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3rd international conference on robotics, Automation and Artificial Intelligence (RAAI)

作者： Luong, Tommy Banos, Gustavo Boshoff, Marius Moldovan, Christian Schuster, David Gruhn, Volker Kuhlenkoetter, Bernd Ruhr Univ Bochum Chair Prod Syst Bochum Germany Comnovo GmbH Dortmund Germany Univ Duisburg Essen Inst Software Engn Essen Germany

ISBN: (纸本)9798350307573;9798350307566

In industrial automation, Autonomous Mobile Robot (AMR) applications have been widely integrated into facilities to improve manufacturing, productivity, and flexibility of productive areas. These advancements are largely attributed to wireless connectivity such as 5G or Wi-Fi. The unlicensed networks such as Wi-Fi, currently face performance issues due to electromagnetic interferences from other overlapping neighboring networks and therefore cannot guarantee reliability or scalability for such a mission-critical task. This raises the question of whether 5G could be the wireless technology to drive the expected digital transformation. To ensure the stability of connectivity for seamless operations, it is crucial to investigate whether the handover in 5G, which differs significantly from traditional WiFi procedures, is suitable for the productive environment. The handover in mobile networks such as 5G is understood to be the transfer of the connection from one cell to another. For example, in productive environments, the handover is required when the AMR moves between different halls with multiple small cells and needs to be reconnected to another cell for a better signal quality. This paper addresses this issue and presents an exemplary investigation, in which the handover is monitored for an AMR application. Our results show that the handover process is completed without any detectable delay or packet loss during the data transmission. The results also indicate that the use of a 5G campus network could be a key enabler for the implementation of mission-critical tasks and give insights into the potential of 5G for AMR applications in industrial automation.

关键词： 5G Handover robotics Industrial Automation

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Power dispatch control center log management platform based on multi-dimensional data mining 3

Power dispatch control center log management platform based ...

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3rd international Signal Processing, Communications and engineering Management conference, ISPCEM 2023

作者： Hongliang, Jiang Fan, Du Yuqi, Zhu Di, Jiang Electrical Dispatching and Control Center of Yunnan Power Grid Kunming650011 China

ISBN: (纸本)9798350307023

In order to solve the problems of complex data application management process and low data processing efficiency in the power dispatch control center, a power dispatch control center log management platform based on multi-dimensional data mining is proposed. First, the process of generating multi-dimensional data for power dispatching is analyzed, and the main problems of the data are analyzed. The key technologies of data mining for the platform application proposed in this article are explained. The gray correlation analysis of data and the support vector machine model are discussed. The basic process of information data mining in the log management platform is given. The corresponding system architecture is proposed, the platform interface specifications are explained, and the platform security control measures are discussed. Scenario analysis was conducted on functions such as linkage between dispatch logs and other businesses, graphical display, comprehensive query, and shift handover. © 2023 IEEE.

关键词： Data mining

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Gripping Force Optimization Based on an ANFIS controller for an Object Manipulated by Two 3-DOF Cooperative Manipulators 3

Gripping Force Optimization Based on an ANFIS Controller for...

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3rd international conference on Innovative Research in Applied Science, engineering and Technology, IRASET 2023

作者： Bahani, Abderrahim Ech-Chhibat, El Houssine Samri, Hassan Elattar, Hicham Ait Ecole Normale Supérieur de l'Enseignement Technique ENSET-Hassan Ii University Department of Mechanical Engineering Casablanca Morocco

ISBN: (纸本)9798350398366

In this article, it is suggested that a two 3 DOF(tree degree of freedom) cooperative robotic system be controlled using a control strategy that relies on an inverse dynamics controller using ANFIS (Adaptive Neuro-Fuzzy Inference System). Utilizing a two-robot manipulator system, an object is moved while taking into account an elastic tool-object contact. For the double arm, the inverse kinematics are solved. In order to obtain the necessary complete equations. Additionally, the motion dynamic equations for the closed chain, which encompasses both arms, are also determined. To demonstrate the ANFIS controller's performance, simulation results in Matlab/SimMechanic are given. The effectiveness of the employed method is validated through testing the proposed control strategy in three object manipulation tasks, yielding positive test results. © 2023 IEEE.

