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Design of fruits and vegetables online inspection system based on vision

Journal of Physics: Conference Series 2018年第1期1074卷

作者： Huili Zhou Xiai Chen Xiaoqiang Wang Ling Wang School of Mechanical and Electrical Engineering China Jiliang University Hangzhou China Zhejiang Yalong Educational Equipment Joint-Stock Co. Ltd Wenzhou China State Key Lab. of Industrial Control Technology Department of Control Science and Engineering Zhejiang University Hangzhou China

This paper proposes a vision-based online fruit and vegetable inspection system. This system consists of two parts: the online detection of fruits and vegetables and the online weighing measurement of fruits and vegetables. Online detection system can detect the species of fruits and vegetables, and through the database to get the unit price of fruits and vegetables. The image processing includes image pre-processing, filtering, background removal, noise filtering and hole filling for recognition, and analysis of blocks. The weight of the fruits and vegetables is obtained by gravity sensor. Prices of fruits and vegetables can be displayed in real time in order to achieve the goal of unattended retail. This study built an online fruits and vegetables detection system which may be accelerated in the future for commercial uses.

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Mitigating Congestion in Complex Transportation Networks via Maximum Entropy

arXiv

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arXiv 2017年

作者： Fan, Yuhang Liu, Hanyuan He, Shibo State Key Lab. of Industrial Control Technology Zhejiang University Hangzhou310027 China School of Mathematics Zhejiang University Hangzhou310027 China College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China

In this paper, we reveal the relationship between entropy rate and the congestion in complex network and solve it analytically for special cases. Finding maximizing entropy rate will lead to an improvement of traffic efficiency, we propose a method to mitigate congestion by allocating limited traffic capacity to the nodes in network rationally. Different from former strategies, our method only requires local and observable information of network, and is low-cost and widely applicable in practice. In the simulation of the phase transition for various network models, our method performs well in mitigating congestion both locally and globally. By comparison, we also uncover the deficiency of former degree-biased approaches. Owing to the rapid development of transportation networks, our method may be helpful for modern society. Copyright © 2017, The Authors. All rights reserved.

关键词： Complex networks

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Friction compensation control of space manipulator considering the effects of gravity

Friction compensation control of space manipulator consideri...

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Chinese control Conference (CCC)

作者： Li Qin Xiao-Jing Jia Cai-Feng Liu Fu-Cai Liu Key Lab of Industrial Computer Control Engineering Yanshan University Qinhuangdao Hebei CN

ISBN: (纸本)9781509009107

All space manipulators are debugged on the ground and on-orbit serviced in space. Compared with in ground gravity environment their friction characteristics in space microgravity environment have great changes. For sake of tracking the desired trajectory, in both ground and space, considering these characteristics, a friction compensation control method based on an Active Disturbance Rejection control (ADRC) is proposed and its effectiveness is validated on a planar 2-DOF free-floating space manipulator. The friction models and the dynamic models under different gravity environment have been derived based on the torque balance, the Kane equation and the Lagrange method. Particle Swarm Optimization (PSO) is put forward to optimize parameters of ADRC so as to improve the efficiency of designing process. Compared with PD controller in tracking simulation under different gravity environment, the results verify the advantage of the proposed improved control method.

关键词： Friction Aerospace electronics Gravity Manipulator dynamics Torque Mathematical model

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Joint Relay Selection and Power Allocation in Underwater Cognitive Acoustic Cooperative System with Limited Feedback

Joint Relay Selection and Power Allocation in Underwater Cog...

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IEEE Conference on Vehicular Technology (VTC)

作者： Lei Yan Xinbin Li Kai Ma Jing Yan Song Han Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qin Huangdao China

ISBN: (纸本)9781509016990

We study the problem of joint relay selection and power allocation in a underwater cooperative system with multiple users assisted by multiple relays. Due to the harsh underwater environments, the channel state information (CSI) at the transmitter is imperfect, which leads to the performance degrading in the underwater cooperative acoustic system. Therefore, we analyze the cooperative underwater acoustic channel with limited feedback to increase the sum-rate of the system. Meanwhile, different from other researches, we do not only focus on the single system scenario, but also consider the presence of nearby acoustic activities and the problem of joint relay selection and power allocation is solved in a cognitive acoustic (CA) scenario. Thus the codebook of interference CSI and the codebook of quantized relay selection and power allocation strategy are designed, respectively. Simulation results show that a few bits feedback can significantly improve the performance of the CA cooperative acoustic system.

