSoDa: A dataset collection for benchmarking of machine learning regressors in digital soil mapping

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Geoderma 2025年 459卷

作者： Schmidinger, Jonas Vogel, Sebastian Barkov, Viacheslav Pham, Anh-Duy Gebbers, Robin Tavakoli, Hamed Correa, Jose Tavares, Tiago R. Filippi, Patrick Jones, Edward J. Lukas, Vojtech Boenecke, Eric Ruehlmann, Joerg Schroeter, Ingmar Kramer, Eckart Paetzold, Stefan Kodaira, Masakazu Wadoux, Alexandre M.J.-C. Bragazza, Luca Metzger, Konrad Huang, Jingyi Valente, Domingos S.M. Safanelli, Jose L. Bottega, Eduardo L. Dalmolin, Ricardo S.D. Farkas, Csilla Steiger, Alexander Horst, Taciara Z. Ramirez-Lopez, Leonardo Scholten, Thomas Stumpf, Felix Rosso, Pablo Costa, Marcelo M. Zandonadi, Rodrigo S. Wetterlind, Johanna Atzmueller, Martin Osnabrück University Joint Lab Artificial Intelligence and Data Science Osnabrück Germany Department of Agromechatronics Potsdam Germany Piracicaba Brazil The University of Sydney Sydney Institute of Agriculture Sydney Australia Mendel University in Brno Department of Agrosystems and Bioclimatology Brno Czech Republic Leibniz Institute of Vegetable and Ornamental Crops Next Generation Horticultural Systems Grossbeeren Germany Eberswalde University for Sustainable Development Landscape Management and Nature Conservation Eberswalde Germany —Soil Science and Soil Ecology Bonn Germany Tokyo University of Agriculture and Technology Institute of Agriculture Tokyo Japan LISAH Univ. Montpellier AgroParisTech INRAE IRD L'Institut Agro Montpellier France Agroscope Field-Crop Systems and Plant Nutrition Nyon Switzerland University of Wisconsin-Madison Department of Soil Science Madison United States Federal University of Viçosa Department of Agricultural Engineering Viçosa Brazil Woodwell Climate Research Center Falmouth United States Academic Coordination Santa Maria Brazil Soil Department Santa Maria Brazil Division of Environment and Natural Resources Aas Norway University of Rostock Chair of Geodesy and Geoinformatics Rostock Germany Federal Technological University of Paraná Dois Vizinhos Brazil BÜCHI Labortechnik AG Data Science Department Flawil Switzerland Imperial College London Imperial College Business School London United Kingdom University of Tübingen Department of Geosciences Tübingen Germany University of Tübingen DFG Cluster of Excellence ‘Machine Learning for Science’ Germany Bern University of Applied Sciences Competence Center for Soils Zollikofen Switzerland Simulation and Data Science Müncheberg Germany Federal University of Jataí Institute of Agricultural Sciences Jatai Brazil Federal University of Mato Grosso Instute of Agricultural and Environmental Scinces Sinop Brazil Department of Soil and Environment Skara S

Digital soil mapping (DSM) relies on a broad pool of statistical methods, yet determining the optimal method for a given context remains challenging and contentious. Benchmarking studies on multiple datasets are needed to reveal strengths and limitations of commonly used methods. Existing DSM studies usually rely on a single dataset with restricted access, leading to incomplete and potentially misleading conclusions. To address these issues, we introduce an open-access dataset collection called Precision Liming Soil Datasets (LimeSoDa). LimeSoDa consists of 31 field- and farm-scale datasets from various countries. Each dataset has three target soil properties: (1) soil organic matter or soil organic carbon, (2) clay content and (3) pH, alongside a set of features. Features are dataset-specific and were obtained by optical spectroscopy, proximal- and remote soil sensing. All datasets were aligned to a tabular format and are ready-to-use for modeling. We demonstrated the use of LimeSoDa for benchmarking by comparing the predictive performance of four learning algorithms across all datasets. This comparison included multiple linear regression (MLR), support vector regression (SVR), categorical boosting (CatBoost) and random forest (RF). The results showed that although no single algorithm was universally superior, certain algorithms performed better in specific contexts. MLR and SVR performed better on high-dimensional spectral datasets, likely due to better compatibility with principal components. In contrast, CatBoost and RF exhibited considerably better performances when applied to datasets with a moderate number ( © 2025 The Author(s)

关键词： Random forests

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Design of Wireless Mobile Environment Monitoring System Based on Spherical Amphibious robots

Design of Wireless Mobile Environment Monitoring System Base...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Xujie Yang Jian Guo Chunying Li Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Japan

A wireless mobile environmental monitoring system based on spherical amphibious robots is proposed in this paper, which is used to monitor environmental data in aquaculture. The control interface is designed by using labVIEW to display the collected environmental data. The XBee module is used to realize the wireless communication between robot and PC. The robot is equipped with temperature and humidity sensors, pressure sensors and high-definition cameras to collect environmental information. An adaptive weighted fusion algorithm is proposed for deal with the multi source data collected by multiple robots and improve the accuracy of data. In this paper, the underwater kinematic model of amphibious robot is established, and the proportional-integral-derivative(PID) controller is designed to control the depth of spherical amphibious robot. The simulation and experimental results verified the effectiveness of the system.

