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检索条件"主题词=Control Engineering Computing"

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Design of control System for Educational Robot with Six-Degree Freedom 11

Design of Control System for Educational Robot with Six-Degr...

引用

11th International Workshop on Human Friendly Robotics (HFR)

作者： Gao Hewei Li Xingdong Wang Yangwei Northeast Forestry Univ Coll Mech & Elect Engn Harbin 150040 Heilongjiang Peoples R China

ISBN: (纸本)9781538675847

In order to develop a friendlier human-machine interface, more precise control of the six degree of freedom robot will be achieved. The manipulator is driven by PLC which is programmed in TIA Portal V14, and PLC is responsible to keeping up with the upper computer. The communication mode is TCP/IP communication protocol, and the upper computer is developed by using Socket technology under C++MFC environment. Kinematics analysis of the manipulator is carried out by D-H parameter method and embedded into the upper computer program([9]). Finally, the absolute positioning control of the manipulator is realized. Through the visualized human-computer interface, the motion process and control principle of learning six degrees of freedom robot can be understood in a more depth.

关键词： control engineering computing educational robots human computer interaction manipulator kinematics position control programmable controllers transport protocols user interfaces Programmable logic controllers control engineering computing Educational robots Robot kinematics computer human interaction transport protocols Position control User Interface Device Component six degrees of freedom Motor Activity control systems Manipulators communication modes

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The Design and Simulation of Digital controller for Aircraft control System

The Design and Simulation of Digital Controller for Aircraft...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： WANG Cheng ZHAO Xin Beijing Aerospace Automatic Control Institute Beijing China

The design and optimization of aircraft controller parameters is an important task in the design of control system. Considering the disadvantages of low efficiency and high requirement for design experience in optimization, this paper realizes an intelligent design and simulation of control parameters based on genetic algorithm-GA. Based on an aircraft rigid body movement model, a PD controller is designed to makes the control system stable within the specified margin, and a digital filter is designed to suppress elastic vibration. At last, a simulation shows that our method can reduce the dependence on engineering design experience and optimization, it can make the designed control parameters meet the established performance indicators, and make some explorations and attempts for intelligent design of control system parameters.

关键词： aerospace computing aircraft control control engineering computing control system synthesis digital control genetic algorithms PD control vibration control aerospace computing control engineering computing Aircraft control Proportional derivative control control system synthesis control systems vibration control Numerical controls Intelligent Design Genetic Algorithm (GA) simulating control parameter aircraft control systems elastic vibration

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Intelligent Diagnostic System of KAMAZ Robotic Vehicle Units

Intelligent Diagnostic System of KAMAZ Robotic Vehicle Units

引用

International Conference on Complex Systems: control and Modeling Problems

作者： Sergey Orlov Sergey Susarev Anatolii Pugachev Samara State Technical University SamaraRussia

The article is devoted to the development of an intelligent system using artificial neural networks to monitor and diagnose the technical states of a robotic vehicle. The main task is the continuous monitoring of the main unit states during operation. The absence of a driver makes it necessary to use smart technology to analyze information about the technical condition for the assessment and management decisions. In this paper two approaches to the diagnosis of aggregates are considered. The first approach consists in remote control units for their thermal conditions using comparative infrared thermography. The neural network program analyzer is proposed. The neural network's training is conducted both on real thermograms of aggregates and using model thermograms. During the operation of a robotic vehicle, continuous remote monitoring of the units is carried out using one or several thermal imagers. According to the measured thermograms, the neural network classifies states and determines the operability or failures in the aggregates. The second approach is related to the analysis of the history of aggregate parameters measurement, including thermography. The artificial neural network during car operation predicts the behavior of the monitored units based on the evaluation of the parameter time series. This makes it possible to prevent failure of the most important units. The developed neural networks are focused on the control of the following systems and components of a robotic vehicle: engine, transmission and the elements of the internal control system. The proposed solutions using neural networks provide a continuous and remote control of the KAMAZ car, which increases the reliability of agricultural robotic system.

