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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

共 3776 条记录，以下是3451-3460 订阅

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Design and characteristic analysis of variable buoyancy system for long range autonomous underwater vehicle 2019

Design and characteristic analysis of variable buoyancy syst...

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4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Sun, Zhaoyang Yu, Jiancheng Zhang, Aiqun Huang, Yan Wang, Zhenyu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781450371865

Variable buoyancy system (VBS) is important for long-range autonomous underwater vehicles (AUVs) to adjust the buoyancy change caused by environmental density changes dynamically, and it is the core component of AUV to realize near-neutral buoyancy navigation and unpowered submerging and floating. Accuracy of AUV’s pitching angle change model caused by buoyancy adjustment and the flow uniformity of hydraulic oil are the key factors to achieve efficient and high-precision buoyancy control and reduce the power consumption of buoyancy adjustment. Variable buoyancy system with the functions of quantitative oil exhaust, deep-sea passive oil entry and shallow-sea active oil entry was developed. the dynamic effects of buoyancy adjustment on AUV center of gravity, center of buoyancy and pitch angle were analyzed, and a correction model of moving amount of AUV center of gravity caused by buoyancy adjustment was established. With the help of designed pressure simulation system and hydraulic station, the oil exhaust flow rate and passive oil entry flow rate under different pressure were tested. Results shown that, when the oil from internal bladder to external bladder, the displacement flow rate decreases slightly but it is approximately uniform with the increase of external pressure (depth) and the flow rate in passive oil entry process is uniform and controllable. Finally, the depth-fixed navigation experiments were carried out in thousand-island Lake, and the VBS performance is stable and reliable. © 2019 Association for Computing Machinery.

关键词： Autonomous underwater vehicles

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Robotic Knee Prosthesis Real-Time control Using Reinforcement Learning with Human in the Loop 4th

Robotic Knee Prosthesis Real-Time Control Using Reinforcemen...

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4th international conference on Cognitive Systems and Information Processing, ICCSIP 2018

作者： Wen, Yue Gao, Xiang Si, Jennie Brandt, Andrea Li, Minhan Huang, He [Helen] Joint Department of Biomedical Engineering University of North Carolina at Chapel Hill Chapel HillNC27599 United States North Carolina State University RaleighNC27695 United States Department of Electrical Computer and Energy Engineering Arizona State University TempeAZ85281 United States

ISBN: (纸本)9789811379826

Advanced robotic prostheses are expensive considering the cost of human resources and the time spent on manually tuning the high-dimensional control parameters for individual users. To alleviate clinicians’ effort and promote the advanced robotic prosthesis, we implemented an optimal adaptive control algorithm, which fundamentally is a type of reinforcement learning method, to automatically tune the high-dimensional control parameters of a robotic knee prosthesis through interaction with a human-prosthesis system. the ‘human-in-the-loop’ term means that the learning controller tunes the control parameters based on the performance of the robotic knee prosthesis while an amputee subject walking with it. We validated the human-in-the-loop auto-tuner with one transfemoral amputee subject for 4 hour-long lab testing sessions. Our results demonstrated that this novel reinforcement learning controller was able to learn through interaction with the human-prosthesis system and discover a set of suitable control parameter for the amputee user to generate near-normative knee kinematics. © 2019, Springer Nature Singapore Pte Ltd.

关键词： robotics

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Secondary frequency control for a microgrid with wind/storages based on improved virtual synchronous generator 2019

Secondary frequency control for a microgrid with wind/storag...

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Han, Zijiao Chen, Xiaodong Wang, Chenqi Wang, Xin Wang, Baoshi Wei, JiaPeng State Grid Liaoning Electric Power Co. Ltd. Shenyang110006 China Fuxin Power Supply Company State Grid Liaoning Electric Power Co. Ltd. Fuxin123000 China

ISBN: (纸本)9781450371865

Due to small capacity, limited size and low inertia of isolated island operation microgrid, the frequency of microgrid is greatly affected by the change of load. Islanding operation for multi sources micro grid, traditional virtual synchronous generator control can overcome the shortcomings of low inertia of micro grid, but it belongs to the droop control, it will be possible to make the micro grid’s frequency cannot recover after a large disturbance and cause system frequency deviation, and affecting the frequency stability of the whole system. the improvement of virtual synchronous generator control is proposed with the integral controller in damping based on the traditional virtual synchronous generator control, it can automatically track the load fluctuation and adjust the power output to achieve power balance and zero-error frequency. Micro grid simulation model made in Matlab/Simulink platform wind/storages s, in the islanding mode, the traditional and improved virtual synchro-nous generator control is adopted to study the frequency change of load load switching and verify the correctness of the proposed control strategy. © 2019 Association for Computing Machinery.

