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Research on intelligent monitoring system ofgreenhouse intensity and CO2 concentration based on STM32 15

Research on intelligent monitoring system ofgreenhouse inten...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Shuanzeng School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin Key Laboratory of complex system control theory and Application Binshui Xidao 391 Tianjin300384 China

ISBN: (纸本)9781538660720

Because the stability and accuracy of the traditional greenhouse monitoring system are not high enough, the light intensity and the grape canopy of the intelligent monitoring system are established for this phenomenon. It is based on the C02 concentration of STM32 single chip to monitor the intensity of light and C02 concentration and show it at the same time. Serial communication is used to send test results to MCGS touch screen to achieve real-time monitoring and warning of light intensity and C02 concentration in greenhouse. The result of long term test shows the precision of the light intensity detection of the system is 940lux, C02 concentration measurement accuracy 40ppm. Compared with the traditional automatic monitoring system, the system runs stably and costs less, and the accuracy meets the requirements of grape greenhouse. In conclusion, the system proposed in this paper is suitable for agriculture. © 2018 IEEE.

关键词： Greenhouses

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A Method for Obtaining Contact Force between Catheter Tip and Vascular Wall in Master-slave Robotic system

A Method for Obtaining Contact Force between Catheter Tip an...

引用

IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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Path Planning for Mobile Robots Based on Improved RRT Algorithm

Path Planning for Mobile Robots Based on Improved RRT Algori...

引用

IEEE International Conference on Mechatronics and Automation

作者： Lei Shao Hanze Liu Chao Chen Dongdong Du Ji Li Hongli Liu Tianjin Key Laboratory for Control Theory & Applications in Complicated system Tianjin University of Technology Binshui Xidao 391 Tianjin China China Academy of Industrial Internet Institute of Data management and application Beijing Tower B East Bay International Center No.6 Liza West Street Chaoyang District Beijing

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Aiming at the shortcomings of the basic RRT algorithm, such as the random search ability is relatively strong, and the calculation result is usually not the shortest path, etc., an improved RRT path optimization algorithm is proposed, which uses the ant colony algorithm to obtain the basic RRT algorithm. The path is iterated and optimized, and eventually converges to a shortest path, improving the efficiency of planning the shortest path in advance, and conducting in-depth research on this algorithm. A large number of simulation results show that the improved algorithm has certain feasibility and effectiveness. In multiple iterations, it can eventually converge to a path with a better distance.

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot system

Development of the Insect-inspired Biomimetic Underwater Mic...

引用

IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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Design of LT-Med seawater desalination temperature control system based on dynamic matrix predictive fuzzy PID control algorithm 15

Design of LT-Med seawater desalination temperature control s...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Liu, Hongli Song, Lulu Shao, Lei Tan, Zhenhai Chen, Xiaoqi Tianjin University of Technology Tianjin Key Laboratory of Complex System Control Theory and Applications Tianjin University of Technology Binshui Xidao 391 Tianjin China

ISBN: (纸本)9781538660720

This article takes the "Twelfth Five-Year"50t/d MED pilot plant as the research background. According to the characteristics of nonlinearity, large inertia, large delay, and difficulty in establishing accurate mathematical models of temperature control systems in low-temperature multiple-effect (LT-MED) desalination plants, we have analyzed dynamic matrix predictive control and self-tuning fuzzy PID control methods. It is proposed to combine the two methods to achieve the effect of temperature *** the simulation test, the results show that the dynamic matrix fuzzy PID controller is more effective than the general fuzzy PID controller. For example, the adjustment time is effectively reduced, overshoot is almost zero enhances and the anti-interference ability is also *** fuzzy controller added to the dynamic matrix can better achieve the control effect we need in industrial production. © 2018 IEEE.

关键词： Temperature control

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FPGA Based Design and Implementation of Improved Edge Detection Algorithm using LOG Operator

FPGA Based Design and Implementation of Improved Edge Detect...

引用

IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Kaifeng Li Jigang Tong Complex System Control Theory and Application Key Laboratory Tianjin University of Technology (TJUT) Tianjin China

Detection speed and precision are key indicators of the edge detection systems. To increase the precision of edge detection and enhance its engineering practicability, an improved edge detection algorithm based on Laplace of Gaussian (LOG) operator is proposed in this paper. In this algorithm, the first order partial derivative in different direction is calculated to judge the direction of the gradient. Then, the position of zero crossing point is positioned according to the value of LOG operator in the gradient direction. Furthermore, according to the number of zero crossing points of the adjacent points in the direction of the gradient normal vector, the image is filtered and breakpoints are connected. For convenience in engineering application of digital image processing, this proposed edge detection algorithm is implemented on Field-Programmable Gate Array (FPGA) chip. The experiment results show that this proposed algorithm is easy to be implemented on hardware and has much higher accuracy in edge detection performance. Due to the parallel processing capability of FPGA chip, the designed edge detection system is suitable for real-time image processing applications.