关键词： Inverse kinematics

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Design and Implementation of Quasi-Direct-Drive Legs for a Frog-Like Jumping Robot 3

Design and Implementation of Quasi-Direct-Drive Legs for a F...

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

作者： Zhihui, Dong Jizhuang, Fan Qilong, Du Jie, Zhao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665492126

This study aims to design and optimize a motor-driven frog-like jumping robot leg for efficient vertical jumps and multiple consecutive horizontal jumps. We have conducted bionic research on frog legs' structure and motion characteristics and further explored their motion mechanism, providing new ideas and methods for designing and manufacturing robots with high mobility and adaptability. First, our research team designed a robot leg prototype based on the frog's body structure, optimized the robot using computer-Aided design software, and selected a suitable motor-driven actuator. Secondly, the weight reduction optimization of the robot body is carried out regarding material selection and topology optimization to improve the robot's maneuverability and jump height. Finally, after manufacturing the prototype of the robot legs, the robot is experimentally verified. The results show that the robot legs can achieve efficient vertical jumps (the maximum height is 1.40 meters, about 7.8 times the length of the leg link). It can also jump multiple times consecutively, which is significant for applying robots in dangerous environments, search and rescue, and other fields. © 2023 IEEE.

关键词： Machine design

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Research on application of compliant control of smart meter box handling robot

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ENERGY REPORTS 2023年 9卷 1494-1501页

作者： Jiang, Yang Yu, Yifan Zhang, Hai-yan Sun, Da-kang Li, Zi-heng Northeastern Univ Fac Robot Sci & Engn Shenyang 110169 Peoples R China Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China

To solve the problem that the intelligent meter box may collide in the transportation workflow, the paper studies the collision detection of the cooperative robot. Firstly, the architecture and mechanical structure of the collaborative robot intelligent meter box push-pull system is analyzed. Secondly, using the relationship between joint torque and selection LuGre model of joint friction modeling. The second-order external moment observer is constructed based on the robot's dynamics and generalized momentum equation. Furthermore, the performance of the external moment observer is optimized, and the real-time performance and anti-interference ability of the collision detection algorithm is improved by introducing PD control and speed feedback control. Finally, the results of the designed experiments reveal that the collision detection functions are better realized using the generalized momentum observer method. (c) 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/).

关键词： Dynamics Collaborative robot Optimization solution Friction parameter identification

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Research on Model Predictive Power control Algorithm Based on Modulation Function Optimization 3

Research on Model Predictive Power Control Algorithm Based o...

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3rd international conference on New Energy and Power engineering, ICNEPE 2023

作者： Lu, An Yu, Ling Yuan, Jing Chongqing Institute of Metrology Quality Testing Chongqing400121 China

ISBN: (纸本)9798350393224

Based on the instantaneous power theory, the active power and reactive power of single-phase pulse-width modulated rectifier are theoretically derived. Based on the second-order generalized integrator method, the expression of active power and reactive power is established in the static a-ß reference coordinate system by constructing virtual orthogonal signals, and the evaluation function is optimized based on the modulation function to obtain the control variables of the model predictive control. Considering the influence of the error between the input inductance and the actual input inductance in the model prediction on the modulation function, a direct power control algorithm with online estimation of the input inductance is proposed, and the accuracy of online estimation of the input inductance is guaranteed by adding a low-pass filter. © 2023 IEEE.

关键词： Evaluation function Low-pass filter Model predictive control On-line parameter estimation Pulse Width Modulation

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Smart System To Monitor and control Transformer Health Condition in Sub-Station 3

Smart System To Monitor and Control Transformer Health Condi...

