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Parameter Tuning of PID Controller of Servo system Based on Particle Swarm Optimization Algorithm

IOP Conference Series: Materials Science and Engineering 2019年第1期533卷

作者： Chen Lianbo Xiong Xinhong Zheng Yousheng Zhang Yanhui Zhang Guoqing Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China

In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential (PID) control method based on particle swarm optimization (PSO) algorithm is proposed. Firstly, the mathematical model of the permanent magnet synchronous motor was established. Then the PSO algorithm was used to adjust the parameters of the PID controller. Finally, the simulation experiment was carried out under the MATlab/Simulink environment to test its performance. Compared with the traditional manual parameters tuning, the PID controller based on PSO algorithm had better performance and better stability.

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Sentiment analysis and text summarization of online reviews: A survey

Sentiment analysis and text summarization of online reviews:...

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International Conference on Communications and Signal Processing

作者： Pankaj Gupta Ritu Tiwari Nirmal Robert Robotics and Intelligent System Lab ABV-IIITM Gwalior

ISBN: (纸本)9781467385497

Sentiment analysis and text summarization has evoke the interest of many scientists and researchers in last few years, since the textual data has become useful for many real world applications and problems. Sentiment analysis is a machine learning approach in which machine learns and analyze the sentiments, emotions etc about some text data like reviews about movies or products. These reviews are increasing day by day, due to which summarization of reviews comes in role where summarized form of text in needed, which provides useful information from the large number of reviews. It is very difficult for a human being to extract useful data or summarize it from the very large document. In Text summarization, importance of sentences is decided based on linguistic features of sentences. This paper provides the comprehensive overview of recent and past research on sentiment analysis and text summarization and provides excellent research queries and approaches for future aspects.

关键词： Sentiment analysis Motion pictures Data mining Algorithm design and analysis Feature extraction Data models Pragmatics

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A survey on multi robots area exploration techniques and algorithms

A survey on multi robots area exploration techniques and alg...

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International Conference on Computational Techniques in Information and Communication Technologies (ICCTICT)

作者： Sujata Sharma Ritu Tiwari Robotics & Intelligent System Design Lab Indian Institute of Information Technology & Management Gwalior India

ISBN: (纸本)9781509000838

The multi robots search the optimal path to explore the environment with minimum time and lesser number of turns in area exploration. An efficient exploration strategy and coordination method could enhance autonomy and performance of multirobot systems. The hybrid approach is applied to coordinate the entire robots. The technique i. e A*, D*, RRT etc is apply to explore the environment by avoiding the static and dynamic obstacles without any harm. The multi robots will move in the environment in limited communication range. Specifically, there goal to improve the experimental assessment of multi robot exploration systems, by studying the optimum obtainable in a given scenario and by systematically assessing important factors affecting exploration process. This paper is present the survey on area exploration by multi robots with presence of static and dynamic obstacles. We conclude that possible application use to explore the environment.

关键词： Robot kinematics Robot sensing systems Computer architecture Legged locomotion Heuristic algorithms Decision making

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Navigation in Multi Robot system using cooperative learning: A survey

Navigation in Multi Robot system using cooperative learning:...

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International Conference on Computational Techniques in Information and Communication Technologies (ICCTICT)

作者： Priyanka Singh Ritu Tiwari Mahua Bhattacharya Robotics & Intelligent System Design Lab Indian Institute of Information Technology & Management Gwalior India

ISBN: (纸本)9781509000838

Multi-Robot system became an important research area in the robotics and Artificial Intelligence. In the presence of obstacles, uncertainty and incomplete information Multi-Robot system is used to accomplish the task in more efficient way as compared to single robot system. Navigation of robots in its surrounding is essential to avoid unacceptable situation such as avoiding obstacles, trajectory planning. Cooperative behavior of multi-robots provides efficient way to avoid collision. It is a matter of concern that how a group of mobile robots should be controlled so that they can move in a cohesive way toward a single direction. For the problem of cooperation among robots, flocking strategy is a good solution. To learn cooperation among robots, various machine learning strategies have been developed. One of the machine learning techniques is called reinforcement learning. It is a very challenging issue in the area of robotics and artificial intelligence. Combining cooperative and learning strategy collision avoidance can be improved. Survey of multi-agent reinforcement learning and flocking control is presented in this paper.

关键词： Robot kinematics Collision avoidance Robot sensing systems Learning (artificial intelligence) Navigation

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Survey of robotic arm and parameters

Survey of robotic arm and parameters

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International Conference on Computer Communication and Informatics (ICCCI)

作者： Virendra Patidar Ritu Tiwari Robotics & Intelligent System Design Lab Indian Institute of Information Technology & Management Gwalior India

ISBN: (纸本)9781467366816

This is a survey paper on a robotic arm and their development. It gives a technical introduction to some of the recent research work in this field. This is a working field of research in which there are a number of outstanding open problems and an area of exploration. Nowadays, a different variety of robotic arms are commercially available. Some of them are excellent in accuracy and repeatability. In this paper, we understand the evolution of robotic arm in last 20 years and described different parameters of an arm. Type of robotic arm only depends on these parameters. Our survey may be used for knowledge and guidelines for future research work. The paper concludes with research gaps and proposed work. Robotic arm uses in the different fields like a household, workplace, and working station.

关键词： Robot kinematics Kinematics Service robots Manipulators Payloads Acceleration

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Design and Path Planning of Massagebot: one Massaging Robot Climbing along the Acupuncture Points

Design and Path Planning of Massagebot: one Massaging Robot ...

