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PlantBot: A new ROS-based robot platform for fast building and developing 15

PlantBot: A new ROS-based robot platform for fast building a...

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

作者： Ma, Liulong Liu, Yanjie Gao, Yibo Zhu, Chuanming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang15000 China School of Mechanical Engineering Tongji University 4800 Cao'an Highway Shanghai201804 China

ISBN: (纸本)9781538660720

In recent years, the Robot Operating system (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://***/marooncn/plantbot. © 2018 IEEE.

关键词： Robot Operating system

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Exploiting MAS-based simulation to improve the indian railways' efficiency

Exploiting MAS-based simulation to improve the indian railwa...

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11th German Conference on Multiagent system Technologies, MATES 2013

作者： Ghosh, Supriyo Dutta, Animesh Mascardi, Viviana Briola, Daniela Department of Information Technology National Institute of Technology Durgapur 713209 India Department of Informatics Bioengineering Robotics and System Engineering University of Genova via Dodecaneso 35 16146 Genova Italy

ISBN: (纸本)9783642407758

Despite being one of the world's largest railways networks, with a daily transportation of over 25 million passengers and 2.8 million tons of freight, the Indian Railways perform their signaling, traffic management and trains scheduling activities in a completely manual way. The lack of automation causes not only significant delays, but also frequent collisions where passengers die or remain seriously injured. This paper describes how we modeled the Indian Railways system as a MAS and the results of the simulations run using NetLogo on real data retrieved from the Indian Railways dataset. The simulated system is-under some assumptions-collision-free and, thanks to the integration of the MAX-SUM algorithm, minimizes the individual train delay. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Scheduling

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RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER CONTROL system OF NUCLEAR POWER PLANT 29

RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER...

引用

2022 29th International Conference on Nuclear engineering, ICONE 2022

作者： Wang, Hongrui Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Zhang, Pengbin State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886373

The pressurizer is an essential part of the safe operation of the nuclear power plant. It contains both the steam phase and the liquid phase, which requires simultaneous control of the pressure and water level, and the control system is strongly coupled. When using the PID control method, it is difficult to tune the parameters, and the difficulty is exacerbated when the set value fluctuates. This paper aims at the multi-input and multioutput pressurizer control system, based on the particle swarm optimization to realize the PID controller parameters self-tuning, adopting the time and absolute error integral as the fitness function to evaluate the merits of the PID parameters, and constantly iterating to update and obtain the PID parameters that better satisfy the current working conditions. For coupled pressurizer control systems, the PID parameter tuning method using particle swarm optimization algorithms can give a group of PID controller parameters that make the system operation stable despite the frequent fluctuation of the set value, and compared with the traditional PID controller parameter tuning method, this method can realize the PID parameter self-tuning, eliminating the trouble of manual tuning. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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Analysis of the Perpendicularity Influence of the Gyrowheel Support on the Spacecraft Angular Velocity Measurement Accuracy

Analysis of the Perpendicularity Influence of the Gyrowheel ...

引用

International Conference on Guidance, Navigation and Control, ICGNC 2020

作者： Xiaokun, Liu Jian, Zhang Jun, Fu Dongqing, Gu Bin, Song Aerospace System Engineering Shanghai Shanghai China Shanghai Engineering Research Center of Space Robotics Shanghai China Shanghai Academy of Spaceflight Technology Shanghai China Beijing Institute of Tracking and Telecommunication Technology Beijing China

ISBN: (纸本)9789811581540

The gyrowheel can be used as an actuator to provide three-axis control torque for spacecraft, and also as a sensor to measure the two-axis attitude angular velocity of spacecraft. The existence of non ideal factors is the key factor affecting the measurement of spacecraft angular velocity with gyrowheel. Therefore, this paper mainly studies the non-ideal factor that the support torsion bar of gyrowheel is not perpendicular and analyzes the non-perpendicularity support on the measurement accuracy of spacecraft attitude angular velocity. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Spacecraft

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Active Complaint Control for Smooth and Quick Connector Assembly

Active Complaint Control for Smooth and Quick Connector Asse...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wu, Jun He, Yu Wang, He Wang, Qiyu Fan, Shaowei University of Electronic Science and Technology of China School of Mechanical and Electrical Engineering Chengdu611731 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350325706

This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly. © 2023 IEEE.

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A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFICATION USED IN NUCLEAR POWER PLANTS 29

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFI...

