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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191-200 订阅

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Research on the control Board to Detect the IGBT Operating Condition in Switching Power Supply 3

Research on the Control Board to Detect the IGBT Operating C...

引用

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

作者： Yi, Xianzhe Huazhong Univ Sci & Technol Wuhan Hubei Peoples R China

ISBN: (纸本)9781728186382

The high-mode experiment can be obtained by heating the plasma with the auxiliary heating system in the controlled nuclear fusion research. The performance of the auxiliary heating system can be affected by the output of main high voltage pulse power supply. The high-voltage pulse power supply based on Pulse Width Modulation (PSM) technology has the advantages of high effective frequency and little energy storage of the filter system. It is of vital importance that the stored energy released to the load should be very little when some protections occur. The power supply will be connected to the load when the IGBT is out of control, and the AC source energy will be transformed to the load through the air switch. So the air switch should be triggered to disconnect from the AC mains. The control board can detect the IGBT operating condition by the IGBT drive signal, output signal and control signal. So control board can be used to trigger the air switch in a short time, and the energy released to load is very little, which ensures that the load is very safe under protecting.

关键词： component pulse step modulation (psm) switch power supply (SPS) stored energy control board

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A Method to Compensate Interaction between Actuator Dynamics and control Allocator under Incremental Nonlinear Dynamic Inversion controller 3

A Method to Compensate Interaction between Actuator Dynamics...

引用

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

作者： Li, Xiang Jiang, Yi Zhang, Jiannan Shi, Shaoyan Zhao, Liangyu Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China Tech Univ Munich Inst Flight Syst Dynam D-85748 Garching Germany

When designing flight control allocator for an over-actuated flight system, actuator dynamics, generally, are assumed to be ideal since the bandwidths of actuators are much larger than the frequency of aircraft. However, under incremental nonlinear dynamic inversion controller, the interaction between the constrained control allocation frame and actuator dynamics can cause serious consequence. In this work, a method is developed to compensate for actuator dynamics in s-domain analysis. Here, first-order and second-order actuator dynamics are taken into consideration as more complicated actuator dynamics can be combined by these two simplified models. This method solves for gains, which post-processe the output of control allocation frame. The gains are terse in form and are easy to be calculated, which means that it can be implemented into typical flight computer. Simulation results show proposed method can significantly compensate the flaw caused by actuator dynamics.

关键词： Actuators

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Implementation of a Novel Optimal PID Methods in UAV Applications 3

Implementation of a Novel Optimal PID Methods in UAV Applica...

引用

3rd IEEE international conference on Advanced robotics and Mechatronics, ICARM 2018

作者： Safwan, Shamma Bin Alkhoori, Fatima Zweiri, Yahya Sahinkaya, M. Necip Emirates Technology and Innovation Center Khalifa University of Science and Technology Abu Dhabi127788 United Arab Emirates Faculty of Science Engineering and Computing Kingston University London LondonSW15 3DW United Kingdom

ISBN: (纸本)9781538670668

In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain different PID configurations (P, PI, PD, PID). The effectiveness and the applicability of the proposed methodology are demonstrated under different control scenarios in simulation using a quad-copter Unmanned Aerial Vehicle (UAV). The results of this methodology show good control response measures. Moreover, the computational time of (lqr) Matlab built-in function is compared against Riccati solution using invariant subspace approach. The later requires less computational time. © 2018 IEEE.

关键词： Linear systems

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Countersinking Accuracy control Technology of Robot Drilling and Countersinking Integrated Drilling 3

Countersinking Accuracy Control Technology of Robot Drilling...

引用

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

作者： Wang, Zhanxi Fu, Yuru Xu, Hao Dong, Minghao Shi, Mengge Zhang, Banghai School of Mechanical Engineering Northwestern Polytechnical University Xi'an China

ISBN: (纸本)9781665492126

Aiming at the problem that: Accuracy of countersink will affect the connection strength of aircraft structural parts, aerodynamic performance and fatigue strength of aircraft. A high-precision length meter is used to compensate the error caused by deformation and vibration to the tool. The grating ruler is used to obtain the tool position in real-Time to form a closed-loop system. A full closed-loop compound control method based on PID control and feedforward control with low-pass filter is proposed to control the countersinking depth. The proposed control model is verified by the robot drilling and countersinking integrated drilling experiment. The experiment shows that compared with the traditional control method, the countersinking depth error of this control method is the smallest. The effectiveness to improve the accuracy of drilling is verified. © 2023 IEEE.

关键词： Low pass filters

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Event-Triggered Feedback control of Differential Driver Mobile Robot 3

Event-Triggered Feedback Control of Differential Driver Mobi...

