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检索条件"任意字段=5th International Conference on Robotics, Control and Automation Engineering, RCAE 2022"

共 463 条记录，以下是11-20 订阅

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Design and Research for the control System of a Micro Autonomous Underwater Vehicle 5

Design and Research for the Control System of a Micro Autono...

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5th international conference on robotics, control and automation engineering, rcae 2022

作者： Quanshan, Wang Tao, Han Chuanzhi, Fan Yi, Yang Zhiqiang, Hu Shenyang Ligong University Liaoning Province Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province Shenyang China

ISBN: (纸本)9781665459419

A three-inch diameter Micro Autonomous Underwater Vehicle(Micro AUV) control system was designed and developed, of which the hardware and software control platform based on the MOOS System and BeagleBone Black as the core microcontroller was built. Based on the structure and navigation features of the Micro AUV, a cascade PID controller was designed for the Micro AUV to sail underwater with a certain heading and depth. Finally, the validity and reliability of the control system and controller were verified by the underwater experiments in the lake. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Simulation of Liquid Level Cascade control System Based on Genetic Fuzzy PID 5

Simulation of Liquid Level Cascade Control System Based on G...

引用

5th international conference on robotics, control and automation engineering, rcae 2022

作者： Mao, Jizhi Yang, Zhijia Zhang, Shusheng College of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781665459419

the model design and basic principle of liquid level control system are described. In order to improve the dynamic response of liquid level control, the overshoot and steady-state error accuracy of the system are improved. In this paper, we apply the conventional PID controller to the single-loop system and the cascade system respectively, and introduce the fuzzy control algorithm based on the conventional PID control algorithm to design a cascade parameter self-adjusting fuzzy PID controller, then use genetic algorithm to optimize fuzzy control rules to generate genetic fuzzy PID controller. the MATLAB/Simulink simulation results show that, compared with the traditional PID control, the genetic fuzzy PID control has better control effect and anti-interference ability, and has good control performance. © 2022 IEEE.

关键词： three term control systems

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Design of Directional Bird Dispersal Device in Substation Based on Infrared Sensing 5

Design of Directional Bird Dispersal Device in Substation Ba...

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5th international conference on robotics, control and automation engineering, rcae 2022

作者： Luo, Hanwu Chen, Shikuan Li, Wenzhen Li, Fang Song, Yifeng Jing, Fengren Yang, Zhenyu East Inner Mongolia Electric Power Company Limited. Inner Mongolia010010 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665459419

In order to reduce the impact of bird activities on the operation of power equipment, important power stations such as substations and converter stations are equipped with dispelling birds devices that can continuously output acoustic, optical and electrical signals for dispelling birds. However, due to the lack of target orientation for dispelling birds, birds can quickly produce adaptability, resulting in a significant decline in the effect of dispelling birds. In this paper, a directional dispersal device for substation birds based on infrared sensing is designed for directional aiming dispelling birds. Firstly, an improved image template matching method is used to complete the identification and location of bird targets. then bird's directional tracking and dispersion control algorithm based on PID is proposed. Finally, the experiment proves that the device has the characteristics of high positioning accuracy and fast-tracking speed for the dispersal of birds, which can quickly and effectively dispel moving birds accurately. © 2022 IEEE.

关键词： three term control systems

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Event-Triggered Fault Detection and control in Generalized Internal Model control Framework 5

Event-Triggered Fault Detection and Control in Generalized I...

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5th international conference on robotics, control and automation engineering, rcae 2022

作者： Qu, Suichun Wu, Jingsong Guo, Weijie Chen, Bin School of Electrical and Energy Engineering Nantong Institute of Technology Nantong China School of Electrical Engineering Nantong University Nantong China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China School of Business Nantong Institute of Technology Nantong Nantong China

ISBN: (纸本)9781665459419

the paper investigates the design of event-triggered fault detection and control in the framework of Generalized Internal Model control (GIMC). Inspired by the GIMC structure, an observer-based feedback control structure with a fault detection unit is firstly proposed, where the event-triggered technology is also employed to reduce the communication consumption between the monitored plant and the observer. then, since the separation principle is destroyed by the use of the event-triggered technology, the augmented system approach is used to design the observer-based controller. Further, a robust post-filter is designed, under the H-/H∞performance index, to guarantee that the residual (fault indicating) signal satisfies the optimized robustness against disturbances under the desired sensitivity to faults. Finally, a three-tank system is adopted to verify the effectiveness and superiority of the proposed scheme. © 2022 IEEE.

