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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

共 3899 条记录，以下是1151-1160 订阅

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AN UNDERACTUATED CABLE-DRIVEN PARALLEL ROBOT FOR MARINE AUTOMATED LAUNCH AND RECOVERY OPERATIONS

AN UNDERACTUATED CABLE-DRIVEN PARALLEL ROBOT FOR MARINE AUTO...

引用

ASME international Design engineering Technical conferences / 43rd Annual Computers and Information in engineering conference (IDETC-CIE) / 47th Mechanisms and robotics conference (MR)

作者： Angelini, Michele Ida', Edoardo Bertin, Daniele Carricato, Marco Mantovani, Enrico Bazzi, Davide Orassi, Vincenzo Univ Bologna Dept Ind Engn Bologna Italy L3Harris Bologna Italy

ISBN: (纸本)9780791887363

This paper presents the feasibility study and preliminary testing of an underactuated cable-driven parallel robot for automated launch and recovery operations on the sea surface. The robot frame is mounted onto a primary vessel (PV) subject to sea-induced motions. During launch, the end-effector (EE) is required to deploy a secondary vessel (SV) by lowering it from the PV onto the sea surface. During recovery, the EE has to track and grasp a SV and the EE-SV assembly needs to be stabilized during lifting from the sea surface to the PV. Sea conditions and the underactuated nature of the EE influence the operational feasibility and the overall robot performance. The paper presents the conceptual design and the robot model, as well as the methodologies for winch dimensioning and robot control. An extensive simulation campaign is conducted to optimize performances and assess the system's behavior.

关键词： Cable-driven parallel robots underconstrained robots marine robots launch and recovery

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A Two-layer Adaptive control Strategy for Photovoltaic Power in Different Scenarios 3

A Two-layer Adaptive Control Strategy for Photovoltaic Power...

引用

3rd international conference on Energy engineering and Power Systems, EEPS 2023

作者： Wan, Yanghui Yan, Jiahao Chu, Tianfeng Li, Yaping Yuan, Kun Zhang, Kaifeng Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Nanjing China Power Automation Department Nanjing China State Grid Liaoning Electric Power Co. Ltd. Electric Power Research Institute Shenyang China

ISBN: (纸本)9798350313857

Currently, control strategies for distributed photovoltaic (PV) power generation are relatively single and rigid, and cannot flexibly adapt to the diverse demands of power grids in different scenarios. Firstly, this paper analyzes the adaptive relationship between different dispatching demands, the regulation ability of distributed PV, and the characteristics of the local voltage. Secondly, for different scenarios, the coordinated controller determines the reference values of active power and reactive power given to the inverter. Thus, distributed PV power control modes which can adapt to different scenarios have been established. Then, these control modes can be classified into single control modes and compound control modes according to the complexity of scenario demands. On this basis, a specific two-layer adaptive control strategy and process of distributed PV power generation in a low-voltage distribution network are further proposed, which takes into account both external demands of the distribution network and the regulation ability of distributed PV. Finally, a case study is given to verify the rationality and effectiveness of the two-layer adaptive scenarios control strategy. This strategy can effectively improve the comprehensive support ability of distributed PV power generation towards the power grid in multiple scenarios, and improve the stable operation level of the regional power grid. © 2023 IEEE.

关键词： Reactive power

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An epidemic pretection design of vehicle 3

An epidemic pretection design of vehicle

引用

3rd international conference on Electronics, Electrical and Information engineering, ICEEIE 2023

作者： Zhu, Yuhong Hao, Yinxuan Liu, Yuhao Wang, Guoqi He, Mingxuan Shenyang Aerospace University College of electromechanical engineering Shen Yang110136 China

ISBN: (纸本)9781510671423

Aiming at the difficulty of human material distribution under the background of normal epidemic prevention and control, a new pneumatic robot design scheme was proposed which can remote control. The robot structure was designed by using SolidWorks 3D software, and a prototype was made through Simulation analysis of key parts. The test results show that: The size of the robot model prototype is 600×600×600mm, the extension size is 1200×1200×1000mm, and the maximum weight is no more than 35KG. The test has proved that the epidemic prevention and control robot can be applied in the fields of material handling, building patrol, epidemic control and so on. This design for the robot intelligence has a certain promotion and display function. © 2023 SPIE.