引用

3rd international conference on control and Intelligent robotics, ICCIR 2023

作者： Li, Xiaohan National Pilot School of Software Yunnan University Kunming650000 China

ISBN: (纸本)9781510671867

This paper presents the development of a model-based event-triggered control strategy for addressing the stabilization problem in nonholonomic robots. The proposed strategy is implemented in a practical setup. To handle the inherent nonlinearity of nonholonomic robots, feedback control is employed. Additionally, an event-triggered tactic is incorporated to alleviate communication burdens and computational loads, while ensuring system performance. The stability of the closed-loop system is rigorously guaranteed. Furthermore, comprehensive analyses of experimental results are provided, encompassing simulations as well as real-world experiments. © 2023 SPIE.

关键词： Feedback control

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Small target detection in aerial photography based on improved YOLOv5 3

Small target detection in aerial photography based on improv...

引用

3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： Guo, Zenghui Guo, Lijin Tiangong University School of Control Science and Engineering Tianjin300387 China

ISBN: (纸本)9798350360813

Considering the characteristics of large numbers, dense distribution, and complex background of small goals in unmanned aerial vehicles (UAVs) aerial graphics, target detection of small objects approach based on modified YOLOv5s is designed. To address the issue of inadequate utilization of features across different scales in the original network, a multi-scale feature fusion approach is devised to comprehensively extract features and enhance their utilization. The method combines the adaptive spatial feature fusion (ASFF) module and an additional small object detection layer, which is used to learn fused spatial weights for the feature map at each scale and fully extract the features. The improved YOLOv5 highlights important information features during feature fusion. Experimental findings on the public dataset VisDrone show that the mAP50 and mAP50:95 of the improved network is 41.3% and 23.7%, which are 7.2% and 4.9% higher than those of the original YOLOv5s, respectively. The visualization experiment further verifies the improved algorithm can increase the detection accuracy of dense small targets. © 2023 IEEE.

关键词： Aerial photography

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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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Arduino-based Omnidirectional Mobile Intelligent Vehicle control System 3

Arduino-based Omnidirectional Mobile Intelligent Vehicle Con...

引用

3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： Zhang, Dandan Xu, Yinan Li, Hao Wu, Yujing Yanbian University Yanbian China

ISBN: (纸本)9798350360813

In order to solve the problems of road traffic congestion and poor autonomous movement in a narrow space, this paper develops a set of omnidirectional mobile intelligent vehicle control system based on Arduino and using Mecanum wheel. The system allows the vehicle to move autonomously in a narrow space, with intelligent obstacle avoidance, steering and U-turn functions. We used the assembled cart to write the corresponding program and debugged the control parameters of some motors and servos to improve the various tasks of the cart. © 2023 IEEE.

关键词： Traffic congestion

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control parameter optimization of the actively powered upper body exoskeleton using subjective feedbacks 3

Control parameter optimization of the actively powered upper...

引用

3rd international conference on control, Automation and robotics, ICCAR 2017

作者： Ebrahimi, Amir Groninger, Dorothea Singer, Rapahel Schneider, Urs Department Biomechatronic Systems Fraunhofer Institute for Manufacturing Engineering and Automation IPA Stuttgart Germany

ISBN: (纸本)9781509060870

A method of optimizing the control parameter of wearable exoskeletons for industrial applications using subjective feedbacks is introduced in this paper. The human sensory system is explained and a method of mapping these perceptions to the control parameter set of the exoskeleton is developed. Subsequently a method for online parameter adjustment based on the kinetic and kinematic quantities is established and the method is verified for a case study with the Stuttgart Exo-Jacket. © 2017 IEEE.

关键词： Sensory perception

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A Matrix Robot for Block Stacking 3rd

A Matrix Robot for Block Stacking

引用

3rd international conference on Intelligent Technologies and engineering Systems (ICITES)

作者： Su, Yu-Ching Chen, Ming-Chang Wong, Wing-Kwong Natl Yunlin Univ Sci & Technol Dept Elect Engn Touliu 64002 Yunlin Taiwan

ISBN: (纸本)9783319173146;9783319173139

This research studies how to control a robot to stack blocks according to the block structure shown in a given image. In this project, a LabVIEW program is designed and run on a Lego Mindstorms NXT, which in turn controls a robot built with components of Matrix robotics. There are two operation modes for the block stacking robot. In the first mode, a user uses an Android smartphone to control the robot with Bluetooth to move around, pick up blocks, and stack them. In the second mode, the robot identifies the block structure in a given image with OpenCV and picks up the needed blocks to stack them to build the block structure. The robot was tested with two images of simple block structures in the second mode. The success rates ranged from 7 to 80 %. Future work should further identify the weaknesses of the robot and improve its performance.

关键词： Android LabVIEW Matrix robotics NXT OpenCV

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