关键词： Relays Resource management Interference Algorithm design and analysis Cooperative systems Underwater acoustics

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Nonlinear auto disturbance rejection control for vibration displacement system of continuous cast mold driven by servo motor

Nonlinear auto disturbance rejection control for vibration d...

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Chinese control Conference (CCC)

作者： Huicheng Zheng Le Liu Yiming Fang Qiang Li Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao Hebei CN

Aiming at the problem about the nonlinear function and the mechanical zero offset in the vibration system of continuous casting mold driven by servo motor, a discrete auto disturbance rejection control (ADRC) with nonlinear function processing algorithm is proposed. Firstly, for the nonlinear multi solutions problem existing between rotation angle and displacement of mold, a nonlinear algorithm is proposed to get the practical phase difference of eccentric shaft. The algorithm is achieved by calculating the time difference between ideal time of arrival and actual time of arrival at the same position. Secondly, the mathematical model of vibration system is discretized by using the Euler method, and an ADRC is designed to estimate the eccentric shaft mechanical zero offset and load disturbance, and then compensate and weaken the position error. Finally, the simulation results demonstrate the feasibility of the proposed method.

关键词： Vibrations Servomotors Casting Shafts Process control Algorithm design and analysis Synchronous motors

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Distributed containment control for multi-robot system based on binocular vision and RBF neural network

International Journal of Control and Automation

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International Journal of control and Automation 2015年第9期8卷 139-152页

作者： Shao, Nuan Li, Huiguang Liu, Le Li, Guoyou Key Lab of Industrial Computer Control Engineering of Hebei Province College of Electrical Engineering Yanshan University Qinhuangdao China

Aiming at the distributed containment control problem for Multi-Robot system with dynamic leaders, we use binocular vision as the sensing device, so firstly, a binocular visual model for dynamic target is established by introducing the pseudo depth variable, and it is used to provide Real-Time status information for the followers. Then, in the case that each follower can only get information from part of the leaders, even individual follower can not get any information from the leaders directly, the topological relationship among robots is built by using the graph theory. Once more, RBF neural networks are employed to approximate the uncertainties in the system model of followers, and L2robust control laws are used to restrain the influences of the approximation errors. Finally, a simulation is carried out on multiple 2 Degrees-Of-Freedom (DOF) robots, and results validate the designed controllers can drive the followers converge to the convex hull spanned by the leaders asymptotically and realize synchronization motion ultimately. © 2015 SERSC.

关键词： Multipurpose robots

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Passivity-Based control of Tower Vibration of Offshore Wind Turbines 34

Passivity-Based Control of Tower Vibration of Offshore Wind ...

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第三十四届中国控制会议

作者： REN Lina YANG Huanhuan LIU Shuangshuang LIU Fucai Key Lab of Industrial Computer Control Engineering of Hebei Yanshan University

ISBN: (纸本)9781467374439

Considering the influence of the tower vibration such as fore-aft/ side-to-side in the offshore wind turbine, the Passivity-based control(PBC) method is proposed to suppress the tower vibration based on the offshore Permanent Magnet Synchronous Generator(PMSG). The PCH model of the tower is established and the energy compensation of the system is adopted to increase the damping of the tower. In comparison with PID controller, the PBC method not only suppresses the vibration of the tower effectively while reduce the fatigue load of tower, but also reduces the influence of maximum capture of wind energy and the drive-train torsional vibration, stabilizing the output power of the generator. The effectiveness and superiority of the PBC method proposed is verified by the theoretical analysis and the simulations by comparing with PID.

