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

共 3888 条记录，以下是151-160 订阅

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Design and Implement of Vehicle-Based Experiment Prototype for Expressway Tunnel Intelligent Detection 18

Design and Implement of Vehicle-Based Experiment Prototype f...

引用

3rd international conference on robotics, control and Automation (ICRCA) / 3rd international conference on robotics and Machine Vision (ICRMV)

作者： Liu Xiao Duan Ying-jie Xue Chun-ming Liu Bo Li Yang Shanxi Transportat Res Inst Shanxi Engn Res Ctr Rd Intelligent Monitoring Taiyuan 030006 Shanxi Peoples R China

ISBN: (纸本)9781450365307

For traditional detection method used in expressway tunnel has the disadvantages of low detection speed, high risk and cannot realize disease information management, a method of design, implement and field test of vehicle-based experiment prototype for expressway tunnel intelligent detection is proposed in this paper. Firstly, based on the demands of expressway tunnel detection, the performance indicators of tunnel intelligent detection system are developed, which include detection speed, detection accuracy, visual system depth and so on. Then, for the visual system, inertial navigation system and mechanical system, an application-oriented method of hardware calculation, selection and design for tunnel detection system is proposed. Finally, according to the above conclusions, the vehicle-based experiment prototype is developed, and field test is carried out in expressway tunnel. The engineering practice shows that the developed tunnel intelligent detection system can collect tunnel surface image quickly and high quality, and the research results laid a foundation for tunnel intelligent system developing, image processing and disease intelligent identifying in the next step.

关键词： Multi-sensor data fusion Computer vision Vehicle-based experiment prototype Tunnel intelligent detection

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Electronically controllable First-order Multifuntion Filter with Using Single Active Building Block 3

Electronically Controllable First-order Multifuntion Filter ...

引用

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

作者： Chinpark, Kobkiat Jaikla, Winai Siripongdee, Surapong Suwanjan, Peerawut King Mongkuts Inst Technol Ladkrabang Fac Ind Educ & Technol Dept Engn Educ Bangkok 10520 Thailand

ISBN: (纸本)9781538666630

In this paper, a new voltage-mode first-order multifunction filter using the modified current controlled current conveyor transconductance amplifier (M-CCCCTA) is presented. The proposed filter has two input-voltage nodes with single output voltage node. It can realize three first-order filtering output responses, low-pas filter (LPF), high-pass filter (HPF) and all-pass filter (APF). The natural frequency is electronically tuned. For all-pass filter, the phase shift is electronically varied from 0 to 180 degree which is conveniently controlled by microprocessor or microcontroller. Also, the matching condition of the parameter used to tune the phase response is not required. The proposed first-order filter employs single grounded capacitor, single grounded resistor, and single M-CCCCTA. The simulation results from PSpice program are included to confirm workability of the proposed filter.

关键词： first-order circuit low-pass filter high-pass filter all-pass filter voltage-mode circuit CCCCTA electronic controllability

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A Performance of Modern Gesture control Device with Application in Pattern Classification 3

A Performance of Modern Gesture Control Device with Applicat...

引用

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

作者： Sueaseenak, Direk Khawdee, Chainarong Pakornsirikul, Nednapa Sukjamsri, Chamaiporn Srinakharinwirot Univ Fac Engn Dept Biomed Engn Nakhon Nayok Thailand

ISBN: (纸本)9781509060887

This research aimed to propose the performance testing of a modern gesture control device called MYO armband with an application in feature extraction based on multi-channels EMG. The EMG signal was collected from the forearm muscles during 6 gestures including hand close, hand open, hand flexor, double tap, and normal hand position. In this research, we applied the well-known feature extraction method called mean absolute value (MAV). The EMG features were represented in scatter diagrams to explain their behaviors. The well-known quantitative parameters used to evaluate the performance of EMG feature included davies-bouldin criterion (DB index) and scattering criterion. To present the quality of EMG signal, the signal to noise ratio (SNR), total harmonic distortion (THD), and power density spectrum (PSD) were used. The results showed that the EMG signal quality and EMG features extracted by MYO armband was robust and effective since the quantitative parameters were higher than the conventional EMG measurement system. The result was promising.

关键词： electromyography MYO armband pattern classification

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AUV Tunnel Tracking Method Based on Adaptive Model Predictive control 3

AUV Tunnel Tracking Method Based on Adaptive Model Predictiv...

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

作者： Jia, Chenkai Chen, Zhou Zhang, Guocheng Shi, Lei Sun, Yushan Pang, Shuo Harbin Engn Univ Sci & Technol Underwater Vehicle Lab Harbin Heilongjiang Peoples R China Zhejiang Design Inst Water Conservancy & Hydroele Hangzhou Zhejiang Peoples R China

In this paper, a model predictive path tracking controller is designed for the path tracking of the autonomous underwater vehicle (AUV). Firstly, Serret-Frenet coordinate system is introduced, and the path tracking error system model is established in this coordinate system. Based on Lyapunov theory and Backstepping method, the forward heading of AUV is conversed to the target value. Then, a nonlinear model predictive control design constraint path following control law of the AUV based on rolling to solve constrained optimization problems, satisfy the constraint of extension control input, to hit the target heading control. In the end, AUV-T, an underwater robot developed by Harbin engineering university, was used to test the proposed control law. The results showed that the controller showed good tracking effect.

