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检索条件"任意字段=2nd International Symposium on Control Engineering and Robotics, ISCER 2023"

共 916 条记录，以下是71-80 订阅

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Design and application of petrochemical inspection robot

Design and application of petrochemical inspection robot

引用

control engineering and robotics (iscer), international symposium on

作者： Xin-bao Li Ling-yu Sun Jin-kun Li Wen-qing Li Tan Zhang Yang Li Ying-jie Xu Jia-Ning Zhang School of mechanical engineering Hebei University of technology China

In order to meet the needs of petrochemical tank farm inspection, a tank farm double-compartment inspection robot is designed, which has the function of gas detection, video monitoring and laser obstacle avoidance. With wheeled mobile mechanism adopted, the robot complete the inspection work by four-wheel drive mode. Through Adams software, the robot can cross over obstacles, climb slope sand ditch, turn at right angles and complete kinematics simulation analysis. The simulation results show that its obstacle-crossing height is 126.5mm, the climbing angle is 35, and the trench width is 250 mm. Using this robot, the patrol operation of tank farm can be realized, which greatly reduces the intensity of personnel patrol operation. Compared with manual inspection, inspection is more accurate and efficient.

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An Improved Nonzero Vector Based Common-Mode Voltage Suppression Strategy for Permanent Magnet Synchronous Motors

An Improved Nonzero Vector Based Common-Mode Voltage Suppres...

引用

control engineering and robotics (iscer), international symposium on

作者： Leilei Du Qiang Fu College of Energy and Power Engineering Changsha University of Science and Technology Changsha China School of Electrical & Information Engineering Changsha University of Science and Technology Changsha China

In order to suppress the negative influence of common mode voltage (CMV) in the permanent magnet synchronous motor (PMSM) control system, a feasible modulation method in the system, the improved AZSPWM3-4 algorithm, is proposed by analyzing and comparing the advantages and disadvantages of the existing non-zero vector pulse width modulation (NZPWM) strategy. In one control cycle, V3 is used to synthesize the reference vector, avoiding the employment of the zero vector, thus reducing the common mode voltage (CMV). In comparison with the traditional space vector pulse width modulation (SVPWM), the algorithm has the same modulation range and great dynamic and stable performance in the permanent magnet synchronous motor control system. In addition, it can reduce the amplitude of common mode voltage (CMV) from Udc/2 to Udc/6. The feasibility and stability of this method have been proved by comparing with existing modulation methods and the experimental results.

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Simulation of Medical Service Robot Based on ROS

Simulation of Medical Service Robot Based on ROS

引用

control engineering and robotics (iscer), international symposium on

作者： Kaize Wu Jianbin Deng Dejin Zhao College of Engineering Yanbian University Yanji China

For the distribution of materials in infectious disease isolation areas and the regular elimination of corridors in infected areas, it is currently mainly done manually. In order to reduce labor costs and the possibility of cross-infection, this paper proposes a medical service robot based on ROS(robot operating system). Firstly, the medical service robot system is simulated, and the establishment of the robot structure and the analysis of the kinematic model are completed. Secondly, import the built medical service robot into the Gazebo simulation platform to create a simulation environment. Then, a two-dimensional grid map of the simulated environment is constructed. Finally, the navigation simulation experiment is completed for this environment, and obstacles are added to test its obstacle avoidance ability, so that the medical service robot can complete related tasks and operations. The experimental results show that the medical service robot can complete tasks such as map construction, real-time positioning, path planning, dynamic obstacle avoidance, and fixed-point navigation in the constructed simulation environment. Thus, when equipped with different modules, the medical service robots can eventually perform tasks such as the distribution of supplies in isolation areas and the disinfection of corridors.

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Numerical Solution of the M/NEMS Contact Problem Using an Improved Arc-Length Method

Numerical Solution of the M/NEMS Contact Problem Using an Im...

引用

control engineering and robotics (iscer), international symposium on

作者： Zhicheng Shan Shuimiao Du School of Mechatronic Engineering and Automation of Shanghai University Shanghai China Sino-European School of Technology of Shanghai University Shanghai China

Reliability issue induced by nanoscale mechanical contact has been a fundamental bottleneck in mature commercialization of Micro/Nano Electromechanical System(M/NEMS). The key point of M/NEMS contact reliability analysis lies in accurate mathematical models and sophisticated numerical resolution methodologies are prominently used in today's research, which are far from being neither efficient, nor accurate because of the multi-instability induced by surface roughness and the non-convexity of the interaction potential. In this work, we proposed a self-adaptive version of the arc-length method-which is one of the most commonly used nonlinear solvers-to solve the M/NEMS contact problem. Numerical results showed that the improved method has superior performance in capturing localized microscale contact effect in comparison with the traditional one. As an application, the influence of the fringing field effect on the performance of M/NEMS is investigated by using the improved arc-length method.

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Q-Learning for Path Planning of a UAV under Energy Consumption Constraints

Q-Learning for Path Planning of a UAV under Energy Consumpti...

引用

control engineering and robotics (iscer), international symposium on

作者： Xingrui Xie Tao Wang Zhi Zhu Song Yang College of Military and Political Foundation National University of Defense Technology Changsha China College of Systems Engineering National University of Defense Technology Changsha China

Owing to their flexibility and intelligence, unmanned aerial vehicles (UAVs) are becoming increasingly indispensable in military operations and play a vital role in collecting information from battlefields. Planning UAV flight trajectories to obtain fresh data with the constraint of limited energy is challenging. In this study, first, we conduct a literature review of UAV path planning its finite energy, and UAV communication problems. Subsequently, we formulate a Q-Learning (QL) algorithm to map the outstanding path of the UAV that jointly optimizes the flying distance, energy consumption, and data benefits. Further simulation results demonstrate that the proposed method can significantly reduce the route length and improve the smoothness of the UAV compared to other baseline algorithms. Finally, we investigate the influence of the parameter values on the results of the QL algorithm.

