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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

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Clustering-based Model for Predicting Multi-spatial Relations in Images 16

Clustering-based Model for Predicting Multi-spatial Relation...

引用

16th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Birmingham, Brandon Muscat, Adrian Univ Malta Dept Commun & Comp Engn MSD-2080 Msida Malta

ISBN: (纸本)9789897583803

Detecting spatial relations between objects in an image is a core task in image understanding and grounded natural language. this problem has been addressed in cognitive linguistics through the development of template and computational models from controlled experimental data using 2D or 3D synthetic diagrams. Furthermore, the Computer vision (CV) and Natural Language Processing (NLP) communities developed machine learning models for real-world images mostly from crowd-sourced data. the latter models treat the problem as a single-label classification problem, whereas the problem is inherently a multi-label problem. In this paper, we learn a multi-label model based on computed spatial features. We chose to implement the model using a clustering-based approach since, apart from predicting multi-labels for a given instance, this method would allow us to get deeper insights into how spatial relations are related to each other. In this paper, we report our results from this model and a direct comparison with a Random Forest single-label classifier is presented. the proposed model generally shows that it outperforms the single-label classifier even when considering the top four prepositions predicted by the single-label classifier.

关键词： Spatial Relations Image Understanding Multi-label Learning Clustering Computer vision Natural Language Processing

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Optimization of magnetic core structure based on DD coils for electric vehicle wireless charging

Optimization of magnetic core structure based on DD coils fo...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Xin Ni Rang Long Liyan Zhang Qihong Chen School of Automation Wuhan University of Technology Wuhan China College of Science Huazhong Agricultural University Wuhan China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Coupling system has great influence on the transmission performance of wireless charging system. Improving the mutual inductance between coupling coils can effectively improve the transmission efficiency. Using magnetic core is an effective way to enhance mutual inductance of coupling coils. the introduction of magnetic core also leads to core loss. Based on the DD coil structure and considering the magnetic core weight and coupling coefficient, a method for ferrite core design and optimization is proposed, which can reduce the core loss between transmitter and receiver and improve the average utilization ratio of the magnetic core. MAXWELL simulated and analyzed the coupling coil before and after optimization, and discussed its feasibility.

关键词： Magnetic cores Coils Magnetic flux density Couplings Core loss Optimization Inductive charging

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Formation control of Time-varying Multi-agent System Based on BP Neural Network

Formation Control of Time-varying Multi-agent System Based o...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Jiaqi Wang Jinfeng Gao Xujie Zhang Jiajun He Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech University Hangzhou Zhejiang China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, the formation control problem of time-varying multi-agent system (MAS) based on back propagation neural network (BPNN) is investigated. the system consists of two robots, which effectively improve the system operation efficiency through the coordination of robots. Moreover, leader-follower based strategy is used to formation. Among them, the leader robot can be controlled wirelessly through blue-tooth to share monitoring data in real time. the front image can be captured by the on-board camera mounted on the follower robot and optimized by the least square method (LSM). then machine vision is used to locate the leader robot and the follower robot's position is adjusted in real time through proportion integral differential (PID) cnotroller based on BPNN to realize the formation. Compared with the traditional PID controller, BPNN PID cnotroller takes the weight coefficient of NN as an adaptive parameter, only few parameters need to be updated online, which can greatly lessen the computational burden. Finally, simulation experiments are given to illustrate the results.

关键词： Robots Robot kinematics Object segmentation Feature extraction Target recognition Mathematical model Real-time systems

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Delay Margin for Containment control of Second-Order Multi-Agent Systems Over Directed Graphs*

Delay Margin for Containment Control of Second-Order Multi-A...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Xueyan Ma Dan Ma College of Information Science and Engineering Northeastern University Shenyang China College of Information Science and Engineering State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, we mainly study the delay robustness on containment control of second-order multi-agent systems with uncertain communication delays over directed graphs. Our purpose is to find the maximal delay range that can be tolerated under which the multi-agent system can maintain containment robustly. We consider a second-order multi-agent system under position and velocity feedback protocols in which each agent has two unstable real poles. We derive the exact expression of the delay margin for multi-agent system containment. Furthermore, based on the analysis of the exact delay margin, we obtain its explicit upper bound. the results show that the position of poles and the network connectivity will affect the bound of delay margin. Finally, a numerical example is used to illustrate the effectiveness of the proposed theoretical results.

关键词： Delays Protocols Multi-agent systems Directed graphs Upper bound Topology Eigenvalues and eigenfunctions

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Nonovershooting Regulation of an Under-Sensed and Under-Actuated Linear Inverted Pendulum

Nonovershooting Regulation of an Under-Sensed and Under-Actu...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Chao Chen Di Zhao Li Qiu The Hong Kong University of Science and Technology Shenzhen Research Institute Shenzhen China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper studies a nonovershooting regulation problem of an under-sensed and under-actuated system using two-degree-of-freedom (2DOF) control. An under-sensed and under-actuated linear inverted pendulum, which only has a single position sensor unlike the standard set-up, is investigated. For this system, first we present a regulation task that comprises three requirements, namely a nonovershooting step response, the largest robust stability margin and a 2DOF controller of the minimum order. then we study the issue of controller design and develop a fourth-order 2DOF controller via the Youla-parameterization and the loop-shaping approaches. Finally, the proposed 2DOF controller is demonstrated to be effective.

