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

作者： Chandramouli, Aaditya Manivannan, P. V. IITM Dept Mech Engn Madras 600036 Tamil Nadu India

ISBN: (纸本)9781538666630

The developed Bio-inspired Robot can transform its posture from erect to sprawl and vice versa. This paper deals with the inverse dynamics of various reconfigurable postures and a few inspired by nature. The corresponding joint torques are compared, in order to study the change in torque requirements for these postures. Initially, a reductionist model of robot walk was developed and joint torques were calculated analytically and compared with torque output obtained using "Solidworks" for verifying the model. Subsequently, inverse kinematics was carried out by assuming certain parameters such as velocity, stroke length, and robot dimensions. The angular velocity profiles obtained from inverse kinematics analysis were used to run inverse dynamics;thereby obtaining the joint torques. Using the same process for various configurations, we compared different postures and their torque requirements. These results can further be used to minimize torque and energy requirements, enabling the robot to reconfigures itself to the most energy efficient configuration suited to terrain changes. The potential fields of application of this robot include: search and rescue, surveillance and other military operations.

关键词： Bio-inspired Quadruped Reconfigurable robot Erect Sprawling Kinematic analysis Multi-body dynamics Inverse Dynamics

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Research and Comparison of Automatic control Algorithm for Unmanned Ship 3

Research and Comparison of Automatic Control Algorithm for U...

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

作者： Yao, Bao Yang, Jie Zhang, Qingnian Guo, Zhiqiang Hu, Rong Wuhan Univ Technol Minist Educ Key Lab Fiber Opt Sensing Technol & Informat Proc Wuhan Hubei Peoples R China

ISBN: (纸本)9781538666630

In today's extremely competitive shipping era, especially in the field of unmanned ships, the safety of ship navigation and the rapid growth of operational demand have forced ship designers to improve the automatic control performance of ships, in which ships Heading control system is most important. PID is an integral part of ship heading control system. However, the three parameters Ki, Kp and Kd of traditional PID need to be manually set and can't be adjusted in real time, which lacks flexibility. For a ship with such a large inertia device, PID control easily lead to serious overshoot and deviation. Therefore, this paper separately studies the performance of vanilla PID algorithm, fuzzy PID algorithm and back propagation (BP) neural network PID algorithm applied to unmanned ship autopilot. The three parameters can be adjusted in real time by combining Fuzzy algorithm and neural network. The simulation results show that the performance of neural network PID is better than the former two controllers in both cases of single command and continuous tracking. In the case of adjusted by a single command, the overshoot is only 41% of the PID control, and the adjustment time is only PID control 27%, so improved PID controller based on neural network has a bright future.

关键词： unmanned ship automatic control PID fuzzy algorithm BP neural network

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Development of Mobile Robot with Vision Inspection System and Three-axis Robot 3

Development of Mobile Robot with Vision Inspection System an...

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

作者： Lee, Jeng-Dao Wu, Yu-Hsiang Jhao, Ying-Jie Chen, Li-Yin Chen, Han-I Natl Formosa Univ Dept Automat Engn Huwei Yunlin Taiwan

ISBN: (纸本)9781538666630

Automatic factories have become the trend nowadays. In the applications of the automated production line, mobile robots play an important part of connecting among workstations. In this paper, a mobile robot with vision system was developed for the transportation, gripping and identification. First, the structure of mobile platform is combined with extrusion, aluminum board and Mecanum wheel and digital signal processor (DSP) is adopted as the main controller. A long trip three-axis robot is constructed by the three sliders on the mobile platform. It can let the robot arm to grip object from the large area. Finally, the image is processed by the vision of raspberry PI on the robot. Vision system can identify mark and selects mission to command the robot move agilely in designation region. Finally, the basic movements and missions required for the storage car can be done efficiently.

关键词： mobile robot vision DSP three-axis robot Raspberry Pi character recognition

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Research on Space High Stability Optical Scanning Servo System 3

Research on Space High Stability Optical Scanning Servo Syst...

