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3rd international symposium on control engineering and robotics, iscer 2024

作者： Lin, Yumeng Ren, Xiaoying Wang, Shuqin College of Computer and Information Engineering Tianjin Normal University Tianjin300382 China

ISBN: (纸本)9798400709951

Feature selection plays a crucial role in the field of machine learning and data mining. Some feature selection methods use a single evaluation measure to evaluate the classification ability of features, but different measures have their own characteristics. Ensemble learning can be applicable to feature selection for improve the performance by combining the output of several feature selectors. Therefore, we present an ensemble feature selection based on multiple metrics and improved aggregation strategies (EFSMMIAS). Three evaluation metrics, Symmetric Uncertainty (SU), Fisher Discriminant Ratio (FDR) and ReliefF are employed. Each of them is combined with the discriminant structure vector complementarity to construct a base feature selector for selecting multiple subsets of features. Subsequently, we employ an enhanced aggregation strategy to derive the desired feature subset from the feature subset generated by the base feature selectors, which can improve classification capabilities. In order to evaluate the effectiveness of our proposed method, we compare it with other methods on 11 standard datasets through a series of experiments. The results validate that our method is capable of improving classification performance while simultaneously reducing the dimensionality of features. © 2024 ACM.

关键词： Contrastive Learning

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Hierarchical Informative Path Planning for Active Sensing and Field Reconstruction 24

Hierarchical Informative Path Planning for Active Sensing an...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Yang, Bingyu Yang, Guang Yang, Kaibo Zhang, Hao Li, Teng School of Control Science and Engineering Shandong University Jinan250061 China

ISBN: (纸本)9798400709951

This paper investigates the informative path planning problem for robotic sensing and environmental field monitoring. A novel hierarchical path planner is proposed to achieve active sensing and field reconstruction. In particular, a global-local hierarchical path planner is proposed to adaptively sense, characterize and reconstruct the environmental field of interest with limited observations. In particular, the environmental field is defined as a Gaussian random field (GRF) for a mobile sensing robot to capture critical information in the field for further field reconstruction. The informative path is planned hierarchically based on the mutual information (MI) metric with a global planner in terms of a Gaussian Markov random field (GMRF) and a local planner with respect to a Gaussian process (GP). More importantly, persistent monitoring can be achieved by the proposed model updating and planning strategy. Finally, the experiments from both a simulation and a real-world field test are conducted, which demonstrate the superior performance of the proposed path planning methodology for active sensing and field reconstruction. © 2024 ACM.

关键词： Markov processes

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NEW SOLUTION OF MOTION control PROBLEM IN MECHATRONIC SYSTEM

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COMPUTERS & ELECTRICAL engineering 1992年第1期18卷 41-50页

作者： VIRVALO, T PUUSAARI, P TAMPERE UNIV INST HYDRAUL & AUTOMATSF-33101 TAMPEREFINLAND

Distributed motion control in machine automation is one of the main research areas of Institute of Hydraulics and Automation in Tampere University of Technology in Finland. In this paper the idea of an independent actuator as a mechatronic solution to motion control problem is discussed. As a closely related subject technological aspects of system control and in-machine communication are shortly presented. Connection methods are presented for some alternative machine controllers, like PLC, CNC and PC. Transmission delays of in-machine communication are discussed as a possible application dependent source of problems. In the conclusion chapter the further studies are also presented.

关键词： control Systems

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Automatic sketching of planar kinematic chains based on the optimal layout algorithm 24

Automatic sketching of planar kinematic chains based on the ...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Yu, Luchuan Chai, Wenhao College of Mechanical and Electrical Engineering Wenzhou University Wenzhou325035 China

ISBN: (纸本)9798400709951

The sketching of planar kinematic chains is helpful for representing synthesis results in the graphic form. By the inherent relationship among links in the kinematic chain, the maximal loop and corresponding arc loops are generated. Based on cross-product operation, relative positions of links in the combined loop made up of other arc loops and maximum loop are ensured by moving some arc loops out of the maximum loop. Links in the outer circle can be furthered ensured by replacing some links in the outermost combined loop with links in the removed arc loops. Combined with concentric circles, definite positions of links from the outermost circle to the innermost circle are ensured in turn. Kinematic chains with 9 links, 14 links, and topological graph with 18 vertices are employed as demonstrative examples. Results show that the proposed automatic sketching method is available. This paper can contribute to the innovative computer-aided mechanism design. © 2024 ACM.

