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Mechanical Design and control of an Underwater Robot for Pitch and Roll Stability 3

Mechanical Design and Control of an Underwater Robot for Pit...

引用

3rd international conference on Advanced Systems and Emergent Technologies, IC_ASET 2019

作者： Hachicha, Saber Zaoui, Chiheb Rabhi, Yassine Dallagi, Habib Nejim, Samir Maalej, Aref Automatic Control Marine Robotics Naval Academy Tunisia Laboratory of Signal Image and Energy Mastery National Higher School of Engineering of Tunis Tunisia Laboratory of Electromechanical Systems University of Sfax Tunisia

ISBN: (纸本)9781728113173

The use of the underwater robot for ship hull cleaning is increasingly studied given the valuable operational, economic and environmental advantages that it offers. The Automatic control and Marine robotics Unit, within the Tunisian Naval Academy, has suggested a new underwater robot design that is equipped with two manipulating arms. The offered solution allows to combine a system portability with the improved cleaning efficiency offered by the manipulator arms. However, during underwater operation, the robot, located beneath the ship's hull, is exposed to several perturbation forces. These forces are mainly caused by water current and waves. This research focuses on the robot static and dynamic stability when it is exposed to external perturbations. The proposed approach to ensure the robot stability consists in improving its mechanical design. Therefore, we developed the design of the scaled robot to eliminate static behavior. The dynamic model was established and the electronic architecture was described. Besides, the control scheme was proposed. In conclusion, our study demonstrates the importance of the mechanical symmetry design and the control law to ensure the stability of the underwater robot. © 2019 IEEE.

关键词： Robots

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Improving Social Responsibility of Artificial Intelligence by Using ISO 26000 3

Improving Social Responsibility of Artificial Intelligence b...

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3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Zhao, Wei-wei China Natl Inst Standardizat 4 Zhichun Rd Beijing Peoples R China

The vigorous development of artificial intelligence has had a profound and long-term impact on human production and life. It is a double-edged sword. While letting people enjoy the good life created by new technology, it also allows people to feel its negative effects, such as infringing on human privacy, and bringing new inequalities to human beings. Discussing the social responsibility of artificial intelligence has become a hot topic in academic circles in the past two years. This article starts with adopting the research framework of ISO 26000, comprehensively analyzing the problems of artificial intelligence social responsibility in theory and practice, and putting forward their own thinking. It is concluded that in the age of artificial intelligence, we will proceed from the seven themes of this standard to enhance the social responsibility of artificial intelligence, and ultimately achieve the sustainable development of artificial intelligence by adopting the social responsibility international standard ISO 26000,.

关键词： Artificial intelligence

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On a New Adaptive Multivariable Twisting Sliding Mode control Approach and Its Application 3

On a New Adaptive Multivariable Twisting Sliding Mode Contro...

引用

3rd international conference on control and robotics Engineering (ICCRE)

作者： Guo, Zongyi Zhao, Jinlong Zhou, Mm Zhou, Jun Northwestern Polytech Univ Inst Precis Guidance & Control Xian Shaanxi Peoples R China

ISBN: (纸本)9781538666630

This paper presents a new adaptive multivariable twisting sliding mode control for uncertain systems. A Lyapunov function based approach is utilized to show the finite-time convergence of the control system in the presence of a class of disturbance. Overestimation of control gains is avoided via the proposed adaptation mechanism. The application to the attitude control law design for reusable launch vehicle (RLV) validates the proposed approach.

关键词： twisting sliding mode control adaptative multi-variable systems

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Histogram analysis of photoacoustic effect changes on different liquid samples 19

Histogram analysis of photoacoustic effect changes on differ...