关键词： agricultural robots agriculture computerised monitoring condition monitoring control engineering computing infrared imaging neural nets road vehicles telerobotics Neural network Infrared imaging control engineering computing Computerized monitoring Telerobots road vehicles Condition monitoring Agricultural robots aggregates agriculture Land transportation REMOTE control Intelligent Diagnosis System Thermogram vehicle

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Automated Assembly Line Sorting Using LabVIEW as SCADA

Automated Assembly Line Sorting Using LabVIEW as SCADA

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Global Conference for Advancement in Technology (GCAT)

作者： Yakub Gangrekar Prathamesh Chaudhari Instrumentation & Control College of Engineering Pune Pune India

ISBN: (纸本)9781728136950

With the increasing demand of the products along with competitors in market, there is need of very high rate of production which can only be possible with automation in industries. With the help of automation various problems associated like human error are avoided and there is a tremendous increase in the reliability as well as quality of the final product. This paper focuses on the construction and development of a simple low cost solution to supervise and control automated assembly line sorting for local small scale product industry using LabVIEW software and a microcontroller which replicates the use of SCADA in major process industries. With the help of this project, various parameters like temperature and level are measured on a real time basis. Process control is also made available by varying parameters like motor speed and direction. With the help of LabVIEW software a complete logging of this acquired real time parameters is possible which is then stored in databases like excel sheet where further operations can be carried or can be transferred to other systems. This project is mainly divided into hardware part and software part. Hardware part mainly consists of a microcontroller along with various sensors necessary for detection and parameter sensing and actuators like various motors and their drivers. A dedicated printed circuit board was specially designed for this purpose. On the other hand a VI was created in LabVIEW software through which the logic was implemented.

关键词： assembling control engineering computing materials handling microcontrollers process control production engineering computing SCADA systems virtual instrumentation Microcontrollers production engineering computing control engineering computing virtual instrument materials handling Supervisory control and data acquisition systems Laboratory Virtual Instrumentation engineering Workbenc Supervisory control and data acquisition Process control

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A Malicious Attack Modeling Method for Source-Grid-Load System Based on Petri Net 8

A Malicious Attack Modeling Method for Source-Grid-Load Syst...

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8th IEEE Annual International Conference on Cyber Technology in Automation, control, and Intelligent Systems (IEEE-CYBER)

作者： Fan, Jie Wei, Lei Li, Wei Yuan, Quan Li, Mengya Tang, Yi Global Energy Interconnect Res Inst Co Ltd Beijing Peoples R China State Grid Key Lab Informat & Network Secur Beijing Peoples R China State Grid Jiangsu Elect Power Co Ltd Nanjing Jiangsu Peoples R China Southeast Univ Sch Elect Engn Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781538670576

The development of smart grid improves the observability and controllability of power system. Meanwhile, the reliability of information support system has an increasingly important impact on the safe and stable operation of power system. In the source-grid-load (SGL) system, the design purpose of fast and precise load control for fault mitigation raises higher requirements on controllability. Malicious attacks against the SGL system may lead to serious consequences. To evaluate the security and reliability of SGL system, this paper focuses on malicious attacks against SGL system, and models the attacks with Petri net. Probability of successful attacks that damage the system function is also calculated. On this basis the risk of network attack faced by SGL system is evaluated. Finally, the validity of the proposed modeling method is verified by case study. With the deep integration of industrial control system (ICS) and Internet technology, the security problem of industrial control system is becoming more and more significant. The continuous development and use of power system control equipment and technology make the power system a typical example of industrial control system.

关键词： control engineering computing industrial control Internet Petri nets power engineering computing power system control power system security smart power grids Smart grids Petri nets Power system control control engineering computing Power engineering computing industrial control Industrial control systems Power system security power systems Internets

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World Modeling for Mobile Platforms using a Contextual Object-based Representation of the Environment 8

World Modeling for Mobile Platforms using a Contextual Objec...