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3rd international conference on robotics, Electrical and Signal Processing Techniques, ICREST 2023

作者： Dash, Sagor Das, Sanjoy Billah, Md. Baki Das, Balaram Ahamed, Istiaque Ahmed, Abir Dhaka Bangladesh Dhaka Bangladesh

ISBN: (纸本)9798350346435

A substation is the most important component of transporting or distributing electricity in any region or industry. To control and monitor the substation, different automation structures are developed in our country and around the world. The proposed system is to develop an IoT-based smart solution for monitoring and controlling the transformer in a substation. The control unit serves as the hub for all the system equipment and activities. Using an ultrasonic sensor and the DHT11, this smart solution can monitor transformer oil and temperatures. When the temperature of the transformer climbs over the specified value, the cooling fan turns on and provides sufficient air to lower the temperature. The voltage and current sensors' collected data determine whether the circuit is open or closed. This eliminates the expense at the substation by minimizing operating costs. As a result, both observational and operational effectiveness will undoubtedly improve. © 2023 IEEE.

关键词： Operating costs

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Two Axis Feedback System for Radiosonde Antenna Tracker controller 3

Two Axis Feedback System for Radiosonde Antenna Tracker Cont...

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3rd international conference on Electronic and Electrical engineering and Intelligent System, ICE3IS 2023

作者： Dwi Oktaviani, Rara Okta Wiyagi, Rama Ardiyanto, Yudhi International Technology and Innovation Management International College Khon Kaen University Khon Kaen Thailand Universitas Muhammadiyah Yogyakarta Department of Electrical Engineering Yogyakarta Indonesia

ISBN: (纸本)9798350327762

Radiosonde tracking during active probing in the atmosphere is essential to ensure that ground stations receive complete information from the radiosondes. This study proposes a feedback system for the closed loop control method of dual axis tracking antennas. The feedback system aims to provide information on the azimuth and elevation angle of the directional antenna so that the antenna can follow the direction of the radiosonde position accurately. The feedback element used to detect the elevation angle is an absolute rotary encoder while the digital compass sensor detects the azimuth angle. The result showed that the highest percentage of error measurement of elevation angle was 0.6% with an average error of 0.2 % with a resolution of 1.41°. Meanwhile, the azimuth angle revealed 0.83% as the highest percentage of error with an average -0.139% after calibration with a resolution of 1°. © 2023 IEEE.

关键词： Errors

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Operation control Strategy of DC Grid Connected DFIG 3

Operation Control Strategy of DC Grid Connected DFIG

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3rd international conference on Electrical engineering and Mechatronics Technology, ICEEMT 2023

作者： Zhang, Peng Xiang, Yuhan Xu, Fei Xu, Jiaying North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing China

ISBN: (纸本)9798350303698

In DC microgrids, the grid-connected structure of doubly-fed generators connected to the DC grid through uncontrolled rectifier bridges is characterized by low converter cost and simple controller structure compared to the traditional DC grid-connected structure of pulse-width modulated converters. In this paper, a control method for grid-connecting the stator side through an uncontrolled rectifier bridge is proposed for this structure. This article develops a control method for grid connection of the stator side through an uncontrolled rectifier bridge for this structure. Firstly, according to the characteristics of the system without grid frequency support, a stator frequency control method based on stator flux angle is designed. Secondly, a stator current direct resonance closed-loop control structure was designed to reduce the harmonic components present in the system. The simulation results indicate that this method is effective and feasible. © 2023 IEEE.

关键词： Stators

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Mowing robot trajectory tracking control algorithm research 3

Mowing robot trajectory tracking control algorithm research

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

作者： Zhou, Ruya Li, Maohai Soochow University School of Electrical and Mechanical Engineering Suzhou China

ISBN: (纸本)9781665490788

A trajectory tracking control algorithm is proposed for a mobile weed control robot. The kinematics, dynamics and positional errors of the wheeled mobile robot are mathematically modelled, and the convergence and stability of the system are demonstrated by the direct method of Lyapunov functions. Finally, through simulation and prototype verification, the results show that the trajectory tracking control algorithm designed in this study has a good dynamic response curve with a longitudinal deviation of 0.03m, a lateral deviation of 0.02m and a heading angle deviation of 6.1° which proves the effectiveness and feasibility of the control algorithm. © 2023 IEEE.

关键词： Weed control

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