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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Chen, Qian Miao, Xiren Jiang, Hao Wang, Liangyuan Chen, Jing Fuzhou Univ Coll Elect Engn & Automat Fuzhou 350116 Fujian Peoples R China State Grid Fujian Elect Power Co Ltd Fuzhou 350003 Fujian Peoples R China

ISBN: (纸本)9781538695821

Aiming at measuring tree barriers in transmission line corridors, a binocular vision ranging method is proposed to measure the distance between the transmission lines and trees. Based on the principle of binocular vision ranging, the binocular camera is calibrated using a marked checkerboard as a calibration board. then, the SAD region matching algorithm is applied to the preprocessed images, and the disparity map is acquired. Finally, the distance between the tree and the transmission line can obtain according to the three-dimensional coordinate information of two target points. the results of the experiments show that the proposed binocular vision-based method can achieve the measurement error within +/- 30cm. the precision can meet the need of measuring the distance between trees and the transmission lines, which is an effective way for warning tree barriers in transmission line corridors.

关键词： Electric lines

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End-to-end Learning for Autonomous Crop Row-following 6th

End-to-end Learning for Autonomous Crop Row-following

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6th international-Federation-of-Automatic-control (IFAC) conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Bakken, Marianne Moore, Richard J. D. From, Pal SINTEF Digital Oslo Norway Norwegian Univ Life Sci NMBU As Norway

For robotic technology to be adopted within the agricultural domain, there is a need for low-cost systems that can be flexibly deployed across a wide variety of crop types, environmental conditions, and planting methods, without extensive re-engineering. Here we present an approach for predicting steering angles for an autonomous, crop row-following, agri-robot using only RGB image input. Our approach employs a deep convolutional neural network (DCNN) and an end-to-end learning strategy. We pre-train our network using existing open datasets containing natural features and show that this approach can help to preserve performance across diverse agricultural settings. We also present preliminary results from open-loop field tests that demonstrate the feasibility and some of the limitations of this approach for agri-robot guidance. (C) 2019, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robot vision Robot navigation Machine learning Agricultural robotics Mobile robots

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Anti-unwinding Attitude control of Spacecraft using Back-Stepping Technique with Finite Time Convergence 15

Anti-unwinding Attitude Control of Spacecraft using Back-Ste...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Javaid, Umair Beihang Univ Sch Automat & Elect Engn Beijing Peoples R China

ISBN: (纸本)9781538695821

Quaternion representation of spacecraft has double equilibrium points associated with it, which may cause unwinding phenomenon in attitude control if both equilibria are not treated as stable during control law design procedure. this paper presents anti-unwinding attitude tracking control of rigid body spacecraft in presence of external disturbance and model uncertainties. In pursuit of our goal, anti-unwinding attitude tracking control law using back-stepping technique (BT) is developed, in accomplice with sliding mode control (SMC). Sliding surface using initial value of scalar component of quaternion is formulated. Furthermore, system dynamics are transformed to facilitate application of observer for estimation of lumped uncertainties. Extended state observer (ESO) is employed to compensate for total system uncertainties. the proposed controller gives faster transient response. Furthermore, controller output is chattering free and smooth. In addition, proposed control law has superior disturbance rejection capabilities and is robust against model uncertainties. Stability analysis of closed loop system is performed using Lyapunovs theory and Barbalats lemma in finite time (FT). Numerical simulations are performed to show the efficiency of proposed control scheme.

关键词： Spacecraft attitude control Sliding mode control Back-stepping Disturbance observer Extended state observer Lyapunov stability

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Experimental results of fractional order PI controller designed for second order plus dead time (SOPDT) processes 15

Experimental results of fractional order PI controller desig...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Birs, Isabela Muresan, Cristina Nascu, Ioan Folea, Silviu Ionescu, Clara Tech Univ Cluj Napoca Automat Dept Cluj Napoca Romania Univ Ghent Dynam Syst & Control Res Grp Ghent Belgium Flanders Make Core Lab EEDT Lommel Belgium Tehn Univ Cluj Napoca Cluj Napoca Romania

ISBN: (纸本)9781538695821

the present paper presentes the tuning of a Fractional Order Proportional Integral (FOPI) controller for second-order-plus-time-delay (SOPDT) plants. the tuning procedure is based on imposing frequency domain constraints for the open loop system with the FOPI controller and the SOPDT plant. the gain crossover frequency, phase margin and the iso-damping property that guarantees a certain degree of robustness to gain variations are imposed in order to obtain the parameters of the fractional order controller. the proposed method is validated by real life implementation on a process whose dynamics are approximated to a SOPDT model. the settling time, steady state error, robustness and disturbance rejection capabilities are analyzed using experimental test cases.