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IEEE International Conference on Information and Automation

作者： Hongli Chen Xinyu Wu Wei Feng Tiantian Xu Yong He Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Science China

ISBN: (纸本)9781509041039

This paper describes a 2 DOF (Degrees of Freedom) massaging robot prototype: Massagebot, which is equipped with two kinds of massage structure and can realize two kinds of massage by scratching and shaking on user's back. Massagebot has two-wheel gripper, and two-triangular structure of body with good stability. In terms of path planning, we proposed a location algorithm based on simplified acupuncture points, where the SOM (Self-organizing Feature Map) neural networks, image processing and pattern recognition are combined together. In one hand, an innovative idea was proposed that using SOM neural network to cluster and simplify acupuncture points to several classes. In the other hand, there is an acupuncture point recognition algorithm presented in path planning.

关键词： Massaging robot climbing path planning SOM neural network

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Expert system for breast cancer diagnosis: A survey

Expert system for breast cancer diagnosis: A survey

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International Conference on Computer Communication and Informatics (ICCCI)

作者： Chandresh Arya Ritu Tiwari Atal Bihari Vajpayee Indian Institute of Information Technology & Science Robotics & Intelligent System Design Lab Gwalior India

ISBN: (纸本)9781467366816

Breast cancer is leading cause of death and also one of the most invasive types of cancers among women in worldwide. It happens when cells in the breast start to develop uncontrollably or spread throughout the body. Early detection and effective diagnosis is the only rescue to lessen breast cancer fatality. Accurate classification of breast tumor is an important task in medical diagnosis. Soft computing approaches are gaining importance in medical disease diagnosis because of their classification performance. The goal of this survey paper is to determine the current state of research in breast cancer and to help extract the key features and problems with existing expert systems. There are many numbers of quantitative models based on support vector machine, neural network, fuzzy logic, hybrid and many others techniques are being operated in medical field to help decision makers in breast cancer prevention. The comparison of the various systems is done on the basis of data sets used for diagnosis, the methodology applied and the platform on which the system is implemented. Thus this paper reviews the various expert systems from 1996 to 2015 used for breast cancer disease diagnosis.

关键词： Breast cancer Neural networks Classification algorithms Medical diagnostic imaging Feature extraction Tumors

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Multi-stage feature learning based object recognition and 3D pose estimation with kinect

Multi-stage feature learning based object recognition and 3D...

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International Conference on Information Science and Technology (ICIST)

作者： Wei Zeng Guoyuan Liang Can Wang Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology University of Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Chinese Academy of Sciences Beijing Beijing CN The Chinese University of Hong Kong Shenzhen China

Impressive achievements have been achieved over the years in object recognition and 3D pose estimation while detecting objects and estimating their 3D poses reliably is still a very challenging problem, especially for texture-less objects in heavily cluttered scenes. In this paper, we introduce an improved approach based on multi-stage feature learning to identify object as well as their 3D orientation efficiently. Our approach is motivated by visual neuroscience models. Currently similar architectures have been successfully applied to pedestrian detection, traffic recognition, face representation, etc. We compute the feature descriptors by multi-stage convolutional neural networks (CNNs) which could map the object identity and 3D poses to the Euclidean distance space by evaluating the similarity between descriptors. By contrast with classical approaches, our method relies on fast and approximate Nearest Neighbor (NN) matching to solve the large scale problems instead of one classifier per object or multi-class classifiers whose complexity grows rapidly with the number of objects. The experiments of detecting poorly-textured objects in cluttered scenarios have been carried out to verify the effectiveness and efficacy of the proposed approach.

关键词： Object recognition Three-dimensional displays Computer architecture Feature extraction Artificial neural networks Face recognition

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Running person detection from a community patrol robot

Running person detection from a community patrol robot

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International Conference on Information and Automation (ICIA)

作者： Huiwen Guo Shibo Cai Xinyu Wu Qingtian Wu Wei Feng Qingshi Gao Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences Ministry of Education (Zhejiang University of Technology) China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

ISBN: (纸本)9781509041039

In this paper, a running person detection method is proposed for the community patrol robot. The challenges include the diversity of movement direction and the ego-motion of camera. The diversity of movement direction means that it is difficult to gain high accuracy detection by only using appearance information. The ego-motion of camera means that the motion information contains high noise. To address these limitations, two-stream architecture of convolutional networks, spatial stream and motion stream, is proposed to capture the complementary information on appearance from still frames and motion between frames. In addition, simple but effective filtering based ego-motion elimination technique is applied in motion stream input calculation. We demonstrate the efficiency of the proposed method on the video captured from the community scene and the performance compared with existing methods, which validates that the proposed method detects running person more accurately.

关键词： Image motion analysis Computer vision Optical imaging Optical filters Cameras Training

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Cascade PID controller for quadrotor

Cascade PID controller for quadrotor

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International Conference on Information and Automation (ICIA)

作者： Jiao Ren Du-Xin Liu Kang Li Jia Liu Yachun Feng Xiaoxin Lin Shenzhen College of Advanced Technology Chinese Academy of Sciences Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Sun East Electronic Technology (Shenzhen) Co. Ltd.

ISBN: (纸本)9781509041039

Aiming at the attitude stabilization and angle tracking control of quadrotor aircraft, an optimized cascade double-loop PI-PID controller is proposed. It is based on strong coupling and nonlinear dynamic model in this paper. A PI controller acts as an outer loop controller, which controls primary physical parameter, namely the attitude. The other PID controller acts as an inner loop controller, which reads the output of outer loop controller as setpoint, controlling a rapid changing parameter, namely angular velocity. Hardware debugging platform is established to verify the controller. The results of simulation experiments show that the proposed controller is highly adaptable and has fast response. And the superior dynamic and stabilization performance is proved by the pole-zero maps and bode diagrams.

关键词： Angular velocity Quaternions Gyroscopes Attitude control Low-pass filters IIR filters Hardware

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