关键词： Chains

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Study on the Equine Locomotion Mechanism Based on S-3-S4RS Parallel Mechanism 24

Study on the Equine Locomotion Mechanism Based on S-3-S4RS P...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Wang, Jiahe Wu, Guanglei Wang, Delun Wang, Zhi Li, Yaonan Pan, Siming School of Mechanical Engineering Dalian University of Technology Dalian116024 China Co. Dalian116085 China

ISBN: (纸本)9798400709951

Based on the biological data of the Dutch warmblood horse, the motion mechanism of the horse during walking was analyzed in depth. By constructing the S-3-S4RS spatial mechanism model, the biological data of the horse's torso position, gait footing point, and leg motion were transformed into the kinematic parameters of the moving platform posture, articulation point position, and leg mechanism in the model. The aim was to explore the coordination mechanism between the joints of the horse during walking and to reveal the relationship between its CoM movement trajectory, joint drive angle and biogeometric dimensions. An evaluation model on the motion of the biological horse is established to analyze and evaluate the motion patterns of quadrupedal organisms, providing a theoretical basis for the kinematic analysis of quadrupedal animals and quadrupedal robots. © 2024 ACM.

关键词： Kinematics

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Research on machining error control of Wire Cut EDM CNC turntable 24

Research on machining error control of Wire Cut EDM CNC turn...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Lu, Huaizhi Wang, Hongying Wang, Dianjun Zhao, Yazhou College of Modern Manufacturing Engineering Heilongjiang University of Technology Jixi158100 China Jinan locomotive depot of China Railway Jinan Bureau Group Co. LTD. Jinan250000 China

ISBN: (纸本)9798400709951

The Wire Cut EDM CNC turntable as an important accessory of the EDM machine tool plays an important role in ensuring the machining accuracy and controlling the surface quality of the parts. The transmission mechanism of Wire Cut EDM turntable has the problem of meshing clearance of gear transmission, which seriously affects the machining accuracy of the workpiece. This paper studies from the angle of generating the meshing clearance of gear transmission, and designs the dislocated gear automatic clearance mechanism to eliminate the meshing clearance of gear transmission. Through the dynamic analysis of the dislocated gear automatic clearance mechanism, the reliability of the force of the dislocated gear automatic clearance mechanism is verified, and the interference problem Whether occur or not in the movement process. At the same time, the limited analysis of ABAQUS software is carried out to verify the rationality of the structure design of the dislocated gear automatic clearance mechanism. Through the above series of analysis and demonstration, it is proved that the dislocated gear automatic clearance mechanism can improve the machining accuracy of the workpiece by improving the transmission accuracy. © 2024 ACM.

关键词： ABAQUS

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MOBILE robotics - A PARADIGM FOR COMPLEX SYSTEM engineering

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 1992年第1期9卷 27-33页

作者： ALBRECHT, RW Departments of Electrical Engineering and Nuclear Engineering University of Washington Seattle WA 98195 U.S.A.

Mobile robotics is being used as an educational vehicle for teaching the principles of complex system engineering. A mobile robot is a complex system involving mechanical hardware, a suite of transducers, computer control of actuators and sensors, and a hierarchical control system. The operation of an autonomous mobile robot incorporates attributes of artificial intelligence with interfaces via radio links from base computers to on-board computers. A general plan supported by hardware, software shells, senior/graduate courses and graduate research is in place that facilitates the evolution of autonomous mobile robots capable of navigating and performing prototypic tasks in semi-structured environments. A series of projects is designed to enhance the repertoire of skills of the robots to robustly accomplish a range of tasks from simple to complex. The skills are built within a structure that is designed to be cumulative. The result is forecast to be systematic improvement in a generalized knowledge base that is identified as the key to implementation of semi-autonomous mobile robots in semi-structured environments. A university is an educational institution. This means that students are temporary. Students are always on a learning curve and they complete courses and degrees and leave the institution. One important component for achieving the goal of a continually evolving mobile robotic vehicle in the university environment is to document incremental student progress and package this information so that future students can rapidly assimilate previous progress and make a contribution to the continuing evolution of the mobile robotics program. This is accomplished through a set of modules called "robo-tutors". Robo-tutors are tutorials for students that are written in an expert system shell and provide automated instruction concerning various aspects of the mobile robots program.

