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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.

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot System

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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Path Planning for Mobile Robots Based on Improved RRT Algorithm

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

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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.

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

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

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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

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An alternative method for conducting immunity tests in the industrial environment

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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

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Supertwisting sliding mode repetitive control under periodic disturbance 15

Supertwisting sliding mode repetitive control under periodic...

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

作者： Jia, Chao Zhou, Junqiang Tianjin Key Laboratory for Control Theory and Application in Complicated Systems School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781538660720

A supertwisting sliding mode repetitive control method is proposed in this paper. It mainly focus on how to improve the system performance of supertwisting sliding mode control under periodic disturbance. By utilizing the advantages of both supertwisting sliding mode control and repetitive control, a method that combines them is presented. The system stability is proved. Simulation results in a hydraulic system demonstrate that the proposed method realize an accurate position tracking. At the same time, the gains in controller only need to be some small constants. Compare with adaptive-gain supertwisting sliding mode method, the gains would not need to increase continuously to deal with the disturbance, which make the proposed method have more applicability in practice. © 2018 IEEE.

关键词： Sliding mode control

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Malodorous Gas Sensor Array System for the Olfactory Robot

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Journal of Physics: Conference Series 2021年第1期1732卷

作者： Xu Zhang Sixiang Zhang Xu Ma School of Mechanical Engineering Tianjin University of Technology and Education Tianjin 300222 China School of Mechanical Engineering Hebei University of Technology Tianjin 300100 China The School of Electrical Engineering Tianjin Key Laboratory for Control Theory & Application in Complicated Systems Tianjin University of Technology Tianjin China

Malodorous gas sensor array system for the olfaction robot is developed with four sensors including two semiconductor metal oxide sensors, a electrochemical sensor and a photoionization detector (PID). The system structure and experiments analysis are introduced in this paper. Result of experiments show that the steady system can keep ±0.03V fluctuation limited from 0 to 5 V after it stabilized and the maximum difference of response less than 0.02V. It means that the developed system can be satisfied for the olfaction application of robots in malodorous environment.

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Voltage stability analysis of power system based on bifurcation theory 15

Voltage stability analysis of power system based on bifurcat...

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

作者： Ma, Youjie Lv, Shaofeng Zhou, Xuesong Gao, Zhiqiang Key Research Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781538660720

In order to study the voltage stability of power system, the basic bifurcation theory is used to analyze the common bifurcation phenomenon and the effects of bifurcation on the voltage stability. In this paper, the application of static and dynamic bifurcation in voltage stability studies is reviewed respectively. In the static bifurcation analysis, the saddle node bifurcation (SNB) and the limit induced bifurcation (LIB) are analyzed emphatically. In the dynamic bifurcation analysis, Hopf bifurcation (HB) and singular induced bifurcation (SIB) are analyzed emphatically. These four kings of bifurcation causing mainly voltage instability are discussed and summarized detailedly;the advantages and disadvantages of these methods are compared. Finally, the further research field of bifurcation theory applied in voltage stability analysis is prospected. © 2018 IEEE.

关键词： Hopf bifurcation

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A method for locating reading area of digital instrument based on color characteristics 15

A method for locating reading area of digital instrument bas...

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

作者： Wang, Tao Shao, Lei Chen, Xiaoqi Liu, Hongli Tan, Zhenhai Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Binshui Xidao 391 Tianjin China

ISBN: (纸本)9781538660720

The goal of this work is to solve the positioning problems of the digital meter reading area under complicated *** paper starts with the basic principles and methods of digital image processing,uses a special grayscale empirical algorithm to locate the LCD screen by analyzing the color characteristics of the LCD screen. Experiments on the actual pictures show that the proposed algorithm has good adaptability to most kinds of digital instruments with complicated dial information and effectively solves the positioning problems of the LCD screen, and positioning accuracy. © 2018 IEEE.

关键词： Digital instruments

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Research on location method of pipe climbing robot based on gyroscope 15

Research on location method of pipe climbing robot based on ...

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

作者： Shao, Lei Yang, Shuai Liu, Hongli Li, Ji Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Binshui Xidao Tianjin391 China

ISBN: (纸本)9781538660720

This paper introduced a location method of pipe climbing robot, this robot working in a big pipe that used to desalinate sea water. Traditional method on flaw detection of big sea desalination pipe is by human, This paper provide a new idea on location of the flaw detection robot. Using the fuse of multiple sensor information, the position and posture of climbing robot can be obtained. Gyroscope and the motor encoder can provide sufficient message to locate the robot. Also, with the moving of robot, some errors caused by slide of the robot track and the reading of sensors will happen. These errors can be eliminated by kalman filter. The practicable of this method has been proved by simulation of motion trajectory. Errors could also happened with the improper arrangement of pipeline, but this method is to calculate the subtraction of the sensor reading on two state. So we do not need to consider these errors, it doesn't affect the outcome at any arrangement of pipeline. © 2018 IEEE.

关键词： Gyroscopes

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