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8th IEEE Annual International Conference on Cyber Technology in Automation, control, and Intelligent Systems (IEEE-CYBER)

作者： Hiller, Markus Particke, Florian Hofmann, Christian Bey, Henrik Thielecke, Joern Friedrich Alexander Univ Erlangen Nurnberg FAU Inst Informat Technol Commun Elect Erlangen Germany

ISBN: (纸本)9781538670576

Today's mobile robotic systems are expected to handle a great variety of different tasks while reliably operating in highly complex and dynamic environments. This requires a correct and interpretable representation of the robot's surroundings. In recent years, a number of world representations have been developed, tailored for specific fields of application, but with very poor generalization possibilities. In this paper, we close the gap between application-specific world models by introducing a more holistic approach to environment modeling in the form of a Contextual Object based Representation of the Environment. It is composed of a set of state vectors combining object semantics and the key concepts of the different world modeling techniques into a high-level object-oriented representation. The structure enables the probabilistic modeling of complex and dynamic environments together with all associated uncertainties. By providing the possibility to derive well-established feature- and grid-based world representations at any point in time, we offer ease of integration into existing systems. To demonstrate the aptitude and generalization capabilities of our approach, its application is demonstrated on simulated data. Our approach clearly extends the capabilities of established models by being able to represent both static and dynamic scenarios with semantic object identities in a form suited for navigation, object tracking and interaction.

关键词： control engineering computing mobile robots navigation object tracking object-oriented methods robot vision object orientation control engineering computing robot vision Mobile robots navigation Environments tracking objects moving platform state vectors Modeling

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Water Flow control System Based on Context Aware Algorithm and IoT for Hydroponic

Water Flow Control System Based on Context Aware Algorithm a...

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IEEE International Conference on Internet of Things and Intelligence System (IOTAIS)

作者： Otrinanda Gandhi Mohamad Ramdhani Muhammad Ary Murti Casi Setianingsih School of Electrical Engineering Telkom University Bandung Indonesia

ISBN: (纸本)9781728125176

Farming with using a hydroponic technique became a solution for future farming technique. Hydroponic uses water to provide nutrient and oxygen for the plant. Water must be distributed equally in all part of hydroponic pipes, so that every plants get same amount of nutrient. In order to control the water flow to be distributed equally, this research used servo valve controlled by microcontroller based on Internet of Things (IoT). Lastly, this research also observe the plant grows in the hydroponic that using this system. The result shows that the system can make the plant growth, like plant length and leave width will be more equal between growing tube.

关键词： agricultural engineering agriculture control engineering computing farming flow control Internet of Things level control microcontrollers servomechanisms valves agriculture Microcontrollers flow control control engineering computing Servomechanism hydroponics Internet of things level control VALVE GATE farming system means of agricultural production agricultural engineering

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Stability Improvement of Power Networks using Cluster based Dynamic Excitation of AVR

Stability Improvement of Power Networks using Cluster based ...

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IEEE Annual Ubiquitous computing, Electronics & Mobile Communication Conference (UEMCON)

作者： Brook W. Abegaz Loyola University Chicago Chicago IL USA

ISBN: (纸本)9781728138862

The dynamic stability of power systems consisting of multiple machines is affected by the excitation of each machine, the system configuration and the loading conditions. In this paper, a method that could improve the dynamic stability of power networks in the presence of internal and external disturbances is presented. Automatic voltage regulator (AVR) based clustering and dynamic excitation of machines is proposed. Distributed perturbations are used to evaluate the stability of an experimental New England 10-machine, 39-bus test system. From the results, it was seen that the proposed clustering-based excitation algorithm could uniquely improve the stability conditions of the perturbed New effectively power system by around 10%, which could not be achieved using other methods.