关键词： Fault detection

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An Adaptive Variable Selection Algorithm for Gated Recurrent Unit Based on Sensitivity Analysis and Nonnegative Garrote 5

An Adaptive Variable Selection Algorithm for Gated Recurrent...

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5th international conference on robotics, control and automation engineering, rcae 2022

作者： Xu, Cong Yan, Chunlai Wu, Xiuliang Pan, Changchun Sun, Kai School of Information and Automation Qilu University of Technology Shandong Acadamy of Sciences Jinan China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China Shanghai Jiao Tong University Laboratory of Navigation and Location Based Services Shanghai China

ISBN: (纸本)9781665459419

In this study, sensitivity analysis and nonnegative garrote (NNG) are combined to realize adaptive variable selection for gated recurrent unit (GRU). Firstly, the sensitivity analysis based on variance decomposition is used to quantify the correlation between each input variable and the output variable, and the total sensitivity index of each input variable is calculated. Secondly, the total sensitivity index is added to the NNG as an adaptive weight vector to achieve adaptive variable selection. Finally, an artificial dataset with the characteristic of time series is used to verify the effectiveness of the proposed algorithm. Simulation results show that the proposed algorithm can identify the relevant variables effectively and improve the predictive performance of the model. © 2022 IEEE.

关键词： Sensitivity analysis

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Research on Bolt Tightening control Method Based on Electric Tightening Machine 5

Research on Bolt Tightening Control Method Based on Electric...

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5th international conference on robotics, control and automation engineering, rcae 2022

作者： Zhao, Jing Tao, Xijia Luan, Xuebo Hou, Lei Ji, Wenchao Wang, Lei College of Mechanical and Electrical Engineering Changchun College of Electronic Technology Changchun China Changchun Crrc Changke Mould Co. Ltd Technical Quality Department Changchun China Changchun Zhongtuo Moulding Technology Co. Ltd. Technology Department Changchun China

ISBN: (纸本)9781665459419

With the rapid development of manufacturing automation, traditional bolt tightening methods are difficult to adapt to the fast and high quality requirements of modern industry for product assembly. Even electric tightening has been put forward higher requirements, especially for those products that require high axis force control after bolt tightening. therefore, it is particularly important to control the bolt tightening process and results. In this paper, three tightening methods are compared by experiments, and the torque-angle twice tightening method is chosen as the best one, which has the least attenuation and the minimum discrete rate of the axis force after 24 hours. Aiming at the difficult problem of how to control the axis force after tightening, a set of automatic control method using electric tightening machine is put forward. this method can accurately control the tightening position even if the workpiece with variable. At the same time, it can control the tightening process effectively by monitoring the relative relationship between tightening angle and Torque, in order to effectively ensure the modern manufacturing industry on Bolt Tightening axis force requirements. © 2022 IEEE.

关键词： automation

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Fault Detection Based on Least Squares with Limited Samples 5

Fault Detection Based on Least Squares with Limited Samples

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5th international conference on robotics, control and automation engineering, rcae 2022

作者： Cheng, Chao Ge, Chao Fu, Zhaowang Liu, Yiqi Chen, Hongtian College of Computer Science and Engineering Changchun University of Technology Changchun China Chinese People's Liberation Army Beijing32184 China School of Automation Science and Engineering South China University of Technology Guangzhou China University of Alberta Department of Chemical and Materials Engineering Edmonton Canada

ISBN: (纸本)9781665459419

In this paper, a data-driven method using least squares is proposed for finite training samples, with a focus on parameter identification and the corresponding performance evaluation. In the procedures of parameter identification, 'probably approximately correct' (PAC) is used for determining the confidence of the obtained the modeling error that affects Fault Detection (FD) performance. the main contributions of this paper are: 1) the modeling error expressed by infinite norm norm can be reduced by increasing the size of training data;2) the sub-Gaussian noise is taken into account;3) the difference between system outputs and their predictions is used as the residual signal, based on which test statistics are defined to obtain FD results. Finally, the effectiveness of the proposed method is demonstrated through rigorous mathematical derivation and case studies. © 2022 IEEE.