关键词： Disturbance rejection

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PREFACE

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Journal of Physics: conference Series 2021年第1期2115卷

作者： Doss, Arockia Selvakumar Arockia Short, Michael Márquez, Fausto Pedro García Design and Automation Research Group SMEC Vellore Institute of Technology Tamil Nadu Chennai India School of Computing Engineering and Digital Technologies Teesside University United Kingdom Castilla-La Mancha University Spain

this proceedings consists of the peer-reviewed papers from the 2nd international conference on robotics, Intelligent automation and control Technologies (RIACT 2021), which was organized by the School of Mechanical Engineering at Vellore Institute of Technology, Chennai, India on September from 23rd to 25th, 2021. However, due to the COVID 19 pandemic the conference was held Online. the main objective of RIACT 2021 is to provide a platform for researchers and practitioners from both academic institutions and industries to meet and share cutting-edge developments in the areas of Robot Design, Development and control, Rehabilitation Robots and Devices, Intelligent automation and Fault Diagnosis, Agricultural Robots, Underwater Robots, Development of Drones, control and Supervision Systems, vision Systems, Actuators and Sensors, Mechatronics Systems, System Interface and control, Sustainable Technologies and associated disciplines. this conference also provided an opportunity to exchange research evidence and innovative ideas and also the issues related to robotics and automation. this proceeding will include presentations on the latest research areas such as Agriculture Drones, Bio Mechanisms for rehabilitation applications and Deep learning in robotics. this conference had gathered an excellent group of keynote speakers from around the globe on different topics such as Engineering Challenges of the AI-Enabled automation and Process Optimisation for Healthcare and Business Domain, Upcoming future of robotics in protected horticulture, Intelligent Systems: From Smart Manufacturing and Network Perspectives, High-performance surgical and wearable robots for translational medicine, Challenges in Rover Mission, Two-Degree-of-Freedom control of Flexible Manipulator, Manipulator Rule Generation from Table Data Sets and Its Application, Enduruns: Long-endurance sea surveying autonomous unmanned vehicle with gliding capability powered by hydrogen fuel cell, Bio-Inspired Swarm

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A study on the security of public opinion in social networks 15

A study on the security of public opinion in social networks

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Gao, Long Yang, Wen Wang, Mengling East China Univ Sci & Technol Key Lab Adv Control & Optimizat Chem Proc Shanghai 200237 Peoples R China

ISBN: (纸本)9781538695821

In this paper, we consider the security problem of public opinions when it has terrorists who try to guide people's opinions to malicious ones in social network. First, we propose an opinion dynamics model, which is composed by the suspects, the defenders and the masses. In this model, a set of suspects influenced by the terrorists at the beginning send malicious opinions to their neighbors. Similarly, the defenders spread the government's opinion to resist people's opinions following that of terrorists. Second, we consider the random communication among neighbours, where people can not interact with each other every time. At the last, we provide a sufficient condition to ensure the convergence of the expected opinions of the system. Finally, we provide some numerical examples to illustrate all the derived results.

关键词： Terrorism

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High-throughput Microchannels for Single Cell Immobilization 15

High-Throughput Microchannels for Single Cell Immobilization

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Tang, Xiaoqing Liu, Xiaoming Li, Pengyun Lin, Yuqing Huang, Qiang Tatsuo, Arai Beijing Inst Technol Key Lab Intelligent Control & Decis Complex Syst Key Lab Biomimet Robots & Syst Intelligent Robot InstSch Mechatron EngnMinist Beijing Peoples R China

ISBN: (纸本)9781538695821

Nowadays single cell analysis becomes a more and more important method to gather the information of individual cells and study the heterogeneity of cells caused by random expression of gene, protein and the level of metabolism. Many device and technologies of single cell analysis have been developed to meet these needs. In this paper, we presented a high-throughput microchannel for single cell immobilization with small sheer pressure. It features high density arrays, which can accommodate up to 130 similar to 300 traps within 1 similar to 2 mm(2). According to our experiment, about 91% of capture unit can be occupied by the single cell in 40 s, using the optimized structure of microchannels. therefore, we expect that the high throughput microchannels can be of great importance for the biological research.