关键词： Autonomous underwater vehicles

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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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Design of a PID control System for a Wastewater Treatment Plant 3

Design of a PID Control System for a Wastewater Treatment Pl...

引用

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

作者： Figueroa Bados, Jhon Stalin Platero Morejon, Iralmy Yipsy Univ Continental Dept Mechatron Engn Huancayo Peru Univ Continental Dept Engn Huancayo Peru

ISBN: (纸本)9781728186382

This paper presents the design and control of a wastewater treatment plant with mechatronic systems. In this work, a control is developed for each level of treatment in order to optimize time and resources in construction. The development of the project shows that the application of a level sensor and a suction and exhaust pump is feasible in each of the treatment tanks. A heater was also added in the activated sludge treatment to increase the temperature and control the sludge faster. In addition, a reduction in the time for the system to stabilize can be visualized, including a PM control in all processes, managing not to cause overflows in the tanks and having a stable control. The optimal values obtained from the controller for the first system are 36, 0.00036, and 598450, for the second are 30, 0.02, 15 respectively. The implemented control will help to have a preventive and controlled maintenance of the entire system and avoid losses.

关键词： ID control wastewater treatment plant stable system mechatronic systems

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An Approach to the Analysis and Design of Fuzzy control System 3

An Approach to the Analysis and Design of Fuzzy Control Syst...

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

作者： Le Hung Lan Phi Van Lam Nguyen Van Hai Univ Transport & Commun Dept Cybernet Hanoi Vietnam Univ Transport & Commun Dept Elect Engn Hanoi Vietnam

ISBN: (数字)9781728186382

ISBN: (纸本)9781728186382

An approach to the analysis and design of continuous T-S fuzzy control system is proposed in this paper. The fuzzy logic controller has two consequents in each rule. They are numerator part and denominator part and are equivalent to any proper practical controller. It is shown that the overall closed-loop system behaves like an uncertain polytope of polynomials and the system stability can be checked by using some graphical robust stability criteria. The complex process on finding a common Lyapunov function to guarantee the system stability can be omitted. An illustrative example will be given to demonstrate the ability of the design procedure in the proposed approach.

关键词： T-S fuzzy model stability fuzzy logic control

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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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controller Design for Compound Pendulum with PID and MRAC Switch control 3

Controller Design for Compound Pendulum with PID and MRAC Sw...

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

作者： Zhang, Shuang Dian, Songyi Sichuan Univ Dept Automat Coll Elect Engn & Informat Technol Chengdu Sichuan Peoples R China

Compound pendulum swings with the reference trajectory accurately so that we could get the motion states of it easily. To ensure the compound pendulum tracking performance, we propose a switch controller of PID and model reference adaptive controller (PID+MRAC). According to its equations of motion, we can establish a suitable model and obtain correspond adaptive reference rules. We determine a suitable threshold, then compare the error and threshold to choose PID control or MRAC control. The same output results could be obtained from reference model and plant model by adjusting the gain. Similarly, we compare the preference of PID controller, MRAC and PID+MRAC switch controller to evaluate which one is better. The results show that the switch control is the best one and the MRAC control is better than the PID control.

关键词： Three term control systems

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Modeling and Implementation of High-Gain Coupled-Inductor Switched-Capacitor Step-Up DC-DC Converter 3

Modeling and Implementation of High-Gain Coupled-Inductor Sw...

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

作者： Chang, Yuen-Haw Lin, Jia-Syun Chaoyang Univ Technol Dept Comp Sci & Informat Engn Taichung Taiwan

ISBN: (纸本)9781538666630

The modeling and implementation of a high-gain coupled-inductor switched-capacitor converter (CISCC) is presented by combining a pulse-width-modulation-based (PWM) controller for realizing step-up DC-DC conversion and closed-loop regulation. The power part from supply Vs to output Vo is composed of two sub-circuits: (i) a coupled-inductor booster (CI booster: a coupled inductor with turn ratio n and a clamping capacitor) and (ii) a three-stage switched-capacitor tripler (SC tripler: three pumping capacitors), so as to provide a total step-up gain up to 3(n+2-D)/(1-D) at most, where D is the duty cycle of charging this inductor (e.g. Vo can reach 38.71 times voltage of Vs theoretically as D=0.58, n=4). The control part consists of (i) sawtooth wave generator, (ii) non-overlapping circuit, and (iii) a PWM compensator, in order to realize the timing operation of topologies as well as enhance the regulation capability for different reference or source/loading variation. The modeling and some theoretical analysis are included, and the performance of CISCC is simulated and verified experimentally on the implemented prototype circuit to show the efficacy of this scheme.

关键词： high-gain coupled-inductor switched-capacitor pulse-width-modulation step-up DC-DC conversion

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