关键词： Synchronous generators

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Multi-Person Pose Estimation via Learning Feature Integration 4

Multi-Person Pose Estimation via Learning Feature Integratio...

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2019 4th Annual international conference on Information System and Artificial Intelligence, ISAI 2019

作者： Hu, Xiaomei Tian, Jiahao Qiao, Huixiang Wang, Minjie Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Institute of Materials Technology and Engineering CAS Ningbo315201 China School of Electronic Information and Control Engineering Chang'An University Xi'an Shaanxi713100 China

Human pose estimation is a fundamental but challenging task in computer vision. Although batch normalization is widely used for deep learning, feature extraction in deep convolutional neural networks (DCNN) is still not well explored. In this work, we propose a pose encoding module (PEM) to enhance the learning ability and generalization ability of feature extraction. Given input images, PEM integration instance normalization and batch normalization, combining them in an appropriate way to learn to capture and eliminate appearance changes while maintaining the distinction between learning features can be seen as an integration and adjustment of global information. In addition, we use a simple and efficient up-sampling strategy to recover high-resolution representations for predicting more accurate human keypoint heatmaps, which has achieved better performance than the average network in recent missions. We studied our approach on a standard benchmark for human pose estimation. © 2019 Published under licence by IOP Publishing Ltd.

关键词： Feature extraction

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Vision-based control of UR5 robot to track a moving object under occlusion using Adaptive Kalman Filter 19

Vision-based control of UR5 robot to track a moving object u...

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Proceedings of the 2019 4th international conference on Advances in robotics

作者： K. Ramachandruni S. Jaiswal S. V. Shah Mechanical Engineering Department Indian Institute of Technology Jodhpur Jodhpur Rajasthan India

ISBN: (纸本)9781450366502

this paper presents a robust method to track a moving object under occlusion using an off-the-shelf monocular camera and a 6 Degree of Freedom (DOF) articulated arm. the visual servoing problem of tracking a known object using data from a monocular camera can be solved with a simple closed loop controller. However, this system frequently fails in situations where the object cannot be detected and to overcome this problem an estimation based tracking system is required. this work employs an Adaptive Kalman Filter (AKF) to improve the visual feedback of the camera. the role of the AKF is to estimate the position of the object when it is occluded/out of view and remove the noise and uncertainties associated with visual data. Two estimation models for the AKF are selected for comparison and among them, the Mean-Adaptive acceleration model is implemented on a 6-DOF UR5 articulated arm with a monocular camera mounted in eye-in-hand configuration to follow the known object in 2D cartesian space (without using depth information).

关键词： Adaptive Kalman Filter

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Research on the multi-loop control system for swing process of cutter suction dredger 2019

Research on the multi-loop control system for swing process ...

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4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Shuang, Jiang Fusheng, Ni Ting, Liang Engineering Research Center of the Education Ministry of Dredging Technology Hohai University Chang Zhou Jiang Su China Changzhou Branch China Mobile Group Jiangsu Co. Ltd. Chang Zhou Jiang Su China

ISBN: (纸本)9781450371865

the key parameters restricting the production capacity are different when the cutter suction dredger is constructing under different conditions such as soil quality and topography. When excavating hard soil such as clay and rock, the key parameters that restrict the production capacity of dredger are swing resistance or cutter cutting resistance, and when excavating soft soil such as sludge and silt, the limiting parameters are changed into the slurry concentration of pipeline or the vacuum degree of the mud pump. therefore, it is necessary to comprehensively consider the parameters of multiple constraints and adjust the velocity of traverse in real time to increase the output of dredger as much as possible, and to avoid the over-limit of equipment current or excessive concentration of pipeline. Taking the electric driven suction dredger as the study subject, based on the analysis of the swing stress state, the construction of the dredger, the current of the swing motor and the cutter motor were selected as the control parameters. the mathematical models of their influences on the swing velocity were established respectively. A fuzzy Smith predictive control method combining fuzzy PID and Smith predictor was designed in view of the characteristics of large time-delay, time-varying and uncertainty in the mathematical model of construction. For the coordination problem between multiple sub loops, a multiple loop automatic switching controller was designed, and the controller decided which loop had the actual control function. the simulation results on the experimental platform of cutter cutting in Hohai University show that the controller can automatically switch the main control loop according to the running state of the swing system. It has certain guiding significance for realizing the stability and high efficiency automatic control of the swing process of cutter suction dredger. © 2019 Association for Computing Machinery.

关键词： controllers

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Design of an Intelligent Fuzzy control System for Biomass Drying Process 4

Design of an Intelligent Fuzzy Control System for Biomass Dr...