引用

2022 29th International Conference on Nuclear engineering, ICONE 2022

作者： Zhang, Pengbin Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Wang, Hongrui State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886472

Nuclear power is one of several significant clean energy and its production capacity is increasing rapidly. This paper proposed a novel PID self-tuning method based on closed-loop identification used in nuclear power plants to deal with the turbine's load tracking problem. A setpoint-shifting method is adopted to achieve the informativity of the closed-loop system, and the PID parameters are designed through an optimization method. For validating the proposed method, this paper modeled a pressurized-water reactor (PWR) nuclear power plant, a complex system consisting of three circuits, through the first principle. The primary circuit contains three main devices: a nuclear reactor, a pressurizer, and a steam generator. The models of these three devices are provided by previous literature separately. The whole model is generated through mass and energy balance. This mechanism model is used as the plant model, while the identified model is used as the control model. The initial PID parameters are set through open-loop identification using an external excitation. Then the proposed method works online to track the turbine's load in time. The effectiveness of the proposed method is illustrated by simulations. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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Research on Low-Force Cutting Load Characteristics for Lunar Rock Simulant

Research on Low-Force Cutting Load Characteristics for Lunar...

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2021 International Conference on Computer Graphics, Artificial Intelligence, and Data Processing, ICCAID 2021

作者： Wang, Yizhuo Li, Peng Xu, Bo Liu, Junwei Mechanical Engineering College Beihua University Jilin132022 China Mechanical Engineering College Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510652170

ISBN: (纸本)9781510652163

In the whole lunar regolith drilling and sampling task, It is critical to make the operation of the drilling and sampling system efficient and reliable. In view of the high efficiency drilling requirements of lunar rock under low-force conditions, it is necessary to study the mechanical properties of an elemental blade and lunar rock. Firstly, a test platform is developed to test the low-force cutting load characteristics for the lunar rock simulant according to the requirements of the cutting load characteristics test function. Then, the linear cutting load and impact crushing load characteristics for the lunar rock simulant are tested and verified respectively. It is finally found that the cutting load of the lunar rock simulant can be reduced by increasing the cutting edge rake angle and side rake angle and improving the percussive frequency. This provides a certain reference for setting the operating parameters of lunar rock core drilling tools to achieve high performance drilling under low-force conditions. © 2022 SPIE.

关键词： Rocks

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Servo system of 6 DOF electro-hydraulic shaking table

Servo system of 6 DOF electro-hydraulic shaking table

引用

2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Yin, Liyi Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

Electro-hydraulic shaking table (EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom (DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a real-time PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST. © 2011 Springer-Verlag.

关键词： Hydraulic actuators

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Distributed MPC-based path planning for UAVs under radio communication path loss constraints

Distributed MPC-based path planning for UAVs under radio com...

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1st IFAC Conference on Embedded systems, Computational Intelligence and Telematics in Control, CESCIT 2012

作者： Grancharova, Alexandra Grøtli, Esten I. Johansen, Tor A. Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Sofia 1113 Bulgaria Department of Engineering Cybernetics Norwegian University of Science and Technology 7491 Trondheim Norway

ISBN: (纸本)9783902661975

In this paper we address the Model Predictive Control (MPC)-based path planning problem for Unmanned Aerial Vehicles (UAVs). Our goal is to find trajectories that are safe with respect to grounding and collision, fuel efficient and satisfy criteria for communication such that the UAVs form a chain with a given radio communication capacity. A centralized MPC and a distributed MPC approaches to solve the path planning problem are proposed. Both approaches explicitly incorporate constraints on radio communication path losses, computed by using SPLAT!. In order to enhance the MPC problem computation, the terrain below each UAV and the communication path losses are approximated with linear functions. The control performance and the computational efficiency of the distributed MPC and the centralized MPC approaches are compared based on a simulation case study with two UAVs. © 2012 IFAC.

关键词： Model predictive control

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Modeling and Planar Trajectory Tracking Control of an MJ-AUV 42

Modeling and Planar Trajectory Tracking Control of an MJ-AUV

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42nd Chinese Control Conference, CCC 2023

作者： Omar, Zakarya Liu, Ke-Xian Ren, Chao Meng, Qing-Hao Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China Sana'a University Faculty of Engineering Sana'a Yemen

ISBN: (纸本)9789887581543

A Multi-Joint Autonomous Underwater Vehicle (MJ-AUV) is designed and equipped with multiple movable segments or joints that allow for greater maneuverability and flexibility in the water. These joints allow the MJ-AUV to change its shape, orientation, and direction of movement, so it can access tight spaces or navigate in complex underwater environments, making it useful for a variety of tasks in the deep sea, such as surveillance, exploration, and maintenance. However, the multiple joint structure of the MJ-AUV complicates the dynamics of the system. Furthermore, the joints' rotation causes misalignment of the cabins, causing deviations in the desired forces and torques. To address these issues, this study focuses on the 2-dimensional (2D) modeling as well as the trajectory tracking controller of the MJ-AUV. In this setting, the proposed controller utilizes a hierarchically structured robust nonlinear back-stepping and sliding-mode approach. Hence, this controller is simulated under various uncertainties and disturbances and the results show that it presents a global finite-time convergence to a bounded neighborhood of the origin for both position and velocity tracking errors, demonstrating its effectiveness and robustness. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Autonomous underwater vehicles

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