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Chinese Automation Congress (CAC)

作者： Ruidong Xie Haichuan Yang Yingmin Yi Qimeng Shi keying Wang Chaoyang Zheng Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Aiming at issues of low accuracy and poor anti-interference ability in laser point detecting, a target detection method based on Faster R-CNN was proposed. The laser point position detecting method is realized by calibrating the laser point data set, initializing the weight coefficient and the training network model. Experiments illustrate that the proposed method is more accurate in cases of strong noise such as the light changing, the background changing and the smoke filling the air. The accuracy of the method is 98.1%, as a better detection effect and generalization ability.

关键词： Feature extraction Laser modes Training Proposals Laser noise Convolution Three-dimensional printing

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A method of laser point temperature detection based on CNN

A method of laser point temperature detection based on CNN

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Chinese Automation Congress (CAC)

作者： Ruidong Xie Haichuan Yang Yingmin Yi Qimeng Shi keying Wang Jiabin Huang Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

There has been a direct relationship between the temperature of the laser point and the quality of the casting in the process of the 3D printing. In the paper, a method based on convolutional neural network (CNN) was proposed to estimate the temperature of the laser point. The collected temperature data used were trained by the deep-learning method. A new structure of the model was proposed on the part of the CNN model, which improved from original LeNet. The process of the prediction for the testing set was carried out through the new model. The unknown temperature in the testing set can be estimated. The experimental result illustrates that the proposed method is satisfactory.

关键词： Laser modes Temperature measurement Training Temperature distribution Surface emitting lasers Testing Measurement by laser beam

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Road detection using lidar data based on plane assumption and graph model

Road detection using lidar data based on plane assumption an...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Min Yan Junzheng Wang Jing Li Ke Zhang Zimu Yang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P. R. China

ISBN: (数字)9781728124858

ISBN: (纸本)9781728124865

Detection of traversable road area is one of the key tasks for unmanned platforms to achieve autonomous navigation. We propose a road detection method using lidar data based on plane assumption and graph model in this paper. Two detection algorithms for different speeds are provided to ensure the detection accuracy and to meet the real-time requirements, respectively. First, the point cloud is projected into a real image or an imaginary image for triangulation. The road points are then extended outward from the near platform according to the plane assumption. Then the dual Voronoi diagram of the triangulation is filled according to the attribute of the central element node, and the upper part of the horizon is removed. Finally, image post-processing yields the final detection results. This method perfectly combines the classification of points and the determination of road areas and uses the mature image algorithms in the processing of point cloud data. Experimental tests have been carried out on the public KITTI-Road benchmark, obtaining positive results.

关键词： Roads Laser radar Cameras Three-dimensional displays Real-time systems Data models Task analysis

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UAV Trajectory Generation Based on Integration of RRT and Minimum Snap Algorithms

UAV Trajectory Generation Based on Integration of RRT and Mi...

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Chinese Automation Congress (CAC)

作者： Bohui Shi Youmin Zhang Lingxia Mu Jing Huang Jing Xin Yingmin Yi Shangbin Jiao Guo Xie Han Liu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an Shaanxi China Industrial and Aerospace Engineering Concordia University Montreal Quebec Canada

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Aiming at the problems that carrying out forest fire monitoring and fighting missions by using the Rapidly-exploring Randomized Tree (RRT) algorithm to plan paths cannot adapt to the autonomous movement of an Unmanned Aerial Vehicle (UAV) and that high-order dynamic characteristics may mutate during the mission, this paper investigates a trajectory generation algorithm based on the integration of the RRT algorithm and the minimum snap algorithm. First, the RRT algorithm is used to generate the initial path, then the minimum snap algorithm is used to smooth the initial path and obtain a trajectory suitable for the actual flight of the UAV. However, because the UAV is considered as a particle in the simulation, during the actual flight, this trajectory may not guarantee the safe flight of the UAV and may cause the UAV to collide with an obstacle or other nearby UAVs in the cases of formation flight. To solve this problem, flight corridor concept is used to limit the UAV's flight trajectory for ensuring the safe flight of the UAV. Simulation results show that the algorithm can effectively ensure the safety, smoothness, feasibility, and trajectory of unmanned aerial vehicles.

关键词： Vegetation Forestry Path planning Unmanned aerial vehicles Heuristic algorithms Trajectory optimization Safety

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Vibration fatigue analysis and research of URV shunt reactor 14

Vibration fatigue analysis and research of URV shunt reactor

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14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019

作者： Li, Shengmin Zheng, Zhicong Liang, Jining Xiao, Yamin Faculty of Automation and Information Engineering Xi'an University Ot Technology Xi'an710048 China Intelligent Information Processing Shaanxi Key Laboratory of Complex System Control Xi' an710048 China

ISBN: (纸本)9781538694909

Problems of vibration fatigue in UHV reactor is mentioned, comparative analysis of several commonly used fatigue analysis methods, finally, the modal superposition method is used to calculate the structural fatigue caused by vibration. Through analysis of reactor vibration data, the reason for using frequency domain signals as fatigue frequency domain load spectrum to calculate the service life of reactors. In order to perform reactor fatigue analysis, a finite element model of the reactor was first built using ANSYS Workbench finite element integration software, the frequency response function FRF is obtained by harmonic response analysis, and then the vibration time domain signal are transformed into frequency signal as load spectrum input with the power density spectrum, finally, nCode fatigue analysis software is used to estimate the service life of the reactor. © 2019 IEEE.