引用

3rd international conference on Medical and Health informatics, ICMHI 2019

作者： Shen, Tsu Wang Ou, Ting Ku Chang, Chi-Chang Feng Chia University Department of Automatic Control Engineering and Taichung Taiwan Feng Chia University Department of Automatic Control Engineering Taichung Taiwan Chung-Shan Medical University School of Medical Informatics Taichung Taiwan

ISBN: (纸本)9781450371995

The photoacoustic imaging is based on the effect of the acoustic response of laser light absorption to avoid the effects of light scattering. The photoacoustic imaging shows the outperformance to compare with traditional ultrasound imaging. However, it is unknown if the photoacoustic effect changes when the laser misalignment on the reticulated piezoelectric ceramic. Our system is mainly composed of hardware and software, including a piezoelectric ceramic, motors, a class III laser diode, relays, and a data acquisition card combined with LabView program. The piezoelectric sensor is a 21.9mm by 15.9mm rectangular ceramic with four strip holes in the center. The laser hits several different spots on strip holes of piezoelectric. The total of 6 points are tested to observe if these signals keep consistence. The results demonstrated the laser mis-alignment effect of photoacoustic imaging can be controlled. Finally, the research tested different samples and analyzed by histogram method to obtain the response signals with different features. This research may help to generate photoacoustic features faster and to improve image quality in the future. © 2019 ACM.

关键词： Photoacoustic effect

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control Algorithms for a Mobile Robot Application in a Fog Computing Environment 2019

Control Algorithms for a Mobile Robot Application in a Fog C...

引用

3rd international conference on automation, control and Robots (ICACR)

作者： Bhausaheb, Bhalekar Vaibhav Saikrishna, P. S. Indian Inst Technol Tirupati Dept Elect Engn Indian Tirupati Andhra Pradesh India

ISBN: (纸本)9781450372886

The growing demand of industrial, automotive and service robots presents a challenge to the centralized Cloud robotics model in terms of privacy, security, latency, bandwidth, and reliability. Especially, mobile robots have limited on-board computational power which restricts their mission planning in autonomous applications. With the evolution of Fog computing, computations may be offloaded to Fog devices and/or smart gateway devices which together form a distributed computing platform in close proximity to the mobile robot. In this work, we demonstrate the application of Fog computing for mobile robots with a specific case study of color-based object detection, tracking and mapping in a confined area. The computations required for image processing are offloaded to the Fog devices via Fog nodes and the results are acquired back in real-time. The control algorithms for tracking predefined paths and mapping a pre- defined area are validated using a controlled mobile robot with an on-board camera and processing unit. Also, the effects of improvement in latency due to fog environment as compared to on-board computation on the mobile robot is demonstrated.

关键词： Fog robotics Algorithms for control Edge Computing Cloud

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Multiple lane road car-following model using Bayesian reasoning for lane change behavior estimation: A smart approach for smart mobility 19

Multiple lane road car-following model using Bayesian reason...

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3rd international conference on Future Networks and Distributed Systems, ICFNDS 2019

作者： Pop, Mădălin-Dorin Proștean, Octavian Proștean, Gabriela Automation and Applied Informatics Department Politehnica University of Timișoara Timișoara Romania Management Department Politehnica University of Timișoara Timișoara Romania

ISBN: (纸本)9781450371636

Car-following modeling is one of the most used approaches for road traffic modeling. It ensures a detailed overview of vehicles behavior at microscopic traffic modeling level, taking into account some primary parameters like velocity, acceleration/deceleration, the distance between vehicles etc. A big disadvantage of this model is that is single-lane oriented, studyingthe current vehicle behavior based only on vehicle ahead behavior. The purpose of this paper is to deliver a new car-following model capable to adapt to multiple lanes roads, where the followed vehicle can be changed at any time. In this case, a big challenge will be the integration of a new vehicle in the established car-following model. This study attempts to estimate these different cases of lane-change based on a Bayesian reasoning estimation, facilitating the new vehicle integration on the current lane. Results will show the advantage of having a multiple lanes road traffic overview in adopting a proper traffic strategy, from the possible routes that can be reached point of view, based on lane change drivers’ decisions. © 2019 Association for Computing Machinery.

关键词： Vehicles

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Switching Sliding Mode control for Systems with Unknown Time-Varying control Direction 3

Switching Sliding Mode Control for Systems with Unknown Time...