关键词： Remote control

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Research on Path Tracking control of Pontoon Unit Based on SFLOS Guidance Algorithm 3rd

Research on Path Tracking Control of Pontoon Unit Based on S...

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3rd international conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Jiang, Chuan Liu, Yingshun Nanjing University of Science and Technology Nanjing210094 China

ISBN: (纸本)9789819710942

The motion control of each pontoon unit should be considered in the automatic docking technology of the pontoon bridge. In this paper, a path-tracking controller based on the SFLOS guidance algorithm is studied. Firstly, the dynamic and kinematic models of the pontoon unit are analyzed. Secondly, the guidance algorithm of SFLOS and the controller based on the backstepping method are designed, and the stability is verified by the Lyapunov stability analysis method. Finally, the simulation study verifies that the designed guidance controller can make the driving path of the pontoon unit converge to the expected path. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Backstepping

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A Face Recognition Method Based on Sparse Enhancement and Collaborative Information Fusion for Epidemic Prevention and control 3

A Face Recognition Method Based on Sparse Enhancement and Co...

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3rd international conference on Applied Mathematics, Modelling, and Intelligent Computing, CAMMIC 2023

作者： Deng, Dingsheng School of Science and Technology Sichuan Minzu College Sichuan Kangding626001 China

ISBN: (数字)9781510667617

ISBN: (纸本)9781510667600

At present, "COVID-19" has spread in 184 countries (regions) in the world, and more than 500 million patients have been diagnosed and caused 66.3 million deaths. The worldwide epidemic is still ongoing, and the epidemic in China is still increasing, therefore, the regular prevention and control of the epidemic is An important part of ensuring people live, live, live, especially in crowded places, there is an urgent need for artificial intelligence, biometrics and other technologies. This paper proposes the face recognition method of sparse enhancement and collaborative information fusion. The paper first explains and generalises the relevant terms, and finally, the practicality of the algorithm is demonstrated through experimental analysis. The recognition rate of the algorithm described in this paper is generally higher than 95% on different facial masking ratios, and the results show that the face recognition method of sparse enhancement and collaborative information fusion based on epidemic prevention and control is a very worthy research The results show that face recognition based on sparse enhancement and collaborative information fusion for epidemic prevention and control is a very worthwhile research technique that can help solve the critical problems of epidemic prevention and control today. © 2023 SPIE.

关键词： Information fusion

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control of AC ADRC Servo System Optimized Based on Neural Network 3

Control of AC ADRC Servo System Optimized Based on Neural Ne...

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3rd IEEE international conference on Information Technology, Big Data and Artificial Intelligence, ICIBA 2023

作者： Sun, Li Engineering Institute Shan Dong Xiehe College Jinan China

ISBN: (纸本)9781665490788

The work aims to solve the problems of external disturbance and nonlinear characteristics in the active disturbance rejection control (ADRC) system of traditional AC permanent magnet synchronous motor servo and numerous parameters difficult to tune in ADRC. Wavelet neural network was used to adjust the error correction coefficients of the extended state observer in the active disturbance rejection control, so as to design the active disturbance rejection controller and related control system optimized based on wavelet neural network, thus optimizing the performance of the overall control system. Through Matlab/SIMULINK simulation experiment, the optimized system was compared with traditional PID servo control system and un-optimized AC ADRC servo system for verification. According to the simulation results, the ADRC system of AC permanent magnet synchronous motor servo optimized based on wavelet neural network had fast dynamic response to the target position, small steady-state error, strong anti-interference ability, and small steady-state torque ripple. Compared with conventional un-optimized ADRC system and traditional PID servo system, the ADRC system optimized based on wavelet neural network can effectively improve the control performance and robustness of servo system. © 2023 IEEE.

关键词： Servomechanisms

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A Generic Anti-Windup Design under Linear Active Disturbance Rejection control Scheme

A Generic Anti-Windup Design under Linear Active Disturbance...