关键词： Finite element method

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Development of Sheet Palletizing Manipulator Based on Multi-link Mechanism

Research Square

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Research Square 2020年

作者： Chen, Zhihua Wang, Shoukun Liu, Quan Wang, Junzheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing100081 China New Energy Laboratory College of Mechanical and Electrical Engineering Beijing Information Science and Technology University Beijing100192 China

In view of the disadvantages of Traditional tandem joint type thin-plate palletizing robots using push-down adsorption sorting, such as moving path complexity, large occupied space, joint error stack and low end control precision, a novel multi-link mechanism thin-plate palletizing robot is developed. The kinematics analysis is carried out based on the analysis of the overall structure for the manipulator, a genetic algorithm based on the stroke speed ratio K, the transmission angle γ and the four-bar size is proposed to realize the optimal design of the four-link rocker arm mechanism. Secondly, a finite element based overall structure analysis method is proposed, which obtains the most affected part of the vibration process of a manipulator and performs load verification to prevent early warning and reference of faults caused by mechanical resonance. To solve the control problem of nonlinear strongly coupled dynamic systems, an iterative learning fuzzy adaptive control algorithm is proposed to achieve the smooth running of the manipulator and the high-precision tracking of the end centroid trajectory. The experimental results verify the feasibility and effectiveness of the proposed multi-link controllable thin-plate palletizing manipulator's overall structural design and iterative learning control method, which is well applied in practical engineering. © 2020, CC BY.

关键词： Manipulators

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Multi-UAV Cooperative Target Tracking Strategy Based on Formation control

Multi-UAV Cooperative Target Tracking Strategy Based on Form...

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第三十八届中国控制会议

作者： Duo Wang Zhihong Peng Xiaojie Ju Tao Yu Xue Wang China Academy of Launch Vehicle Technology School of Automation Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

In this paper we mainly studies the cooperative tracking issue of multi-UAV based on formation control. The theory and method of formation control are introduced in the paper to ensure the continuous and effective ground target tracking results. The tracking targets are regarded as the leader or the structural center of the formation. The multi-UAVs are considered as followers to form an unstable formation system. The formation stability can be maintained by constructing control law to ensure the continuous and effective tracking of intelligent targets by the multi-UAV. The formation control method based on the leader-follower system and the potential function are adopted to ensure the stability of formation consists of UAVs and the target, so that UAVs can keep tracking of the target. We prove the tracking strategy and the formation control results by MATLAB simulation.

关键词： Cooperative target tracking formation control leader-follower system potential function

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Adaptive Neural Network control for a Lower-Limb Exoskeleton using Variable Stiffness Transferring

Adaptive Neural Network Control for a Lower-Limb Exoskeleton...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Longbin Zhang Yingbai Hu Hang Su Jiehao Li Salih Ertug Ovur KTH MoveAbility Lab and KTH BioMEx Center KTH Royal Institute of Technology Stockholm Sweden Technical University of Munich Munich Germany Politecnico di Milano Milano Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Lower-limb exoskeletons are increasingly used in gait assistance applications to assist patients with locomotive disorders in rehabilitation and daily life. To provide assistance based on the user's variable joint stiffness with human-like characteristics is a growing and challenging field. This paper proposed an adaptive controller for a lower-limb exoskeleton with time-varying delay using variable stiffness transferring strategy. Neural network compensation was applied to estimate the nonlinearity caused by the time-varying delay and the model uncertainties in the lower-limb exoskeleton systems. To compensate for the delay, an integral Lyapunov function was introduced and an adaptive Lyapunov-based control structure was constructed. In the controller design, a variable stiffness transferring strategy was integrated and the stiffness was transferred from an able-bodied individual estimated with muscle forces and musclotendinous stiffness. By utilizing the proposed adaptive neural network control strategy and adaptive Lyapunov-based control structure, the global stability of lower-limb exoskeleton system was guaranteed and the tracking errors converged to the zero. The proposed control strategy was validated on 2-DOFs knee and ankle lower limb exoskeleton in simulation, demonstrating effective results in trajectories tracking, and thus is crucial for determining strategies for exoskeleton control.

关键词： Exoskeletons Robots Muscles Adaptive systems Force Mathematical model Mechatronics

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Coverage Path Planning Design of Mapping UAVs Based on Particle Swarm Optimization Algorithm

Coverage Path Planning Design of Mapping UAVs Based on Parti...

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第三十八届中国控制会议

作者： Shouqi Wang Yongqiang Bai Chao Zhou School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Mapping UAVs have played a more important role in regional mapping than ever before, and coverage path planning is an important part of mapping tasks. However, there are few studies on single-region path planning in complex polygonal region. In this paper, we proposed a method that searches the optimal yaw-angle and flight height of mapping UAVs based on particle swarm optimization algorithm. Compared with traditional algorithms such as cattle farming algorithm, there are less redundant coverage and turning, and the flight path planned by the algorithm in this paper is more reasonable and convenient for photographic processing.

关键词： mapping UAVs coverage path planning particle swarm optimization

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Wearable Human Foot Mechanical Energy Harvesting Device Based on Moving-coil Generator

Wearable Human Foot Mechanical Energy Harvesting Device Base...

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第三十八届中国控制会议

作者： Ning Ding Fang Deng Yeyun Cai Peng Gui Xinyu Fan School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

In order to solve the problem of energy supply for smart wearable devices, this paper proposes a wearable human foot mechanical energy harvesting device based on moving-coil generator, and designs a moving-coil type power generation shoes prototype. Firstly, the human foot horizontal movement is analyzed based on the human gait model. Combined with the characteristics of wearable devices, we determine that mechanical energy harvesting device installed in the heel is the most effective. Secondly, the moving-coil generator is designed and the prototype of moving-coil type power shoes is made. Finally,using the movement test platform of the laboratory, We complete the comfort test and optimize the structure, as well as analyze the basic performance of the device, which has good high-frequency characteristics.

关键词： Wearable energy harvesting Moving-coil generator Mechanical energy Human body

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