关键词： Permanent Magnet Synchronous Generator(PMSG) fore-aft tower vibration side-to-side tower vibration PCH model Passivity-Based control(PBC) PID

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Vibration suppress of flexible spacecraft considering the effects of gravity 34

Vibration suppress of flexible spacecraft considering the ef...

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第三十四届中国控制会议

作者： GAO Juan-juan CHEN Xin JIA Xiao-jing LIU Fu-cai Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (纸本)9781467374439

Considering that gravity on the ground alignment phase is different from that in space application phase, an adaptive backstepping sliding mode control method is proposed to achieve the attitude control and vibration suppression of the flexible spacecraft under different gravity environment. Fully considering the change of dynamic models, the sliding mode controller is designed according to the backstepping theory to control the flexible spacecraft under the influence of model and disturbances uncertainties, and the adaptive control laws are proposed to estimate the disturbances and gravity item online. The control strategy can guarantee the stability of the system based on the Lyapunov theory. The simulation results show that the controller is effective in attitude control and vibration suppression of the flexible spacecraft under different gravity environment, and has important value for theoretical research and engineering application.

关键词： Flexible spacecraft,Gravity,Vibration suppression,Backstepping sliding mode,Adaptive

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Research of Ofloxacin Based on Terahertz Spectrum

Research of Ofloxacin Based on Terahertz Spectrum

引用

2016 4th International Conference on Machinery,Materials and Information Technology Applications(ICMMITA 2016)

作者： Song Zhang Xiai Chen Xiaohong Gu Qiang Wang Ling Wang School of Mechanical and Electrical Engineering China Jiliang University Zhejiang Yalong Educational Equipment Joint-Stock Co. Ltd State Key Lab. of Industrial Control Technology Department of Control Science and EngineeringZhejiang University

The absorption coefficient, refractive index and optical fingerprint characteristics were acquired by terahertz time-domain spectroscopy in the range of 0.4.5THz of the capsule drug ofloxacin. The results show that ofloxacin had multiple absorption peaks with different intensities within the frequency range, and the absorption coefficient spectrum could be used for the identification of ofloxacin. In the range of 0.4.5THz,the absorption spectra of ofloxacin molecules were simulated by Gaussion software. The vibration modes of some absorption peaks in the absorption spectra were analyzed and identified using the density functional theory. At 1.06 and 1.13 THz, the experimental results show that the absorption peaks are consistent with the absorption peaks of 1.07 and 1.18 THz in the theoretical spectrum, which are caused by the vibrational modes in the molecule ofloxacin.

关键词： Terahertz time-domain spectroscopy Absorption spectrum Density functional theory Ofloxacin

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Fuzzy Fine Tuning Therapies for Intelligence of High Speed Electronic Packaging Equipment

Fuzzy Fine Tuning Therapies for Intelligence of High Speed E...

引用

2016 International Conference on Electrical engineering, Mechanical engineering and Automation (ICEEMEA2016)

作者： He Yunbo Hu Yongshan Chen Xin Gao Jian Yang Zhijun Chen Yun Tang Hui Ao Yinhui Zhang Yu Guangdong Provincial Key Lab. of Computer Integrated Manufacturing Systems Key Laboratory of Mechanical Equipment Manufacturing and Control Technology of Ministry of Education School of Electromechanical Engineering Guangdong University of Technology

It's always difficult to satisfy both strict requirements of dynamic performance and settling performance of high-precision and high-acceleration point-to-point motions on electronic packaging equipment, i.e., Die bonders, Wire bonders, Flip-chip bonders, Wafer bumping machines, and so on. Focusing on this difficulty, Fuzzy logic is promoted in this paper to fine tune feed forward coefficient parameters of motion systems on packaging equipment to satisfy multiple targets of dynamic and settling performance requirements. This intelligent fine tuning approach, with achievable multiple motion targets, provides a therapy to automate and optimize motion system performance on packaging equipment, help on development and mass production of semiconductor packaging equipment, and improve machine intelligence.

关键词： Dynamic Performance Settling Performance Electronic Packaging Equipment Fuzzy Logic Fine Tuning Machine Intelligence

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