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共 35125 条记录，以下是411-420 订阅

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Research on Servo System of Unmanned Amphibious Rescue Vehicle for Sudden Flood Based on intelligent Algorithms

Research on Servo System of Unmanned Amphibious Rescue Vehic...

引用

2023 international conference on cyber-Physical Social Intelligence, ICCSI 2023

作者： Yue, Guang Ren, Lin Pan, Yu-Tian Guo, Jing-Yu Taiyuan Institute of Technology Department of Automation Taiyuan China Taiyuan Institute of Technology Department of Electronic Engineering Taiyuan China Intelligent Weapon Research Institute North University of China Taiyuan China Harbin Institute of Technology College of Aerospace Science Harbin China

ISBN: (纸本)9798350312492

At present, there are some problems in controlling the servo system of Unmanned Amphibious Rescue Vehicle (UARV) with PID controller, such as low track tracking accuracy, poor control error, poor stability and safety performance. A servo control system of UARV based on BP neural network tuning PID controller is proposed and designed. The driving model of servo control system of UARV in sudden flood disaster is established. This model is used as the controlled object. BP neural network is used to learn the performance of servo control system of UARV. BP neural network is used to tune the PID controller. Gradient descent method is used to modify the weighting coefficient of the controller to realize the adaptive adjustment of the controller and control the UARV in sudden flood disasters. The experimental results show that the servo system of UARV based on BP neural network tuning PID controller effectively improves the trajectory tracking accuracy, has better flexibility, the vehicle runs smoothly, and the rescue personnel are safe because of unmanned driving. © 2023 ieee.

关键词： Proportional control systems

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Scalable Fault-Tolerant control of Multi-Agent System 2

Scalable Fault-Tolerant Control of Multi-Agent System

引用

2nd international conference on cyber-Energy systems and intelligent Energy, ICCSIE 2024

作者： Li, Qian Yang, Duo Yao, Ziyue Feng, Guopeng Zhao, Yujia Yan, Dawei Yingkou Power Supply Company State Grid Liaoning Electric Power Co. Ltd. Yingkou China Anshan Power Supply Company State Grid Liaoning Electric Power Co. Ltd. Anshan China

ISBN: (纸本)9798350373318

This paper addresses the issue of fault-tolerant coordinated control in multi-agent systems (MASs), where actuators may suffer from partial loss of effectiveness (PLOE) faults and bias faults. The proposed strategy ensure continued coordination among the agents. One noteworthy aspect of this protocol is that control is achieved based on relative information with neighbors, independent of global information communicated over the network. Additionally, this strategy is scalable. © 2024 ieee.

关键词： Multi agent systems

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control of SCARA Robot and Rotary Table in ROS and Gazebo as Part of a cyber-Physical System 9

Control of SCARA Robot and Rotary Table in ROS and Gazebo as...

引用

9th international conference on control, Decision and Information Technologies, CoDIT 2023

作者： Chikurtev, D. Al-Moghrabi, N. Chikurteva, Ava Institute of Information and Communication Technologies Bulgarian Academy of Sciences Sofia Bulgaria New Bulgarian University Sofia Bulgaria

ISBN: (纸本)9798350311402

The modern development of technology in the field of manufacturing has made significant progress. Thanks to research in the field of Industry 4.0, we now have intelligent manufacturing systems based on the Internet of Things and part of cyber-physical systems (CPS). In this research, a stand-alone control system of a SCARA robot and a rotary table is presented, as part of a production process in the industry. The technical characteristics of the robot used and of the rotary table are described. An algorithm has been developed to control the rotary table and to synchronize the work of the table and the robot. Simulation models of the robot and table are developed, methods for the control of the whole system under the robot operating system (ROS) are presented. The presented system could be used in the field of digitalization, digital twins and intelligent systems. The application of the system in the field of agriculture is considered. © 2023 ieee.

关键词： Robot Operating System

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Key Parameters Prediction for intelligent control and Energy Optimization Based on MIC-BWO-XGBoost 2

Key Parameters Prediction for Intelligent Control and Energy...