关键词： Regulation Robust stability Robot sensing systems control systems Linear systems Games Standards

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control Barrier Function Based Nonlinear controller for Automatic Carrier Landing

Control Barrier Function Based Nonlinear Controller for Auto...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Haitong Zhou Zewei Zheng Zhiyuan Guan Yunpeng Ma Seventh Research Division School of Automation Science and Electrical Engineering Beihang University Beijing China School of Aeronautic Science and Engineering Beihang University Beijing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper proposes a novel control barrier function(CBF) based output constraints path following control method, which is applied to automatic carrier landing system. the 6 degrees-of-freedom of aircraft model is converted to an affine model. Based on the transformed affine model, backstepping is used as the main control frame. In order to meet the demand of output constraints, a novel controller based on CBF is designed to constrian path following error. Due to automatic carrier landing system's relative-degree is 4, the exponential control barrier function(ECBF) which constrian path following error is adopted. the stability of the designed controller is verified by Lyapunov analysis. Simulation results show that the error requirement for path following in the final approach can be achieved, so the controller we designed has good path following performance.

关键词： Atmospheric modeling Aircraft Safety Mathematical model Robots Attitude control Two dimensional displays

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vision-based control Approach for Generalized Planar Parallel Robots

Vision-based Control Approach for Generalized Planar Paralle...

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automation, control and robotics Engineering (CACRE), international conference on

作者： Xueling Luo Xiaodong Jin Dan Zhang Qi Zou Department of Mechanical Engineering York University Department of Mechanical Engineering Beijing Jiaotong University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Generalized parallel mechanisms become the refinement research result of the parallel mechanism study to overcome limits such as small rotational performance or low task specificity of traditional parallel mechanisms. Towards an effective control scheme for generalized parallel mechanisms is the key to promoting its future application. this paper is dedicated to visual-based control modelling of planar parallel robots. To overcome the challenge of end-effect pose estimation for the parallel mechanism, the control scheme is able to minimize the error of the end-effect of the mechanism through information obtained from a fixed visual system. the simulation and experiment results show the time efficiency and accuracy of the proposed control scheme that able to stabilize the system in a short time during the motion control.

关键词： vision-based control scheme generalized parallel mechanisms 3D pose measurement motion control

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Enhancing Adaptive Event-Triggered Protocols for Multi-Agent Consensus with External Disturbances

Enhancing Adaptive Event-Triggered Protocols for Multi-Agent...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Xianwei Li Yang Tang Bing Zhu Shaoyuan Li Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai China Seventh Research Division School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper studies the design of adaptive event-triggered protocols for consensus of linear multi-agent systems (MASs) with external disturbances. Different from most of the existing results that deal with undirected graphs, this paper addresses directed graphs, specifically graphs that are assumed to be strongly connected. Inspired by a recent development [1], this paper devises novel adaptive event-triggered protocols for linear MASs with all agents subject to external disturbances. Two specific designs of composite triggering conditions are analysed and discussed. Compared with the disturbance-free case, additional constraints need to be introduced to deal with external disturbances and moreover the time-dependent terms are allowed to take any finite functions, rather than a class of L1 functions.

关键词： Protocols Eigenvalues and eigenfunctions Laplace equations Directed graphs Symmetric matrices Closed loop systems automation

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Voronoi-based Geometric Distributed Fleet control of a Multi-Robot System

Voronoi-based Geometric Distributed Fleet Control of a Multi...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Sylvain Bertrand Ioannis Sarras Alexandre Eudes Julien Marzat Université Paris-Saclay ONERA Traitement de 1^{\prime}Information et Systèmes Palaiseau France

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

A new distributed algorithm is presented for waypoint navigation of a multi-robot system. the proposed two-level architecture (reference generator and local controller) exploits Voronoi partitioning and purely geometric considerations to distributively generate references for each robot in order to ensure collision avoidance and convergence of the fleet to the waypoint. Flexibility in the obtained formation pattern is made possible by the algorithm, by not pre-fixing as usually done its geometric form. In addition, the gain tuning is easy and the setting allows to naturally obtain certain formation patterns and adjust the rigidity of the fleet. Moreover the distributed nature of the algorithm also allows robustness to online modification of the number of vehicles (in the fleet or within range of communication), also addressing the 2-robot scenario. Field experiments on ground mobile robots are provided to illustrate the performance of the algorithm.

关键词： Robots Collision avoidance Computer architecture Partitioning algorithms Mirrors Navigation Microprocessors

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Model Predictive control Based On Spider monkey optimization Algorithm of Interleaved Parallel Bidirectional DC-DC Converter

Model Predictive Control Based On Spider monkey optimization...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Yueyang Lan Qihong Chen Liyan Zhang Rong Long School of Automation Wuhan University of Technology Wuhan China Huazhong Agricultural University Wuhan China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Taking the high real-time performance, good stability and high reliability of DC-DC converter in electric vehicles as the research target, a constrained model predictive control (MPC) based on spider monkey optimization algorithm was proposed. Taking the Buck mode for an example, the equivalent circuit model is obtained under different switching states, and the state space model is established, then the prediction model is established through discretization. Define the appropriate cost function according to the control requirements and add the constraints of the control variables. the spider monkey optimization algorithm(SMO) is introduced to solve optimization problem of the constrained MPC in order to get the optimal solution more quickly and accurately. the simulation was carried out by MATLAB/Simulink, and the simulation results of PI control, MPC based on Particle Swarm Optimization(PSO-MPC) and SMO-MPC was compared. the simulation show that the converter using MPC has better control effect, and SMO is feasible and effective.

关键词： Mathematical model Predictive models Prediction algorithms Switches Heuristic algorithms DC-DC power converters Topology

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