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Design and Implementation of Water Environment Monitoring System Based on Bionic Robot Fish

Design and Implementation of Water Environment Monitoring Sy...

引用

control engineering and robotics (iscer), international symposium on

作者： Meihuan Lin Weilin Wu Department of Electronic Information Guangxi Minzu University Nanning Guangxi China Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University Guangxi China

In this paper, a small robotic fish system with single joint caudal fin propulsion is designed and developed independently by imitating the tail fin swing mode of real fish in nature. It has human-computer interaction and ornamental. The whole design process is divided into mechanical structure design, software/hardware design. In this paper, the three-dimensional design software Solidworks is used to model the mechanical structure, and the mechanical structure is simulated. After many experiments and optimizations, the caudal fin with higher propulsion efficiency was finally developed, and the maximum navigation speed, turning radius, maximum floating/diving speed and other performance indicators of the robotic fish under high-efficiency caudal fin propulsion were tested. At the same time, appropriate remote control communication technology was selected to realize the free remote control of the robotic fish within a certain water depth range.

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Research on Fast Shaft Hole Assembly Technology Based on 2D Point Cloud Matching Shape Recognition Method by Industrial Robot

Research on Fast Shaft Hole Assembly Technology Based on 2D ...

引用

control engineering and robotics (iscer), international symposium on

作者： Xian Wu Lei Lu Chengyun Yang Wenjie Li Yinan Wang Haoran Zhao Lei Zhang Jiangsu Provincial Key Laboratory of Advanced Robotics&Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China

Precise and rapid shaft hole assembly is important for improving equipment performance and assembly efficiency. As the variety of parts and shapes, the accuracy and efficiency of manual assembly are limited. In this paper, a shaft hole assembly method by using image recognition algorithm and robot is proposed. In the image recognition process, a shape recognition method based on 2D point cloud matching is presented, and combined with robot to realize grasping and assembly movement. In order to improve the recognition accuracy and reduce the real-time computational complexity, the method with binarization, Gauss filtering and shape recognition are provided to process the image obtained from camera. The experiment results show that the proposed image recognition could effectively identify part shape and complete the assembly process accurately, i.e., the method could effectively improve the efficiency and accuracy of shaft hole assembly.

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Research on Optimal Distribution of Braking Force of Electric Vehicle Based on Time to Collision

Research on Optimal Distribution of Braking Force of Electri...

引用

control engineering and robotics (iscer), international symposium on

作者： Xu Tong Yuning Wang Yibo Guan Shaopeng Tian Department of Automotive Engineering Wuhan University of Technology wuhan hubei china

Aiming at the problem of long braking distance and insufficient accuracy of traditional brake force distribution strategy in online control, a layered brake by wire control strategy was proposed. The upper layer was the danger warning layer. The second order TTC safe collision time model was used to calculate the collision time between the vehicle and the vehicle in front, and the braking strategy was selected based on this; The lower layer was the brake torque distribution layer. The sequential quadratic programming (SQP) method was used to establish the optimization function using the tire slip ratio under the three working conditions of general braking, emergency braking and steering avoidance braking respectively, and optimize the distribution of vehicle braking force. The joint simulation results show that the braking effect of the proposed general braking strategy and emergency braking strategy is significantly improved compared with that of the traditional braking force distribution method; The steering avoidance braking strategy based on the collision time has a rapid response and effectively improves the lateral stability of the vehicle. The braking efficiency of the vehicle is improved while ensuring the braking safety.

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Equivalence Among PID and Several Robust control Methods with Application to Motor control 2

Equivalence Among PID and Several Robust Control Methods wit...

引用

2nd international Conference on Automation, robotics and Computer engineering, ICARCE 2023

作者： Chen, Zhixiang Hou, Yuguo Huang, Kunyang Zhao, Zhenglong Yao, Ruiqiao Cao, You Qingzhou High-tech Institute Weifang China

ISBN: (纸本)9798350308341

This paper explores the equivalence among proportional-integral-derivative (PID) control and several robust control methods, including an adaptive backstepping control, an improved backstepping control, 'P+PI' control and a quasi-sliding mode control, in time domain. It can be concluded that all the discussed robust control methods can be reconstructed in PID form. Experimental results of a servo motor control system verify the equivalence among PID and the discussed robust control methods. © 2023 IEEE.

关键词： Sliding mode control

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Machine Vision and Six-Dimensional Force Recognition for Assembly Hole-Finding Strategies

Machine Vision and Six-Dimensional Force Recognition for Ass...

引用

control engineering and robotics (iscer), international symposium on

作者： Lu-lu Yin Jian-chun Liu Wei Li Zhong-zhao Ye School of mechanical and automotive engineering Xiamen University of Technology Xiamen China Xiamen Aerospace Siert Robotic System Co. Ltd Xiamen China

In response to the current problems of bolt assembly in industrial automation, which can easily lead to jamming and hole-finding failure, the hole-finding method for bolt assembly is investigated. According to the different contact positions of the bolts, the force and torque values generated are different, and a method is proposed to determine the position of the bolts by identifying the magnitude and direction of the six-dimensional force. A monocular camera is used to obtain information on the position of the assembly hole to complete the initial positioning, a BP neural network is used to judge the assembly state, bolt position information is obtained from the feedback of force information, and a Gaussian fit is used to obtain the bolt movement distance to adjust the robot end motion. The results show that the robot can be reliably guided to complete the bolt assembly hole-finding within 30 seconds by visual guidance and feedback of force information.

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