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Malodorous Gas Sensor Array System for the Olfactory Robot

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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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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Research on intelligent monitoring system ofgreenhouse intensity and CO2 concentration based on STM32 15

Research on intelligent monitoring system ofgreenhouse inten...

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

作者： Li, Shuanzeng School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin Key Laboratory of complex system control theory and Application Binshui Xidao 391 Tianjin300384 China

ISBN: (纸本)9781538660720

Because the stability and accuracy of the traditional greenhouse monitoring system are not high enough, the light intensity and the grape canopy of the intelligent monitoring system are established for this phenomenon. It is based on the C02 concentration of STM32 single chip to monitor the intensity of light and C02 concentration and show it at the same time. Serial communication is used to send test results to MCGS touch screen to achieve real-time monitoring and warning of light intensity and C02 concentration in greenhouse. The result of long term test shows the precision of the light intensity detection of the system is 940lux, C02 concentration measurement accuracy 40ppm. Compared with the traditional automatic monitoring system, the system runs stably and costs less, and the accuracy meets the requirements of grape greenhouse. In conclusion, the system proposed in this paper is suitable for agriculture. © 2018 IEEE.

关键词： Greenhouses

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Malodorous Gas Sensor Array System for the Olfactory Robot

Malodorous Gas Sensor Array System for the Olfactory Robot

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2019计算智能、工程与信息技术世界大会

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

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 *** of experiments show that the steady system can keep±0.03 V fluctuation limited from 0 to 5 V after it stabilized and the maximum difference of response less than 0.02 *** means that the developed system can be satisfied for the olfaction application of robots in malodorous environment.

关键词： Malodorous Gas Sensor Array System for the Olfactory Robot Sensor

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Energy Consumption Data Prediction Analysis based on EEMD-ARMA Model

Energy Consumption Data Prediction Analysis based on EEMD-AR...

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IEEE International Conference on Mechatronics and Automation

作者： Ji Li Xudong Jiang Lei Shao Hongli Liu Chao Chen Gang Wang Dongdong Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Binshui Xidao 391 Tianjin China Tianjin Economic and Technological Development Zone Binhai New Area Continental Automotive (System) Tianjin Co. Ltd. Continental Automotive (System) Tianjin Co. Ltd No.2 Bohai Road Tianjin China China Academy of Industrial Internet Institute of Data management and application Beijing Block B East Lake International Center No. 6 Lize West Street Chaoyang District Beijing

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Energy consumption data prediction model based on EEMD-ARMA prediction model is used to predict the nonlinear and non-stationary characteristics of industrial energy consumption data, which leads to the difficulty of data prediction and low prediction accuracy. This paper improves empirical mode decomposition (empirical mode decomposition, EMD) by ensemble empirical mode decomposition (ensemble empirical mode decomposition, EEMD) and predicts energy consumption by combining auto regressive sliding average model (auto regressive and moving average model, ARMA). Finally, the historical data of a certain system is selected as a sample, and the comparative analysis of EMD-ARMA and EEMD-ARMA prediction results is used to verify that the EEMD-ARMA algorithm used is more accurate than the prediction algorithm, and its prediction results have certain reference value for the control of energy consumption data in enterprises.

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A VR-based upper limb rehabilitation hand robotic training system 15

A VR-based upper limb rehabilitation hand robotic training s...

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

作者： Guo, Jian Li, Nan Guo, Shuxiang Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

With the development of science and technology, virtual reality technology has been applied to various fields. Virtual reality technology is proposed into rehabilitation medical treatment, which can avoid dull rehabilitation training, improve the initiative of patients' rehabilitation and improve the overall effect of rehabilitation training. In order to help patients with hand grab function training, we proposed a virtual reality-based upper limb rehabilitation hand training system. In this paper, we can obtain the bending angle data of fingers and force feedback through the upper limb rehabilitation hand robot with CyberGlove. We established the high precise 3D model, set up the mapping relationship between CyberGlove and the virtual hand to realize the human-computer interaction. Based on the previous work, a VR-based upper limb rehabilitation hand robotic training system is proposed and has collision detection and force feedback, which makes users feel more realistic when interacting with objects in the virtual environment. The relevant verification experiment confirmed that virtual hand and upper limb rehabilitation robot interact well, which increases the interest of training. © 2018 IEEE.