关键词： control engineering computing pattern clustering power system control power system stability voltage control voltage regulators Power system stability control engineering computing Power grids Voltage regulators Power system control automatic voltage regulator Voltage regulation Cluster Analysis stability improvement Dynamic stability power system dynamic stability Excitation machine power systems

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Reliable Communication Mechanism Design for Interaction Between Android and ROS 8

Reliable Communication Mechanism Design for Interaction Betw...

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8th IEEE Annual International Conference on Cyber Technology in Automation, control, and Intelligent Systems (IEEE-CYBER)

作者： Shao, Zhenzhou Li, Mengnan Qu, Ying Song, Guoli Guan, Yong Tan, Jindong Wei, Hongxing Capital Normal Univ Beijing Adv Innovat Ctr Imaging Technol Coll Informat Engn Beijing 100048 Peoples R China Capital Normal Univ Beijing Key Lab Light Ind Robot & Safety Verifica Beijing 100048 Peoples R China Univ Tennessee Coll Engn Knoxville TN 37996 USA Chinese Acad Sci Shenyang Inst Automat Shenyang 110115 Liaoning Peoples R China Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China

ISBN: (纸本)9781538670576

There exists a wide application prospect in the interaction between the android system and ROS (Robot Operating System). Google and Willow Garage have developed the android_core package based on rosjava to build a ROS environment in the android system. However, the current mechanism cannot guarantee the reliable communication. This paper proposes two fundamental approaches to solve above problem. On the one hand, a communication anomaly detection module CheckNodeConnection in the application layer of the TCP/IP protocol is designed to detect the connection anomaly of network. On the other hand, we develop a communication mechanism called RosActionOnAndroid on the android system inspired by the "ROS Action Protocol" in ROS. The experimental results show that CheckNodeConnection can effectively detect the connection state between android and ROS, and RosActionOnAndroid communication mechanism can obtain the task execution status feedback of the ROS robot and support the preemptable task, which make the interactive control more accurate and reliable.

关键词： control engineering computing mobile computing mobile robots operating systems (computers) robot programming telerobotics transport protocols Androids Methyltestosterone control engineering computing Robot programming Telerobots ROS1 gene transport protocols Mobile computing Mobile robots application layer Communication Research

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Robot Teaching and Learning Based on "Adult" and "Child" Robot Concept 8

Robot Teaching and Learning Based on "Adult" and "Child" Rob...

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8th IEEE Annual International Conference on Cyber Technology in Automation, control, and Intelligent Systems (IEEE-CYBER)

作者： Hong, Qi Liu, Lianqing Cheng, Hongtai Chen, Heping Chinese Acad Sci Shenzhen Inst Informat Technol Beijing Peoples R China Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Beijing Peoples R China Northeast Univ Shenyang Liaoning Peoples R China Texas State Univ Ingram Sch Engn San Marcos TX 78666 USA

ISBN: (纸本)9781538670576

Recently robotic technology has been advanced rapidly. There are many robotic applications in manufacturing environments to replace human workers. However, there are many unsolved problems in robotic automation. One issue is how to teach a robot without sacrificing the safety issues;the second one is how to make a robot adapt to the changes and uncertainties in a robotic manufacturing process. To face these challenges, the concept of "adult" robot and "child" robot is presented. Role characteristics and task division are identified and analyzed in this paper. These concepts are applied in a force guided assembly task. The proposed solution involves robot navigation, mobile manipulation, robot learning and force controlled intelligent assembly. An "adult" robot with advanced sensing and decision-making capabilities will teach a "child" robot how to perform a task. The force controlled intelligent assembly strategy will enable a "child" robot to successfully perform assembly tasks with changes and uncertainties. Experimental platforms have been developed and some preliminary results demonstrate that the proposed method is very promising. The proposed methods will enable industrial robots to be more intelligent.

关键词： assembling control engineering computing force control industrial manipulators intelligent robots learning (artificial intelligence) robot programming robotic assembly Robot control engineering computing industrial manipulators Robot programming Intelligent robots robotic assembly Force control assemblies Adults

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