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3rd international conference on control and robotics Engineering (ICCRE)

作者： Zhao, Jinlong Guo, Zongyi Zhou, Jun Northwestern Polytech Univ Inst Precis Guidance & Control Xian Shaanxi Peoples R China

ISBN: (纸本)9781538666630

sliding mode control is proposed for second-order systems with unknown time-varying control direction. A nonsingular terminal sliding mode controller is firstly developed for nominal system. Based on Lyapunov function, the convergence condition is derived for systems with different control directions, and then a switching scheme for sliding mode controller is designed without identifying the sign changes. Scenarios against different initial control directions are simulated to demonstrate the effectiveness of the proposed approach. In this paper, a Lyapunov function based switching

关键词： Lyapunov function nonsingular terminal sliding mode Switching control time-varying control direction

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Swing Process Model Design of a Cutter Suction Dredger Based on RBF-ARX Model 3

Swing Process Model Design of a Cutter Suction Dredger Based...

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3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Jiang, Shuang Ni, Fusheng Qian, Lina Hohai Univ Educ Minist Dredging Technol Engn Res Ctr 200 Jinling North Rd Changzhou City Peoples R China

The swing process of a cutter suction dredger are affected by many factors, which changed time and nonlinear. So it is difficult to describe the change law accurately. The swing process model based on RBF-ARX model is established after detailed analysis of the formation process of dredger production. The shortcomings of the traditional neural network could be overcome by this method, such as slow convergence rate, more hidden layer. After modeling, the linear and nonlinear parameters of the RBF-ARX model are identified off-line by using SNPOM (Structured Nonlinear Parameter Optimization Method). Then the errors of the output of the model and the real data are compared and analyzed by simulation. The result show that the swing process model can accurately describe the dynamic characteristics of the system in the global range, and the model output is well fitted with the real data of a cutter suction dredger.

关键词： Radial basis function networks

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The Design of Intelligent Grasping control System for a Special Operation Manipulator 3

The Design of Intelligent Grasping Control System for a Spec...

引用

3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Deng, Songbo Cai, He Li, Ke Li, Tongtong Deng, Tao Wang, Yanbo Beijing Res Inst Precise Mechatron & Controls 1 South Da Hongmen Rd Beijing Peoples R China

In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The control system of the special operation manipulator is needed to have the characteristics of multiple terminal functions, accurate end accuracy and high system reliability and redundancy within outdoor environment. It puts forward higher requirements for the manipulator performance and operator. After analyzing the work requirements of the manipulator, the D-H parameters and motion space is calculated for further research. The forward and inverse kinematics models are built to make the control system into reality. The target grasping is achieved by using the force and position hybrid control and single joint/end control methods. The intelligent recognition system based on machine learning is constructed. The simulation training based on machine learning is carried out by using the back image of the end camera of the manipulator to help the operator locate the target quickly and accurately. Finally the special operation manipulator is used to carry out the target intelligent grasping experiment based on visual guidance. The test results show the effectiveness of the control system design. Thereby it is suitable to be promoted to other robot or manipulator control system design.

关键词： Inverse problems

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Deep Learning-based Detection of Overlapping Cells 19

Deep Learning-based Detection of Overlapping Cells

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Proceedings of the 3rd international conference on Advances in Artificial Intelligence

作者： Agne Paulauskaite-Taraseviciene Kristina Sutiene Justas Valotka Vidas Raudonis Tomas Iesmantas Department of Applied Informatics Kaunas University of Technology Studentu Kaunas Lithuania Department of Mathematical Modelling Kaunas University of Technology Studentu Kaunas Lithuania Kaunas University of Technology Studentu Kaunas Lithuania Department of Automation Kaunas University of Technology Studentu Kaunas Lithuania Department of Applied Mathematics Kaunas University of Technology Studentu Kaunas Lithuania

ISBN: (纸本)9781450372534

Detection and quantification of cells in general is one of the key challenges in many clinical trials for disease diagnosis and monitoring. automation of this task enables quantitative analysis of digital images with a high processing rate, which is a support to pathologist at various kind of analyses. Recent studies have already indicated that deep learning usually yield superior accuracy in the field of digital pathology. One of the challenges tackled by the researches is to detect cells in images when cells are highly overlapped, over illuminated or partially occluded with the noise. Therefore, we focused on two conceptually different deep learning models, specifically U-Net and Mask R-CNN, in order to evaluate their capability and performance on the detection of overlapping cells. The dataset used in the study contains different types of images, possible observed under different lighting conditions, and the amount of target cells may range from tens to thousands, therefore the algorithm is required to be flexible enough.

关键词： convolution neural networks Cell detection image analysis overlapping cells artificial intelligence

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