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Penetration-Free Collision Detection and Response Algorithm Based on Extended Position-Based Dynamics 6

Penetration-Free Collision Detection and Response Algorithm ...

引用

6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： Wang, Minghui Ding, Fan Liao, Chengye Pan, Yangyang Yang, Tao He, Jianping Pingtan Center of Quality Metrology and Testing Pingtan350400 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Department of Automation Shanghai200240 China Northeastern University Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China

ISBN: (纸本)9798350356618

In the virtual simulation platform, frequent physical interactions between the robot and the environment poses extremely high demands on the handling of collisions and contacts in the simulation. Current mainstream virtual simulation platforms, in pursuit of real-time performance, have sacrificed some accuracy in simulation algorithms, leading to control strategies obtained in training that are difficult to directly transfer to actual physical machines. This virtual-physical discrepancy has significantly impacted the efficiency and effectiveness of mobile robot simulation. Existing work has attempted to use more accurate mathematical modeling and design more realistic solvers, but at the cost of uncontrollable problem scale and extremely high computational complexity. Starting from this perspective, this paper designs a non-penetration simulation algorithm based on extended Position-Based Dynamics (XPBD), which improves the physical processing accuracy during the simulation while ensuring real-time performance, enhances the fidelity of the simulation, and reduces the virtual-physical discrepancy. Simulation experiments have been conducted to validate the reliability of our proposed algorithm. © 2024 IEEE.

关键词： Virtual environments

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Research on geomembrane leakage detection method based on quadruped robot

Research on geomembrane leakage detection method based on qu...

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2024 China automation Congress, CAC 2024

作者： Zhang, Pengcheng Hu, Ningning Wang, Xiao Xi, Qingbiao Zhao, Haohao Wu, Xingchen Qin, Linfeng Yuan, Dongli Investigation & Testing Research Institute Shanghai Investigation Design & Research Institute Co. Ltd. Shanghai China System Department 2 Xi'an ASN Technology Group Co. Ltd Xi'an China School of Electronic and Control Engineering Chang'an University Xi'an China School of Automation Northwestern Polytechnical University Xi'an China

ISBN: (纸本)9798350368604

Aiming at the problem of leakage detection of seepage control geomembranes in landfills, a fully autonomous dipole method detection system based on a quadruped robot equipped with a dipole sensor is designed. The feasibility and superiority of using a quadruped robot are analyzed on the basis of the detection principle of the dipole method. Due to the problems existing in the process of upgrading the artificial static detection to autonomous dynamic detection, a dynamic detection method based on a quadruped robot is designed while the structure construction of the dipole method on the quadruped robot is completed. The experimental results show that the efficiency of geomembrane leakage detection can be improved with detection system method employed in this paper. © 2024 IEEE.

关键词： Geomembranes

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Penetration-Free Collision Detection and Response Algorithm Based on Extended Position-Based Dynamics

Penetration-Free Collision Detection and Response Algorithm ...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Minghui Wang Fan Ding Chengye Liao Yangyang Pan Tao Yang Jianping He Pingtan Center of Quality Metrology and Testing Pingtan China Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

ISBN: (数字)9798350356618

ISBN: (纸本)9798350356625

关键词： Training Accuracy Heuristic algorithms Simulation Real-time systems Stability analysis Mathematical models Reliability Mobile robots Collision avoidance

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Research on Geomembrane Leakage Detection Method Based on Quadruped Robot

Research on Geomembrane Leakage Detection Method Based on Qu...

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Chinese automation Congress (CAC)

作者： Pengcheng Zhang Ningning Hu Xiao Wang Qingbiao Xi Haohao Zhao Xingchen Wu Linfeng Qin Dongli Yuan Investigation & Testing Research Institute Shanghai Investigation Design & Research Institute Co. Ltd. Shanghai China System Department 2 Xi'an ASN Technology Group Co. Ltd. Xi'an China School of Electronic and Control Engineering Chang'an University Xi'an China School of Automation Northwestern Polytechnical University Xi'an China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

关键词： Legged locomotion Costs automation Landfills Dogs Robot sensing systems Software Quadrupedal robots Intelligent control

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Effect of Lockdown on KVAh Billing System - A Case Study 1

Effect of Lockdown on KVAh Billing System - A Case Study

引用

1st IEEE International Conference on Smart Technologies for Power, Energy and control, STPEC 2020

作者： Wath, Manish Wath, Harshada Ballal, Makarand Jaiswal, Gajanan MSEDCL Department of Testing and Quality Control Mumbai India SCADA Engineer Department of Electrical and Automation LnT Mumbai India VNIT Department of Electrical Engineering Nagpur India Additional Executive Engineer Nagpur India

ISBN: (纸本)9781728188737

All industries requires active as well as reactive power for their motive load. For optimum utilization of the generator, reactive power requirement is to be fulfill at the load center. To encourage the industrial consumers previously there was a provision of incentive / penalty for PF in the billing system in Maharashtra. Now as per MERC new tariff order, from April 20, KVAH billing has been implemented. In which reactive power (Lag+Lead) is considered for the kVAH calculation and penalty has been withdrawn. Since March 20, due to COIVID-19, Lockdown has been implemented in all over India and all industries were running on No load condition. In such situation the industries those having power cable on high voltage level for extending the supply from metering system to distribution transformer, they have to bear additional kVAH billing due to RkVAH used due to power cable. This may introduced high voltage problem also. Two case studies has been presented here and suggested that, Shunt reactor can be used for compensation of the cable reactance. This will reduce the loss level in distribution network as well as burden on the industries in terms of revenue due to consumption of reactive power in power cable. © 2020 IEEE.