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3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Pengfei, Wu Zenghao, Chen Yutong, Zhu Zhenfeng, Fang Fengdan, Zu Shanghai Aerospace Control Technology Institute Shanghai Engineering Research Center of Inertial Shanghai China

ISBN: (纸本)9781665492126

To improve the low-speed stability of the space optical scanning servo system, a method to estimate speed using the least-squares fit based on FPGA was proposed. The multi-order least-squares polynomial is used to fit the position tracking curve, and the derivative was used to calculate the speed of the optical scanning mechanism. Through simulation and experiment, the stability of this method and the traditional M-method speed measurement method under low-speed working conditions were compared. Results show that the new method has improved accuracy while low-speed working conditions and improved stability by more than 4 arcsec (3σ). © 2023 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Modeling and Co-Simulation of Actuator control for Lower Limb Exoskeleton 3

Modeling and Co-Simulation of Actuator Control for Lower Lim...

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

作者： Aliman, Norazam Ramli, Rizauddin Haris, Sallehuddin Mohamed Univ Kebangsaan Malaysia Fac Engn & Built Environm Bangi 43600 Selangor Malaysia Politekn Sultan Azlan Shah Dept Mech Engn Behrang 35950 Perak Malaysia

ISBN: (纸本)9781538666630

This paper presents a methodology of using co-simulation to study the dynamic performance analysis of a lower limb exoskeleton (LLE). For patients who suffer permanent spinal cord injury, using the LLE is one of the most effective ways to assist their walking ability compared to the wheelchair. The robustness of the LLE performance is related to the precision of the LLE dynamic model. However, the LLE model usually dealt with difficulties in development due to its non linear characteristic. Therefore, a virtual design, modeling and simulation of control strategy for dynamic modeling of LLE by using PID control are presented in this paper. The actuator's modeling on the joint is developed by using Matlab system identification technique. The actuators are coupled with human model, and the dynamics of the LLE are analysed. The three-dimensional LLE model is designed with CATIA software and co-simulation approach is introduced by using multi-body dynamic software called ADAMS (Automatic Dynamic Analysis of Mechanical System). Then to validate the model in ADAMS, we integrate it with Matlab-Simulink control model. The results show that, the model can be used in simulation to prove the controller performance for actuator on the low-level controller. The result is significant for the development of the control systems of the LLE prototype.

关键词： lower limb exoskeleton modeling system identification PID controller Matlab-ADAMS co-simulation

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The Application of PID-DMC Algorithm with Feedforward Compensation in the PTZ Platform 3

The Application of PID-DMC Algorithm with Feedforward Compen...

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3rd international conference on Automation, control and robotics engineering (CACRE)

作者： Zhao, Y. H. Chai, L. Jin, L. Z. Southeast Univ Four Pai Lou Campus Nanjing Jiangsu Peoples R China

According to the characteristics of PTZ camera itself pure delay of measurement and control, discontinuity of control system and unknown model, a new PID-DMC control algorithm with feedforward compensation is proposed. When using the conventional PID algorithm to control, due to the discontinuity of the control amount of the PTZ camera, the serious control jitter when the closed-loop system operating, the stability of the system is affected critically, and even the equipment will be damaged. For this reason, feedforward compensation is added on the basis of conventional PID control to alleviate the problem of increasing of the overshoot caused by the integral action. Meanwhile, DMC control is introduced to effectively reduce the fluctuation of the system, which makes the follow-up tracking of the system more stable and effective.

关键词： Three term control systems

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Robustness and stability analysis for parametric uncertainties in a three-area AGC power system using TLBO-LMI-tuned PI controller

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ENERGY REPORTS 2023年 9卷 153-164页

作者： Gbadega, Peter Anuoluwapo Sun, Yanxia Zhang, Haijun Univ Johannesburg Dept Elect & Elect Engn Sci ZA-2006 Johannesburg South Africa Harbin Inst Technol Dept Comp Sci Shenzhen Peoples R China

In order to address the load frequency issue in a three-area power generating system, this research suggests a teaching learning-based optimization-linear matrix, inequalities-tuned proportional-integral controller. The suggested TLBO-LMI ap-proach synchronizes TLBO with LMI control toolbox optimization to acquire the ideal control parameters of the traditional PI controller that adhere to the robust Hoo constraints. Based on the suggested control's simplicity of implementation, adaptability to changes in the system's characteristics, and resilience to tuning, it is contrasted with the robust Hoo controller. Several performance indicators were also employed to evaluate and contrast the efficiency and performance of the Hoo controller and the suggested control techniques. Based on the simulation results used to study the performance and robustness of the suggested controller, it is clear that the proposed control approach outperforms the Hoo controller in terms of both performance and applicability for the LFC problem.& COPY;2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).Peer-review under responsibility of the scientific committee of the the 3rd international conference on Power and Electrical engineering.