引用

2nd international conference on cyber-Energy systems and intelligent Energy, ICCSIE 2024

作者： Lv, Changyao Wang, Yaqi Chen, Yudong Yu, Zhuo Hu, Guoliang Wu, Hongliang Li, Shuai Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China 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 College of Information Engineering Shenyang University of Chemical Technology Shenyang110142 China Shanghai Aircraft Manufacturing Co. Ltd. Shanghai201324 China

ISBN: (纸本)9798350373318

In the aviation industry, anodic oxidation serves as a core process for surface modification of aluminum alloy components, albeit accompanied by high energy consumption. Accurate prediction of key parameters can offer decision support for the intelligent control and energy optimization of anodic oxidation. However, the limited sample size resulting from the high cost of data collection and the complex nonlinear patterns caused by the synergy of multiple factors pose a challenge in accurately predicting key parameters. Therefore, we propose a key parameters prediction method based on the Maximum Information Coefficient (MIC), Beluga Whale Optimization algorithm (BWO), and XGBoost algorithm. Considering the adverse impact of low correlation parameters on prediction accuracy, we first use MIC to extract features from the original data. Then, XGBoost is used to integrate multiple decision trees to ensure the strong fitting ability for nonlinear relationships. Compared to deep learning models, XGBoost performs well even in a limited sample size. In addition, considering XGBoost is prone to overfitting training data as an ensemble learning algorithm, we employ the BWO to optimize four key parameters of the model that are difficult to choose, thereby enhancing model's generalization. The model's performance is evaluated using Mean Squared Error (MSE), Mean Absolute Error (MAE), and Mean Absolute Percentage Error (MAPE), with values of 0.04388, 0.09410, and 0.20730%, respectively. The experimental results demonstrate that the proposed method outperforms traditional approaches, enabling precise prediction of key parameters and holding significant value for the intelligent control and energy optimization of anode oxidation processes. © 2024 ieee.

关键词： Anodic oxidation

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High Performance Torque control of Drive systems for Legged Robots 6

High Performance Torque Control of Drive Systems for Legged ...

引用

6th international conference on Mechatronics, Robotics and automation (ICMRA)

作者： Yang, Yuanhang Liu, Xiaoxiang Zhang, Wei Southern Univ Sci & Technol Sch Syst Design & Intelligent Mfg Shenzhen Peoples R China

ISBN: (纸本)9798350307542;9798350307535

This paper focuses on the design of high performance torque control drive system for legged robots. Achieving robust torque response performance is essential for the motors employed in these robots. Considering different transmission configurations, we introduce two distinct inertia models: one-mass system and two-mass system. For the case of a one-mass system, we design a current loop control strategy based on the Dead-Beat control (DBC), which achieves faster torque response. In the context of the two-mass system, we propose a Model Predictive control (MPC) method to effectively enforce constraints on both electromagnetic torque and shaft torque. Subsequently, we conduct separate experimental validations for these two proposed models, leading to superior performance as compared to traditional methods.

关键词： Legged Robots Model Predictive control Two-mass System Dead-Beat control Torque control

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Novel design of Reconfigurable Tracked Robot with Geometry-Changing Tracks

Novel design of Reconfigurable Tracked Robot with Geometry-C...

引用

2024 international conference on intelligent Robots and systems

作者： Xuan, Chice Lu, Jiadong Tian, Zhihao Li, Jiacheng Zhang, Mengke Xie, Hanbin Qiu, Jianxiong Xu, Chao Cao, Yanjun Zhejiang Univ Huzhou Inst Huzhou 313000 Peoples R China Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Shandong Univ Jinan 250100 Peoples R China Huzhou Lab Autonomous Intelligent Syst Huzhou 313000 Peoples R China Zhejiang Zhongyan Ind Co Ltd Hangzhou 310024 Peoples R China

ISBN: (纸本)9798350377712;9798350377705

Tracked robots with reconfigurable mechanisms exhibit great maneuverability due to their adaptability to complex ground conditions. Reconfigurable tracked robots with geometry-changing tracks show further obstacle-crossing capabilities with compact dimensions. However, existing systems face deployment limitations due to either complex transmission mechanisms or unsustainable designs when maintaining the tension in the tracks. To address these challenges, we introduce a novel design of a reconfigurable tracked robot with geometry-changing tracks, which achieves strong terrain traversability with good mechanical properties. We achieve the elliptical trajectory of key planetary wheels through a novel Quadslider Elliptical Trammel Mechanism (Qs-ETM), allowing the tracks to maintain fixed tension while changing their geometry. Furthermore, the combination of direct drive motors significantly enhances its mechanical properties and agility. A detailed analysis of the kinematic and dynamic characteristics has been conducted and proved with a series of simulations. We built a fully functional prototype of the design and tested it in real-world experiments to validate its advantages. The result shows that our design can reduce the torque required by up to 68.3% and the shear stress of the flipper by up to 67.1%.