关键词： Patient treatment

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Performance evaluation of a magnetically actuated microrobot with screw jet motion in vertical plane 15

Performance evaluation of a magnetically actuated microrobot...

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

作者： Fu, Qiang Guo, Shuxiang Guo, Jian Tianjin Key Laboratory for Control Theory Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan

ISBN: (纸本)9781538660720

Various kinds of magnetically actuated microrobot have been proposed to deal with the performance evaluation in medical application and industry application. In this paper, we discuss the mechanical structure design and the control method for obtaining the optimal performance of the microrobot in fluid condition. We analyzed the magnetic field to obtain the relationship between the magnetic flux density and the region of interest in the three-axis Helmholtz coils to adjust the position and posture of the microrobot which is controlled by our proposed magnetic actuation system. This result indicated that the magnetically microrobot has characteristics of multi-functions, controllability, stability. © 2018 IEEE.

关键词： Image segmentation

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FPGA Based Design and Implementation of Improved Edge Detection Algorithm using LOG Operator

FPGA Based Design and Implementation of Improved Edge Detect...

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IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Kaifeng Li Jigang Tong Complex System Control Theory and Application Key Laboratory Tianjin University of Technology (TJUT) Tianjin China

Detection speed and precision are key indicators of the edge detection systems. To increase the precision of edge detection and enhance its engineering practicability, an improved edge detection algorithm based on Laplace of Gaussian (LOG) operator is proposed in this paper. In this algorithm, the first order partial derivative in different direction is calculated to judge the direction of the gradient. Then, the position of zero crossing point is positioned according to the value of LOG operator in the gradient direction. Furthermore, according to the number of zero crossing points of the adjacent points in the direction of the gradient normal vector, the image is filtered and breakpoints are connected. For convenience in engineering application of digital image processing, this proposed edge detection algorithm is implemented on Field-Programmable Gate Array (FPGA) chip. The experiment results show that this proposed algorithm is easy to be implemented on hardware and has much higher accuracy in edge detection performance. Due to the parallel processing capability of FPGA chip, the designed edge detection system is suitable for real-time image processing applications.

关键词： Image edge detection Field programmable gate arrays SDRAM Real-time systems Laplace equations Convolution Cameras

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Moving targets detection based on improved single Gaussian background model

Moving targets detection based on improved single Gaussian b...

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IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Bo Han Xiao Yu Shengzhi Du Complex System Control Theory and Application Key Laboratory Tianjin University of Technology (TJUT) Tianjin China

In order to improve the detection effect of the single Gaussian background model (SGM), an improved SGM algorithm is proposed to detect moving targets in this paper, which has made three improvements on the base of SGM. Firstly, the algorithm adopts adaptive background learning rate instead of using a fixed learning rate. Secondly, we use a new update strategy of Gaussian background model, which makes the Gaussian background model has good convergence and stability. Finally, the moving targets are detected according to the principle of Gaussian distribution and the image morphology filtering. Experimental results show that the background model of improved SGM can adapt well to background changes, and the target detection integrity is higher than that of the traditional SGM.

关键词： Adaptation models Computational modeling Morphology Filtering Feature extraction Object detection Gaussian distribution

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Supertwisting Sliding Mode Repetitive control under Periodic Disturbance

Supertwisting Sliding Mode Repetitive Control under Periodic...

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IEEE International Conference on Mechatronics and Automation

作者： Chao Jia Junqiang Zhou Tianjin Key Laboratory for Control Theory & Application in Complicated Systems Tianjin University of Technology Tianjin China

关键词： Supertwisting Sliding mode Repetitive control Periodic disturbance

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