关键词： Fault detection

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Distributed Tracking control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication 6

Distributed Tracking Control and Obstacle Avoidance of Mobil...

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6th international conference on robotics, control and automation engineering, rcae 2023

作者： Liu, Guoyong Qian, Moshu Bo, Cuimei Gao, Zhifeng College of Electrical Engineering and Control Science Nanjing Tech University NanJing China College of Automation and College of Artificial Intelligence NanJing University of Posts and Telecommunications NanJing China

ISBN: (纸本)9798350315301

this article studies the cooperative tracking control and obstacle avoidance problem for wheeled mobile robots (WMRs) under event-Triggered communication. the dynamics of WMRs are considered first. To handle the constraint that only part of the robots can access the leader, the distributed state estimators are designed. then, an event-Triggered based tracking control and obstacle avoidance scheme is developed by utilizing a backstepping control technique and artificial potential field (APF). the stability of the closed-loop system is proved and Zeno behaviors are excluded. Finally, the simulation of three robots is implemented to illustrate the superiority of the presented scheme. © 2023 IEEE.

关键词： Mobile robots

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Cooperative Adaptive Fault-Tolerant Formation control for Heterogeneous Multiple Vehicles With Actuator Faults 7

Cooperative Adaptive Fault-Tolerant Formation Control for He...

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7th international conference on robotics, control and automation engineering, rcae 2024

作者： Gong, Jianye Guo, Li Zhang, Hao Chen, Yajie Li, Runze Anhui Polytechnic University School of Electrical Engineering Wuhu241000 China Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing211106 China

ISBN: (纸本)9798350355642

this paper studies the fault-tolerant control problem for the heterogeneous vehicles formation systems consisting of multiple mobile robots and quadrotors with unknown time-varying actuator faults and external disturbances. First, the position and attitude subsystem of follower heterogeneous vehicles are considered and the heterogeneous characteristics are analyzed, and the heterogeneous vehicle formation system model is further presented. then, the minimum-eigenvalue-based adaptive fault-tolerant control strategy is proposed, where the adaptive terms are adopted to compensate for the unknown time-varying actuator loss of effectiveness faults and bias faults and the computational complexity of adaptive estimation can be further reduced. © 2024 IEEE.

关键词： Eigenvalues and eigenfunctions

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Simulation and optimization of inchworm-like pneumatic crawling actuator based on ABAQUS software 7

Simulation and optimization of inchworm-like pneumatic crawl...

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7th international conference on robotics, control and automation engineering, rcae 2024

作者： Mu, Junqi Zong, Xiaofeng Wei, Yiyang Hou, Xuping China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation Wuhan430074 China

ISBN: (纸本)9798350355642

the actuator, serving as the fundamental power source of a soft robot, functions as its central component. the field of soft robotics has garnered increasing research attention since its inception. Pneumatic crawling robots, being an essential branch within the realm of soft robotics, possess notable characteristics such as rapid response time, cost-effectiveness, and human-computer interaction safety. Consequently, they hold significant research value. Among various types of crawling robots that have garnered considerable interest from researchers is the inchworm crawling robot. this paper aims to address the design and development aspects pertaining to inchworm actuators. By utilizing ABAQUS simulation software and taking displacement as the reference parameter, an analysis was conducted to investigate the impact of various geometric parameters on actuator displacement. Additionally, optimization of these geometric parameters was performed. the values of aspect ratio, length-to-width ratio, vertex angle and gap depth suitable for inchworm-like actuator are obtained. these findings are presented for the first time in the field of crawling soft robots and provide a theoretical basis for the development of pneumatic inchworm-like actuators. © 2024 IEEE.

关键词： Aspect ratio

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