关键词： Shear stress

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Research on the Application of Embodied Intelligence technology in Space Exploration

Research on the Application of Embodied Intelligence Technol...

引用

2024 ieee international conference on control Science and systems Engineering, ICCSSE 2024

作者： Qunzhi, Li Chao, Ma Jing, Peng Jinqiao, Wang Zhiliang, Wu Guibo, Zhu Yongjian, Liu Boyuan, Dong Jie, Wang Beijing Institute of Spacecraft System Engineering Beijing China Institute of Automation Chinese Academy of Sciences Beijing China Tianjin University Tianjin China

ISBN: (纸本)9798331517199

Embodied intelligence technology belongs to artificial intelligence (AI) technology, which is one of the embodiments. Compared to traditional operation robots, the greatest advancement of intelligent operation robots is their intelligence based on the large models, enabling cognitive understanding of the world and intelligent decision-making. Specifically, from the perspective of application, the essence of embodied intelligence is the agent's ability to autonomously perceive, make decisions, and execute actions from the first perspective. Embodied intelligence emphasizes the close connection between the agent and the environment. The agent perceives and understands the environment autonomously through the first perspective. It makes autonomous decisions, interacts with and adapts to the environment through autonomous execution. This article conducts exploratory research on the practical application of embodied intelligence technology in space missions from two aspects: on-orbit service and planetary exploration. This research can provide reference for the practical space application of artificial intelligence technology. © 2024 ieee.

关键词： Chatbots

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Elderly walking model and micro Doppler feature extraction with millimeter wave radar 12

Elderly walking model and micro Doppler feature extraction w...

引用

12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Zhao, Xinchun Zhang, Jun Wang, Yu School of Electronic Engineering Tianjin University of Technology and Education Tianjin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

China has entered an aging society. More and more attention has been paid to the monitoring of the elderly at home. This paper presents a simplified Boulic walking model based on the walking gait of the elderly. A radar echo model based on millimeter wave radar is constructed for the model. In the experiment, the micro-Doppler characteristics of the model are obtained by using the short-time Fourier transform. © 2022 ieee.

关键词： Millimeter waves

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Data-Driven Model Predictive control Strategy for Coagulant Dosing in Water Treatment Plants 2

Data-Driven Model Predictive Control Strategy for Coagulant ...

引用

2nd international conference on cyber-Energy systems and intelligent Energy, ICCSIE 2024

作者： Guo, Xifeng Meng, Ming Ning, Yi Chen, Cong Xiao, Le School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang110168 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China

ISBN: (纸本)9798350373318

Traditional control methods for the coagulation process in water treatment plants are often inefficient and costly. In this paper, a data-driven coagulant dosage prediction model is introduced using an optimization framework based on genetic algorithm (GA) improved fuzzy C-means clustering (FCM) and adaptive neuro-fuzzy inference system (ANFIS), which can be adapted to the dynamic changes of raw water quality. Through model predictive control (MPC), a multi-objective controller is designed for determining the coagulant dosage set point and control law, integrating optimization and control. After MATLAB/Simulink simulation and practical application in water treatment plants, the method was shown to have significant advantages in cost reduction and water quality stabilization, confirming its potential for coagulant dosage control in water treatment setups. © 2024 ieee.

关键词： Model predictive control

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Distributed Optimal Coordination of Microgrid systems over Unbalanced Digraph 1

Distributed Optimal Coordination of Microgrid Systems over U...

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1st international conference on cyber-Energy systems and intelligent Energy, ICCSIE 2022

作者： Zhao, Zeli Ding, Jinliang Zhang, Jinxi Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China

ISBN: (纸本)9781665452151

This paper is concerned with the distributed optimal coordination problems of microgrid systems over unbalanced digraph where the microgrid systems aim to schedule the active power outputs of the systems to meet the generation-load balance and minimize the total operating cost. However, the communication topology with an unbalanced digraph causes the imbalance of information transmission among agents. This impedes the optimal coordination for microgrid systems. To overcome this problem, by estimating the left eigenvector of the graph Laplacian matrix, a novel integrated distributed control strategy is proposed, which consists of the distributed optimal reference generator and the tracking controller. By applying this control strategy to the microgrid system, the active power outputs of the systems exponentially converge to the optimal solution of the economic dispatch problem. Finally, the effectiveness of the designed control strategy is verified by a simulation example. © 2023 ieee.

关键词： Directed graphs

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