关键词： Robots, Industrial

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Structure design and performance simulation analysis of underwater robot based on biological mechanism of boxfish 24

Structure design and performance simulation analysis of unde...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Wu, Wei Xiao, Yujie Sang, Jijia China University of Petroleum-Beijing at Karamay Karamay60016087 China Harbin Engineering University Harbin60003353 China

ISBN: (纸本)9798400709951

With marine biodiversity threatened by human activities, it is particularly important to protect and study marine species, of which boxfish is one of the focuses of research. In this study, the propulsion mechanism and structural characteristics of boxfish are deeply explored, aiming to design an efficient biomimetic underwater robotic fish that mimics its physiological structure. Based on the analysis of the swing and flapping of the chest fin of boxfish, a two-degree-of-freedom bionic pectoral fin was designed. The propulsion force was controlled by the tail fin steering engine, and a dynamic model was established according to Lighthill's equation. Through the bionic shape design, including the application of NACA0016 airfoil and concave design, as well as the advanced control system design supported by control unit and IMU, the bionic underwater robotic fish has demonstrated excellent motion efficiency and environmental adaptability. The effectiveness of the hydrodynamic design of the simulated boxfish, namely, the front high pressure area, the side low pressure vortex area and the tail high speed jet area, is verified by ANSYS Fluent software simulation. This study has an important impact on marine ecological protection, bionics research and the development of underwater vehicle technology, and provides a theoretical and practical basis for designing more efficient and flexible underwater vehicles. Future research will explore the application of more biological principles and develop miniaturized and intelligent underwater vehicles to cope with diverse tasks in complex water environments. © 2024 ACM.

关键词： Fish

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Real-Time control of Intelligent Production Line for Automatic Assembly of Aerospace Products 3

Real-Time Control of Intelligent Production Line for Automat...

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3rd international symposium on Aerospace engineering and Systems, ISAES 2024

作者： Song, Hailong Yang, Shengluo Yin, Shuoxin Wang, Junyi Xu, Zhigang Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai200093 China

ISBN: (纸本)9798350350418

Due to the wide variety and small number of aerospace products, the assembly process of related products becomes very complicated. In order to achieve the production requirements of safer, more efficient, better production quality and higher resource utilization, we integrate the control system into the assembly line of aerospace products to make it automated. In order to further verify the feasibility of the system, we use 3D virtual reality visualization to design the onsite real-time operation system scheme. © 2024 IEEE.

关键词： Smart manufacturing

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Application of YOLOv8 in urban road crack recognition robot 24

Application of YOLOv8 in urban road crack recognition robot

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Li, Kuai Li, Yuchong Li, Yaoyu Yang, Yiyao Zhou, Bohao Dong, Laqi Wang, Lulu Zhang, Pan School of Software Engineering South China University of Technology Guangzhou510006 China Southampton Allied College of Marine Engineering Harbin Engineering University Harbin150006 China School of Mechanical and Electrical Engineering Wuhan Institute of Technology Wuhan430205 China Harbin Engineering University Harbin150006 China King's College London London United Kingdom Thunder Software Technology Co. Ltd Beijing100089 China School of Mechanical and Electrical Engineering Sanjiang University Nanjing210012 China Sichuan University Jinjiang College Meishan620860 China

ISBN: (纸本)9798400709951

Urban road cracks have a significant impact on the safety, traffic risk, soil erosion and other aspects of urban roads, so timely identification of road cracks is of great significance for safe driving and environmental protection. Due to the shortcomings of traditional crack detection, such as visual inspection, use of measuring instruments, installation of cameras, etc., which are not timely enough and complex to operate. In this paper, a new YOLOv8-D-CBAM model based on the YOLOv8 model and CBAM module is proposed to be applied to quadruped robots to achieve efficient identification of cracks in urban roads. The above model has a very high crack recognition rate and accuracy, and is expected to be used in real life. © 2024 ACM.

关键词： Multipurpose robots

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