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4th international conference on control, Automation and robotics (ICCAR)

作者： Sun, Jin Yang, Han Cao, Xiaowei Ma, Yuzhong Zhang, Wangqin Sun, Guangxiang Yangzhou Univ Coll Mech Engn Yangzhou Jiangsu Peoples R China

ISBN: (纸本)9781538663387

the performance of drying equipment plays a key role in the biomass power generation. In this paper, a drying system using low-grade waste heat as the heat source based on fuzzy control is designed, which is used to control the drying process of biomass. Set the error between actual straw moisture content and set-point, and rate of change of error as two inputs, the biomass flow rate can be acquired by the fuzzy logic computing as the output. the running result shows that the design of the fuzzy control system is a reliable and precise control method for drying corn straw. the control framework for biomass drying process can also be applied to a variety of biomass, such as, cotton stalk, rice straw, wheat straw, et al.

关键词： biomass fuzzy control dry temperature humidity

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Innovative, Release Agent-Reduced Manufacturing Concepts for the Manual Series Production of Complex Foam Parts 4

Innovative, Release Agent-Reduced Manufacturing Concepts for...

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4th international conference on control, Automation and robotics (ICCAR)

作者： Heisler, Paul Gick, Sascha Dominik Franke, Joerg Friedrich Alexander Univ Erlangen Nuremberg FAU Inst Factory Automat & Prod Syst FAPS Erlangen Bavaria Germany

ISBN: (纸本)9781538663387

the production of complex foam parts with a number of inserts posses is very labour-intensive. Furthermore, state of art in the foam part production is the usage of any kind of release agents as demolding aid. Many times the release agent system is based on unhealthy solvents and contains silicon compounds to optimize the separating effect. Due to the high scope of manual activities, there is a direct contact between the operator and hazardous substances. To achieve a reduction of the risk potential in conjunction with an increase of the productivity, three different possibilities are conceivable. Beside an automation of the coating process, also a spraying support for the operator is possible to minimize the usage of release agent by an optimal coating procedure of the moulds. In the wake of this, synergies between the different production concepts of various industrial sectors should be created and adapted to the foaming process by an intelligent system engineering. At least an option should be examined which excludes any kind of release agent out of the foaming process. the refinement of this system should show a completely new way of manufacturing foam parts.

关键词： release agent foaming polyurethanes system engineering production technology

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Design of Overall Framework of Self-Service Big Data Governance for Power Grid 4th

Design of Overall Framework of Self-Service Big Data Governa...

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4th international conference on Machine Learning and Intelligent Communications, MLICOM 2019

作者： Qiao, Lin Zhou, Qiaoni Song, Chunhe Wu, Hao Liu, Biqi Yu, Shimao State Grid Liaoning Electric Power Co. Ltd. Shenyang110000 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9783030323875

At present, power grid companies have not formed a complete data quality control system and a comprehensive and effective data quality assurance mechanism, which restricts the deep mining of data value. In this paper, based on the full-service unified data center of power Grid Company, a general framework of self-service power grid big data governance is presented. Firstly, the related work of big data governance is reviewed;secondly, the architecture and characteristics of the grid company’s full-service unified data center are analyzed;thirdly, the related requirements of self-service grid big data governance are analyzed;fourthly, the overall framework of self-service grid big data governance is proposed. Compared with other general big data governance framework, the proposed framework considers the specification of power grid as well as the features of self-service, making the framework more feasible. © 2019, ICST Institute for Computer Sciences, Social Informatics and Telecommunications engineering.

关键词： Big data

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A Data Quality Improvement Method Based on the Greedy Algorithm 4th

A Data Quality Improvement Method Based on the Greedy Algori...

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4th international conference on Machine Learning and Intelligent Communications, MLICOM 2019

作者： Wang, Zhongfeng Fu, Yatong Song, Chunhe Ge, Weichun Qiao, Lin Zhang, Hongyu Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China

ISBN: (纸本)9783030323875

High-quality data is very important for data analysis and mining. Data quality can be indicated by many indicators, and some methods have been proposed for data quality improvement by improving one or more data quality indicators. However, there is few work to discuss the impact of the processing order of data quality indicators on the overall data quality. In this paper, first, some data quality indicators and their improvement methods are given;second, the impact of the processing order of data quality indicators on the overall data quality is discussed, and then a novel data quality improvement method based on the greedy algorithm is proposed. Experiments have been shown that the proposed method can improves the data quality while reducing the time and computational costs. © 2019, ICST Institute for Computer Sciences, Social Informatics and Telecommunications engineering.

关键词： Data reduction

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