关键词： Reactive power

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Combining Point and Edge for Satellite Pose Tracking Under Illumination Varying

Combining Point and Edge for Satellite Pose Tracking Under I...

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World Congress on Intelligent control and automation

作者： Yu Zou Xueqian Wang Tao Zhang Jingyan Song Department of Automation School of Information Science and Technology Tsinghua University Research Institution of Intelligent Control and Testing Graduate School of Tsinghua University at Shenzhen

ISBN: (纸本)9781467384155

Pose tracking is a fundamental technology needs to be solved in on-orbit service. Visual pose tracking provides an inexpensive solution while it remains a large obstacle to track satellites under space illumination changing condition. This paper combines point feature with edge feature to track a model-known satellite. It makes use of the distinctiveness of point feature and robustness of edge feature, and treats them differently through a weight-self-tune procedure according to their residuals respectively. Simulation results show that the proposed combination approach improves the tracking accuracy and holds the robustness simultaneously.

关键词： Satellites Lighting Image edge detection Robustness Feature extraction Pose estimation Target tracking

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The design of the remote water quality monitoring system based on WSN

The design of the remote water quality monitoring system bas...

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5th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2009

作者： Zhu, Wang Qi, Wang Xiaoqiang, Hao School of Information Science and Engineering Harbin Institute of Technology WeiHai China Department of Automation of Testing and Control Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424436934

To resolve the problem of the manual analytical method adopted in water quality detection with bad real-time character, this paper introduces a novel kind of Remote Water Quality Measuring and Monitoring System based on WSN. It has used wireless sensor network based on the ZigBee to realize the water quality parameter remote probing and the real-time monitoring function. Users can observe the current or historical water quality status easily, and it provide a reasonable basis for the further breeding plan. This system has a simple architecture, and isn't confined by the geographical position. According to the test results, this system can run stably. And its operation is convenient. ©2009 IEEE.

关键词： Zigbee

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The research of weigh-in-motion sensor layout based on data fusion

The research of weigh-in-motion sensor layout based on data ...

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6th International Conference on Fuzzy Systems and Knowledge Discovery, FSKD 2009

作者： Wang, Zhu Wang, Qi Hou, Jiatong School of Information Science and Engineering Harbin Institute of Technology WeiHai China Department of Automation of Testing and Control Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769537351

Weigh-in-motion (WIM) is a better way that can gain the true weight of vehicle which is moving on the highway at a high speed. In this paper, the principle of piezoelectric sensor is introduced, and the WIM signal model is simplified. The application of data fusion approach is used on the basis of piezoelectric sensors, and the proper redistribution of sensors is used to gain the WIM model, then the expected value which is closer to the true axle load can be gained by the Gass-newton method. The simulation of the different speed errors when the initial phases are different according to a layout shows that the accuracy is adequate. © 2009 IEEE.

关键词： Piezoelectricity

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Extended Kalman filter training T-S fuzzy model for signal reconstruction of multifunctional sensor

Extended Kalman filter training T-S fuzzy model for signal r...

引用

IEEE Instrumentation and Measurement Technology Conference

作者： Guo Wei Xin Wang Jinwei Sun Department of Automation Testing and Control Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424433520

Multifunctional sensor is an emerging sensor which can measure more than one physical or chemic parameters simultaneously. But how to establish the relationship between the outputs and inputs of multifunctional sensor, which called signal reconstruction, becomes a problem. A method based on T-S fuzzy model and extended Kalman filter (EKF) for multifunctional sensor signal reconstruction is proposed in this paper. The method firstly uses subtractive clustering to partition the sampled-data and confirm the structure and initial parameters of T-S fuzzy model. Then train T-S fuzzy model with extended Kalman filter and sampled-data continuously until reaching the expected criterion. The trained T-S fuzzy model is located behind the multifunctional sensor to convert the output of the sensor into the expected parameters in the practical application. The simulation results show that the method is of higher precision and accuracy than other methods, and is very suitable for practical use.

关键词： Signal reconstruction Clustering algorithms Chemical sensors Partitioning algorithms Fuzzy systems Instrumentation and measurement Fuzzy control Sun Chemical technology automation

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Application of multifunctional sensing technique with ANFIS to physical parameters estimations of ternary solution with NaCl and sucrose

Application of multifunctional sensing technique with ANFIS ...

引用

IEEE Instrumentation and Measurement Technology Conference

作者： Guo Wei Jian Liu Jinwei Sun Department of Automation Testing and Control Harbin Institute of Technology Harbin China

On-line measurement of physical parameters of solution means a great deal in the osmotic dehydration process of food. Ternary solution with NaCl and sucrose is widely employed in this process. This study aims at reconstructing concentrations of two components and estimating density, viscosity of this ternary solution with multifunctional sensing technique in which the multifunctional sensor was previously designed by the authors. In this work, ANFIS (Adaptive Network-Based Fuzzy Inference System) is adopted to be signal reconstruction algorithm for the multifunctional sensing technique. For obtaining number of fuzzy rules and more precise initial values of premise parameters, in the process of reconstructing and estimating, subtractive clustering and fuzzy c-means clustering are used to analyze input-output space of ANFIS. Experimental results with satisfactory accuracies proved the proposed multifunctional sensing technique with ANFIS algorithm is valuable in food industry.

关键词： Parameter estimation Sugar Clustering algorithms Viscosity Adaptive systems Fuzzy neural networks Fuzzy systems Signal reconstruction Inference algorithms Food industry

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