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2023 IEEE international conference on Electrical, Automation and Computer engineering, ICEACE 2023

作者： Hui, Li Cheng, Xu Hua, Ji Zhide, Yin Wanhai, Hu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China The 3rd Research Academy of CASIC Beijing China

ISBN: (纸本)9798350309614

A generic anti-windup compensation strategy under Linear Active Disturbance Rejection control scheme is proposed. The difference, between the controller output and the actuator output, after multiplied by a tunable parameter, together with controller output, is fed back to the extended state observer to compensate controller windup. While windup problem arises in control system, the controller output is expectedly produced, and the disadvantageous influence of nonlinearity on closed-loop dynamics is distinctly alleviated. The approach is employed to a near space vehicle with fin-deflection saturation. The numerical simulations show that the proposed approach has the better effectiveness in active disturbance rejection control designed situation than some previous anti-windup compensation strategy. © 2023 IEEE.

关键词： active disturbance rejection control anti-windup compensation two-step design method Windup problem

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Robust State Feedback control of DC-DC Boost Converter using Legendre Polynomials 3

Robust State Feedback Control of DC-DC Boost Converter using...

引用

3rd international conference on Electrical Machines and Drives, ICEMD 2023

作者： Sarmad, Soroush Khorashadizadeh, Saeed Nian Electronic Co. R&D Department Mashhad Iran University of Birjand Faculty of Electrical and Computer Engineering Birjand Iran

ISBN: (纸本)9798350393743

In this paper, a robust state feedback controller is presented to track output voltage of boost converter. According to the applications of boost converter in modern industry such as electric cars, solar inverters and DC motor drives, the ability to control output voltage is an important parameter. As the model of boost converter is a nonlinear system, the linear classical controllers may not suffice. In this paper, the model of boost converter is extracted and a simplified state feedback controller is presented which uses Legendre polynomials in order to compensate the eliminated terms. For validation of proposed method, this controller is compared with classical proportional integral controller from the view point of speed and simplicity. The simulation results prove that this controller can not only maintain stability even in occurrence of error in current sensor, but also it can track the reference voltage very fast with no steady state error. © 2023 IEEE.

关键词： State feedback

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Trajectory Tracking control of SCARA Parallel Robot Based on Fuzzy Adaptive Iterative Learning Algorithm 3

Trajectory Tracking Control of SCARA Parallel Robot Based on...

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3rd international conference on Mechanical Design and Simulation, MDS 2023

作者： Li, Qiancheng Wu, Guanglei Shen, Huiping School of Mechanical Engineering Dalian University of Technology Liaoning Dalian116024 China School of Mechanical Engineering Changzhou University Changzhou Jiangsu213164 China

ISBN: (纸本)9781510664890

Aiming to improve the anti-interference capability and trajectory tracking accuracy of the robot control system that undertakes repetitive motion tasks, this work presents the trajectory tracking control along with a four degree-of-freedom parallel robot. By means of the principle of virtual work, the dynamic model of the robot was built for the model-based control design. A fuzzy adaptive iterative learning control algorithm was proposed by combining fuzzy control theory and iterative learning theory. Finally, the proposed algorithm was simulated and verified in comparison with the traditional iterative learning control algorithm, of which the results show that the proposed algorithm has robustness and higher tracking accuracy than the traditional one. © 2023 SPIE.

关键词： Robots

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Design of Hidden Door Handle control System for New Energy Vehicles 3

Design of Hidden Door Handle Control System for New Energy V...

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3rd international conference on Mechanical, Electronics, and Electrical and Automation control, METMS 2023

作者： Chen, Shikang Chen, Xing School of Mechanical Engineering Dalian University of Technology Dalian116024 China

ISBN: (纸本)9781510666689

In order to improve the ability of hidden door handle to recognize obstacles and reduce the power consumption of the system, a stable and low power consumption hidden door handle control system is designed. The S12ZVM chip is used as the main control unit, and the motor is controlled through the H bridge circuit. The speed and current information of the motor extracted from the ripple current are used to comprehensively judge whether the obstacle is touched. The controller communicates with the BCM through the CAN bus so that the hidden door handle can be adjusted to enter the sleep mode according to different work scenarios. The experimental results show that the system can effectively reduce the occurrence of misjudgment of obstacles and keep the current in sleep mode below 200-A. © 2023 SPIE. All rights reserved.

关键词： Door handles

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