检索结果-内蒙古大学图书馆

International Conference on Mechatronics and Intelligent Robotics, ICMIR 2018

作者： Zhou, Jinpeng Ma, Xu Xu, Zhang Zhou, Qi Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated System the School of Electrical and Electronics Engineering Tianjin University of Technology Tianjin300384 China School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300130 China School of Mechanical Engineering Hebei University of Technology Tianjin300130 China

ISBN: (纸本)9783030002138

In minimally invasive surgery, manual manipulation of the catheter is inaccurate which requires the worker to manipulate the catheter flexibly and effectively and exposes the surgeon to intense radiation. The author’s goal was to develop a robotic catheter operating system that would be hand-accurate on behalf of the surgeon. With the increasing demand for flexibility and rapid response to control systems, predictive PI control can play an important role. We proposed a practical application which is based on predictive PI control to the remote operation of this development system. And compare with the traditional PID control method for simulation. Demonstrate the feasibility and effectiveness of the control method. In this remote operation, in the synchronous control performance, use predictive PI control is much better than control using traditional PID control. © Springer Nature Switzerland AG 2019.

关键词： Three term control systems

来源：评论

学校读者我要写书评

暂无评论

A Shallow Convolutional Neural Network for Classifying MI-EEG

A Shallow Convolutional Neural Network for Classifying MI-EE...

引用

Chinese Automation Congress (CAC)

作者： Tingting Wang Enzeng Dong Shengzhi Du Chao Jia Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China

Deep neural network is a hotspot in the field of Machine Learning, which can realize deep hierarchical representation of input data. In this paper, a simplified Shallow Convolutional Neural Network (SCNN) is used to classify Motor Imagery Electroencephalogram (MI-EEG). The network uses a single feature layer to mine the intrinsic features of EEG sequences, and uses the training time and accuracy to evaluate the classification effect. Different from other methods, CNN integrates feature extraction and predicted classification results to optimize the whole process, which can automatically extract features from original data. Experiments on the BCI Competition IV Dataset 2b competition dataset and the BCI Competition II Dataset III competition dataset show that the overall performance under SCNN is the best.

关键词： Training Task analysis Convolutional neural networks Electroencephalography Feature extraction Machine learning Electrodes

来源：评论

学校读者我要写书评

暂无评论

Study on the Motion control system of the Triphibian Robot based on Fuzzy PID control

Study on the Motion Control System of the Triphibian Robot b...

引用

IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Kaitian Zhang Shuxiang Guo Jigang Xu Tianjin Key Laboratory for Control Theory&Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan Unit68709 Qinghai Haidong China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

There is a growing need for triphibian robots in a complex research and exploration environment. In order to improve the flexibility of all-terrain robot movement, improve their ability of fast response, make its can be applied to complex domains such as reconnaissance, surveillance and communication, In this paper, the kinematics and dynamics models of the robot are first established, and for the design of new triphibian robot, proposed a triphibian robot motion control system based on fuzzy PID control. Finally, through the simulation experiment, its rapid response ability to the change of displacement and Angle is tested, which shows that the motion control system has a good adaptability to the new three-perch robot, and verifies the effectiveness and feasibility of the designed control system.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Study on Distributed Data Processing system for Decentralized Spherical Multi-robot based on Edge Computing and Blockchain

Study on Distributed Data Processing System for Decentralize...

引用

IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Sheng Cao Jian Guo Jigang Xu Tianjin Key Laboratory for Control Theory&Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan Unit68709 Qinghai Haidong China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The application of robot is more and more abundant. Especially in the background of military applications, it is often necessary to build multi-robot system to complete tasks. But, when the multi-robot system encounters the invasion of the enemy, the centralized control system is hard to defend effectively and solve the Byzantine fault-tolerant problem in the embedded environment with the lack of computing resources and the multirobot system network can not carry the broadcast of a large amount of original data. In order to solve the above problems. Lora communication technology and blockchain technology are used to propose and implement the decentralized spherical multirobot control system, which improves the Byzantine fault-tolerant ability of the system. At the same time, based on the concept of edge computing, under the current decentralized system, the distributed data processing system of the spherical multi-robot is studied. The results show that distributed data processing system for decentralized spherical multi-robot based on edge computing and blockchain can effectively improve the real-time performance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Study on Map Construction of Spherical Robot based on Statistical Filtering

Study on Map Construction of Spherical Robot based on Statis...

引用

IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Xiangyu Chen Shuxiang Guo Jigang Xu Tianjin Key Laboratory for Control Theory&Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan Unit68709 Qinghai Haidong China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Traditional robots lacked the detection and preservation of environmental information. This paper proposes to apply SLAM to robots. We put a camera on the robot to capture the environment and map it. Traditional SLAM algorithms typically generate point cloud maps, which are bulky and unreadable and cannot be used for robot navigation. Therefore, point cloud map is generally converted into octree map, but due to environmental interference, sensor error and other reasons, point cloud map often contains a lot of noise, which leads to a large error in the generated octree map. In this paper, based on OBR SLAM2 algorithm, proposed a filtering method, through the judgment of point cloud map points automatically select filtering mode, thus generating high quality octree map. Compared with unfiltered maps through experiments, the map generated by this method is smaller volume and more accurate.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Path Planning for Mobile Robots Based on Improved RRT Algorithm

Path Planning for Mobile Robots Based on Improved RRT Algori...