关键词： Microchannels

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Time-Varying Non-Singular Terminal Sliding Mode Attitude control of Reusable Launch Vehicle 15

Time-Varying Non-Singular Terminal Sliding Mode Attitude Con...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Dey, Subham Giri, Dipak Kumar Laxmi, Vijaya Ghosh, Ajoy Kanti Birla Inst Technol Dept Elect & Elect Engn Mesra Ranch India Indian Inst Technol Dept Aerosp Engn Kanpur Uttar Pradesh India

ISBN: (纸本)9781538695821

this paper proposes a time-varying non-singular terminal sliding mode attitude control of reusable launch vehicle in re-entry phase. the dynamics of the reusable launch vehicle is converted to state space form using the Lagrangian formulation. the state-space representation is used to design a nonlinear sliding manifold which is then modified with a time-varying function to obtain the time-varying non-singular terminal sliding manifold. Expression of equivalent control is obtained from the designed sliding manifold using the principles of sliding mode control theory. the total control input is obtained by the linear sum of equivalent control input and sliding control input. the finite time stability of the system is proved and the expression of convergence time is also derived using the Lyapunov theorem. the designed control ensures finite-time convergence at any user-specified time and also guarantees global robustness in the presence of external disturbances. the parameters of the time-varying function are obtained from the pre-specified convergence time. Numerical simulations are used to elucidate the effectiveness of the proposed control algorithm.

关键词： Reusability

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Downside Hemisphere Object Detection and Localization of MAV by Fisheye Camera 15

Downside Hemisphere Object Detection and Localization of MAV...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Zhu, Jun Zhu, Jiangcheng Wan, Xudong Xu, Chao Zhejiang Univ State Key Lab Ind Control Technol Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9781538695821

For a multirotor micro aerial vehicle (MAV) flying in the outdoor environment, its downside hemisphere has richest visual information. All that information can be obtained by a single fisheye camera with larger than 180 degrees field of view (FOV). Traditionally, the unrestored fisheye image is restored to a flat image before subsequent processing, which is both resource and time consuming. In this paper, to save resource and time, a method of fisheye object detection and localization on the unrestored fisheye image is proposed. A single-stage neural network is built for object detection. To improve the performance of detector, its submodules are designed specifically by combining the central rotational property and severe distortion of the fisheye image. To meet the real-time requirements of onboard computation, the detector is also tuned to be light-weight. After that, the detected objects are localized with assistance of by a data fusion on the fisheye model and MAV sensory data (altitude, attitude, etc.). the experimental results have validated the effectiveness of the proposed methods in this paper.

关键词： object detection deep learning data fusion

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Prototype of Wearable Robot with Tactile Sensor Measurable Contact Force Distribution with User 15

Prototype of Wearable Robot with Tactile Sensor Measurable C...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Ito, Daiki Funabora, Yuki Doki, Shinji Doki, Kae Nagoya Univ Dept Informat & Commun Engn Chikusa Ku Furo Cho Nagoya Aichi Japan Aichi Inst Technol Dept Elect & Elect Engn 1247 YachigusaYakusa Cho Toyota Aichi Japan

ISBN: (纸本)9781538695821

To improve safety of wearable assist robots, the authors make a prototype wearable robot suitable for the contact force distribution feedback control system. Because wearable assist robots contact the user and apply force directly, ensuring safety of the user is most important. In order to improve safety from the aspect of control, a contact force distribution feedback control system has been researched. the system controls contact force between the user and a robot directly. Although the system validated in principal with a simple robot model on simulation, validation with an actual robot has not done yet. there are no wearable robots measurable the contact force distribution with user. In order to measure the contact force distribution for the control system, two points: measurement reproducibility and measurement as distribution, are necessary. In this paper, a prototype robot that satisfies the two points is made. the robot is confirmed to have the two points necessary for the system by measurement experiment.

关键词： Adaptive control systems

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