关键词： Image edge detection Field programmable gate arrays SDRAM Real-time systems Laplace equations Convolution Cameras

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Moving targets detection based on improved single Gaussian background model

Moving targets detection based on improved single Gaussian b...

引用

IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Bo Han Xiao Yu Shengzhi Du Complex System Control Theory and Application Key Laboratory Tianjin University of Technology (TJUT) Tianjin China

In order to improve the detection effect of the single Gaussian background model (SGM), an improved SGM algorithm is proposed to detect moving targets in this paper, which has made three improvements on the base of SGM. Firstly, the algorithm adopts adaptive background learning rate instead of using a fixed learning rate. Secondly, we use a new update strategy of Gaussian background model, which makes the Gaussian background model has good convergence and stability. Finally, the moving targets are detected according to the principle of Gaussian distribution and the image morphology filtering. Experimental results show that the background model of improved SGM can adapt well to background changes, and the target detection integrity is higher than that of the traditional SGM.

关键词： Adaptation models Computational modeling Morphology Filtering Feature extraction Object detection Gaussian distribution

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Research on Intelligent Monitoring system of Greenhouse Intensity and CO2 Concentration Based on STM32

Research on Intelligent Monitoring System of Greenhouse Inte...

引用

IEEE International Conference on Mechatronics and Automation

作者： Shuanzeng Li School of Electrical and Electronic Engineering Tianjin Key Laboratory of complex system control theory and Application Tianjin China

Because the stability and accuracy of the traditional greenhouse monitoring system are not high enough, the light intensity and the grape canopy of the intelligent monitoring system are established for this phenomenon. It is based on the CO2 concentration of STM32 single chip to monitor the intensity of light and CO2 concentration and show it at the same time. Serial communication is used to send test results to MCGS touch screen to achieve real-time monitoring and warning of light intensity and CO2 concentration in greenhouse. The result of long term test shows the precision of the light intensity detection of the system is 9401ux, CO2 concentration measurement accuracy 40ppm. Compared with the traditional automatic monitoring system, the system runs stably and costs less, and the accuracy meets the requirements of grape greenhouse. In conclusion, the system proposed in this paper is suitable for agriculture.

关键词： Pipelines Green products Monitoring Voltage control Real-time systems Oscillators Air pollution

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Simultaneous Location and Map Construction Based on RBPF-SLAM Algorithm

Simultaneous Location and Map Construction Based on RBPF-SLA...

引用

第30届中国控制与决策会议

作者： Hong He YunHui Jia Lei Sun School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin Key Laboratory of Complex System Control Theory and Application

Solving the problem of simultaneous location and map construction（SLAM） is the core of robot autonomous navigation. At present, most algorithms usually only consider the odometer information of mobile robot, therefor, there exists some problems of increasing computation amount caused by a large number of sampling particles and the complexity. So, this paper developed a scheme of map construction and positioning based on RBPF-SLAM algorithm. The hardware and software platform is set up on the ROS, and it merge the odometer information of the robot into the distance information collected by the laser sensor, which effectively reduces the number of required particles and the uncertainty of the robot’s pose estimates in filter prediction phase. Through the experimental, get the conclusion: simultaneous positioning based on RBPF-SLAM algorithm and map construction system can create high-precision online raster map in real time, and it is more consistent with the actual map.

关键词： ROS RBPF-SLAM Algorithm Simultaneous Location Laser Sensor Pose Estimates

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Switching Power Supply Design Suitable for Motor control 29

Switching Power Supply Design Suitable for Motor Control

引用

第29届中国控制与决策会议

作者： Zhi-Chao Zhao Li guo-hong Tianjin University of Technology Tianjin Complex System Control Theory and Application Key Laboratory

ISBN: (纸本)9781509046584

Motor control systems require multi-channel stable output low voltage DC power *** to the needs of motor control system,a switching power supply can meet the requirements of motor control is *** topology of switching power supply and the uses of PWM control chips are *** positive and negative bias generation circuit of IGBT is *** circuit components' choices and design method of a high frequency transformer of the flyback switching power supply are ***,the basic performances of switching power supply were tested;the results show that it can meet the requirements of motor control systems.

关键词： switching power supply motor drive pulse width control chip high frequency transformer

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