关键词： Load frequency control Linear matrix inequalities Hoo controller and PI controller

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Linearly Tunable CMOS VDBA Design 3

Linearly Tunable CMOS VDBA Design

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

作者： Roongmuanpha, Natchanai Pukkalanun, Tattaya Tangsrirat, Worapong King Mongkuts Inst Technol Ladkrabang Fac Engn Chalongkrung Rd Bangkok 10520 Thailand

ISBN: (纸本)9781538666630

A CMOS voltage differencing buffered amplifier (VDBA), whose transconductance gain can be varied linearly by the external DC bias current, is described in this paper. A current squaring circuit is used for biasing the transconductance amplifier with improved wide-input dynamic range, yielding electronically and linearly tunable transconductance. The application of the proposed VDBA in realizing a phase shifter circuit is also suggested. Simulations on the circuits are performed using PSPICE program to confirm the theory and demonstrate the circuit performances.

关键词： Voltage Differencing Buffered Amplifier (VDBA) linearly tunable wide-input dynamic range

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Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process 3

Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation...

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3rd IEEE international conference on control, Automation and robotics (ICCAR)

作者： Huang, YunYun Wang, Jianliang Tham, Desmond Mark Nanyang Technol Univ Sch Elect & Elect Engn 50 Nanyang Ave Singapore 639798 Singapore Singapore Technol Dynam Pte Ltd ST Engn NTU Corp Lab 249 Jalan Boon Lay Singapore 619523 Singapore

ISBN: (纸本)9781509060887

The objective of this work is first to present the kinematics modelling of an aerobridge for the application of automated aerobridge docking process to the aircraft, which will solve the manpower shortage issues as well as prevent the damage to aircraft due to human error in manual operation. As the aerobridge is a complex system which involves five active DOFs and four free DOFs, we have proposed an alternative solution of kinematics modelling for this higher order systems. And then the numerical solutions for the inverse kinematics equations are obtained using MATLAB and the kinematic modelling of the aerobridge is validated successfully through the motion simulation using ADAMS. The control schemes of the aero bridge docking process are proposed based on (1) Home position to Pre-set position, and (2) Pre-set position to Target position, which are developed in MATLAB/Simulink. Co-simulation model is established based on ADAMS/control and MATLAB/Simulink, which is used for modelling & design of the control systems, and also for visualizing and validating the aero bridge docking process.

关键词： robotics kinematics modelling co-simulation control industrial automation

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A Novel Hybrid Path Planning Algorithm at Macroscopic Level for Autonomous Climbing Robot 3

A Novel Hybrid Path Planning Algorithm at Macroscopic Level ...

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3rd international conference on robotics and Automation engineering (ICRAE)

作者： Liao, Erchong North China Elect Power Univ Sch Control & Comp Engn Baoding Peoples R China

ISBN: (纸本)9781538695944

This paper proposed a novel hybrid algorithm for path planning at macroscopic level for autonomous climbing robot. The path planning is an Asymmetric Traveling Salesman Problem (ATSP). The problem can be decomposed into some groups with small-scale points by Density Peaks Clustering algorithm (DPC), and these groups are divided into two types based on the node distribution: dense groups and sparse groups. Then local paths for all groups are solved by Ant Colony Optimization algorithm (ACO) and merged at the nearest pair of points between the two adjacent groups to generate the initial global path. At last, the final global path is obtained after optimizing by K-Opt algorithms. The proposed algorithm is tested on nine benchmark instances compared with four other algorithms. Simulation experiment result shows that the proposed algorithm can provide the solution with higher accuracy and shorter runtime.

关键词： path planning climbing robot asymmetric traveling salesman problem density peaks clustering algorithm ant colony optimization algorithm K-Opt algorithm

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