引用

IEEE International Conference on Mechatronics and Automation

作者： Lei Shao Hanze Liu Chao Chen Dongdong Du Ji Li Hongli Liu Tianjin Key Laboratory for Control Theory & Applications in Complicated system Tianjin University of Technology Binshui Xidao 391 Tianjin China China Academy of Industrial Internet Institute of Data management and application Beijing Tower B East Bay International Center No.6 Liza West Street Chaoyang District Beijing

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Aiming at the shortcomings of the basic RRT algorithm, such as the random search ability is relatively strong, and the calculation result is usually not the shortest path, etc., an improved RRT path optimization algorithm is proposed, which uses the ant colony algorithm to obtain the basic RRT algorithm. The path is iterated and optimized, and eventually converges to a shortest path, improving the efficiency of planning the shortest path in advance, and conducting in-depth research on this algorithm. A large number of simulation results show that the improved algorithm has certain feasibility and effectiveness. In multiple iterations, it can eventually converge to a path with a better distance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Path Planning of the Spherical Robot based on Improved Ant Colony Algorithm

Path Planning of the Spherical Robot based on Improved Ant C...

引用

IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Xiaojie Huo Shuxiang Guo Jigang Xu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Faculty of Engineering Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan Unit68709 Qinghai Haidong China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

With the development and progress of science and technology, the requirement of intelligent algorithm performance in the field of path planning is constantly improved. It is very important to improve the performance of intelligent algorithm and apply it in the field of path planning. In order to overcome the problem that ant colony algorithm tends to fall into local optimal in the early stage and converge slowly in the late stage. This paper proposed an ant colony algorithm based on adaptive pheromone updating strategy and enhanced negative feedback mechanism. The simulation results show that the improved ant colony algorithm is superior to the traditional ant colony algorithm and solves the problem of insufficient convergence in the early stage and low convergence in the late stage. Finally, the algorithm is tested by spherical robot. The experimental results show that the improved ant colony algorithm overcomes the shortcomings of traditional algorithms and verifies the effectiveness and convergence of the algorithm.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Gray RBF Model Improved by Genetic Algorithm for Electrical Power Forecasting 30

A Gray RBF Model Improved by Genetic Algorithm for Electrica...

引用

30th Chinese control and Decision Conference, CCDC 2018

作者： Li, Yilong Gao, Qiang Li, Dahua Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781538612439

In order to improve electrical power forecasting accuracy of the Energy Internet, this paper proposes a gray RBF model improved by genetic algorithm. This method forecasts power of the micro-grid using the characteristics that gray model can weaken data randomness and RBF neural network is highly nonlinear. Considering the problem of local optimum and convergence, the paper uses genetic algorithm for net optimization. The micro-grid monitoring data are utilized to forecast the electricity load and the renewable energy output power in the proposed method. Compared to the traditional RBF model prediction, the undying method can provide higher precision and more excellent adaptability. © 2018 IEEE.

关键词： Neural networks Predictive models Genetic algorithms Load modeling Meteorology Forecasting Mathematical model

来源：评论

学校读者我要写书评

暂无评论

An alternative method for conducting immunity tests in the industrial environment

引用

IEEE Electromagnetic Compatibility Magazine 2018年第3期7卷 46-50页

作者： Mingxing, Du Xing, Zhang Kexin, Wei Gerard, Hurley William Tianjin Key Laboratory of Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China Department of Electrical Engineering National University of Ireland Galway Ireland

For studying the electromagnetic compatibility (EMC) of any device, measuring the devices' immunity is very important. At present, most of the standards relating to immunity are designed for laboratories, and the immunity tests are always conducted by using coupling-decoupling networks (CDN) in laboratories, in accordance with the standard EN61000-4-6. However, these methods are not always feasible because of some limitations. If the equipment under test (EUT) has large dimensions or high currents, as in the case of most of the industrial equipment, it is not possible to send it to the EMC laboratory or to use CDNs for testing. To overcome this problem, an alternative method is proposed for conducting immunity tests in the industrial environment. In this paper, the test methods for the laboratory and for the industrial environment, the former with CDNs and the latter with current probes, are described first. From these tests, correction factors (CF) are extracted, based on the analysis of the loop impedances in the laboratory and the injected loop currents in the industrial environment. Finally, a link is established between the laboratory and the industrial environment, and then, the equalization between the two is realized by using these correction factors. © 2012 IEEE.

关键词： Laboratories

来源：评论

学校读者我要写书评

暂无评论

Development of permanent magnet synchronous motor RCP based on hardware-in-the-loop simulation 15

Development of permanent magnet synchronous motor RCP based ...

引用

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

作者： Zhao, Gang Zhang, Shizhong Tianjin Key laboratory for Control Theory and Applications in Complicated System Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

This paper carries out a study on a high efficiency permanent magnet synchronous motor (PMSM) development method-rapid control prototype (RCP). A specific introduction of the support of hardware-in-the-loop simulation platform for RCP and the development process are given. Hardware in the loop simulation model is built by comparing and analysing of the characteristics of the two control methods and using the hardware and software environment of the system. The conversion from simulation model to code model is realized by using MATLAB and CCS and the application layer code is integrated with the hardware underlying driver code of the hardware-in-the-loop simulation platform. The automatic code generation is downloaded to the hardware-in-the-loop simulation platform to verify the accuracy of the theoretical calculation. The results show that the mathematical model performed as same as the hardware-in-loop simulation with the same PID parameters, which achieves the expected effect. © 2018 IEEE.

关键词： Hardware-in-the-loop simulation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：