关键词： Spherical amphibious robot Environmental monitoring LabVIEW XBee module PID

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Retrieval-based localization based on domain-invariant feature learning under changing environments

arXiv

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arXiv 2019年

作者： Hu, Hanjiang Wang, Hesheng Liu, Zhe Yang, Chenguang Chen, Weidong Xie, Le Autonomous Robot Lab Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China T Stone Robotics Institute Chinese University of Hong Kong Hong Kong Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom School of Material Science and Engineering Shanghai Jiao Tong University Shanghai200240 China

Visual localization is a crucial problem in mobile robotics and autonomous driving. One solution is to retrieve images with known pose from a database for the localization of query images. However, in environments with drastically varying conditions (e.g. illumination changes, seasons, occlusion, dynamic objects), retrieval-based localization is severely hampered and becomes a challenging problem. In this paper, a novel domain-invariant feature learning method (DIFL) is proposed based on ComboGAN, a multi-domain image translation network architecture. By introducing a feature consistency loss (FCL) between the encoded features of the original image and translated image in another domain, we are able to train the encoders to generate domain-invariant features in a self-supervised manner. To retrieve a target image from the database, the query image is first encoded using the encoder belonging to the query domain to obtain a domain-invariant feature vector. We then preform retrieval by selecting the database image with the most similar domain-invariant feature vector. We validate the proposed approach on the CMU-Seasons dataset, where we outperform state-of-the-art learning-based descriptors in retrieval-based localization for high and medium precision scenarios. Copyright © 2019, The Authors. All rights reserved.

关键词： Machine learning

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Design and performance evaluation of the novel multi-modular capsule robot 15

Design and performance evaluation of the novel multi-modular...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Zhang, Peng Guo, Jian Fu, Qiang Wang, Lili Sun, Gang Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Internal Medicine-Oncology Tianjin Hospital ITCWM Naikai Hospital Three latitude Road 122 Tianjin China Gastrointestinal Surgery Tianjin Hospital ITCWM Naikai Hospital Three latitude Road 122 Tianjin China

ISBN: (纸本)9781538660720

Due to the robots are limited in size and cannot be attached to more functions, which caused the practicality of the robot being reduced. In order to achieve the information collection and multipoint drug delivery in the intestinal tract. This paper proposed the novel multi-modular robot driven by the external magnetic field. This robot system has two robots, namely the master robot and the auxiliary robot. The control system of the robot including the driven system, video acquisition and modular docking and separation of the robots. We realized the separation of the capsule robot by the difference of the cut-off frequency. The axial magnetized magnet is put into the robot, and when the robot is close, the two robots can combine. And the motion of the two at low frequency is consistent, which can realize the synchronous motion. Finally, the two robots can realize active locomotion using a three-axis Helmholtz coils system. The developed capsule robot can be used to improve the capsule robot system and help people do experiments in vivo in the future. © 2018 IEEE.

关键词： Machine design

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fuzzy filter for non-linear sampled-data systems under imperfect premise matching

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IET control Theory & Applications 2017年第5期11卷 747-755页

作者： Ho Jun Kim Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul 120-749 Republic of Korea Department of Control and Robot Engineering Kunsan National University Kunsan Chonbuk 573-701 Republic of Korea

This study proposes an fuzzy filtering technique for non-linear sampled-data systems that are represented on the basis of the Takagi–Sugeno fuzzy model. To improve the performance of the fuzzy filter, an imperfect premise matching condition is considered. An error system between the non-linear system and the fuzzy filter is constructed. In addition, sufficient conditions for showing asymptotic stability and guaranteeing disturbance attenuation performance are proposed in a Lyapunov sense and derived in terms of linear matrix inequalities. Finally, the feasibility of the proposed technique is demonstrated using two simulation examples.

关键词： H∞ filters pattern matching fuzzy set theory linear matrix inequalities H∞ fuzzy filter nonlinear sampled data systems imperfect premise matching Takagi-Sugeno fuzzy model error system asymptotic stability Lyapunov sense linear matrix inequalities

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