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Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence最新文献

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Structural Design and Finite Element Analysis of a Vortex Jet Power Vehicle 涡喷动力飞行器结构设计与有限元分析
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366321
Mingrui Fu, Q. Guo, Zhenyi Cheng
{"title":"Structural Design and Finite Element Analysis of a Vortex Jet Power Vehicle","authors":"Mingrui Fu, Q. Guo, Zhenyi Cheng","doi":"10.1145/3366194.3366321","DOIUrl":"https://doi.org/10.1145/3366194.3366321","url":null,"abstract":"Based on the existing unmanned aerial vehicles, this paper designs an unmanned aerial vehicle driven by turbojet power. According to the shortcomings of short endurance and low load capacity of motor-driven aircraft at present. With fuel as power source and micro-turbojet engine as driving force, the structure of aircraft is optimized through rational layout of micro-turbojet engine to achieve high power density ratio power output of aircraft. According to the designed aircraft structure, the finite element software ANSYS Workbench is used to carry out structural static analysis and modal analysis of the aircraft. The displacement nephogram, stress nephogram and safety factor nephogram of the flight structure are obtained under the condition of full load of the aircraft, which can guide the optimal design of the aircraft.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115796856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Multi-mode Parallel Mechanism with Kinematically Bifurcated Closed-chains 具有运动分岔闭链的多模并联机构
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366227
Wang Yan, Xu Yong, Dong Fei
{"title":"A Multi-mode Parallel Mechanism with Kinematically Bifurcated Closed-chains","authors":"Wang Yan, Xu Yong, Dong Fei","doi":"10.1145/3366194.3366227","DOIUrl":"https://doi.org/10.1145/3366194.3366227","url":null,"abstract":"Stretchable mechanism based on the variable degree of freedom, multi-axis linkage machine tool and gait flexible emerging reconfigurable equipment such as mobile devices of actuator design problem, this paper designs the movement bifurcation closed chain pattern parallel mechanism, and based on screw theory of bifurcation closed chain, including bifurcation of closed cone of mixed branched chain and many kinds of DOF(degree of freedom) parallel mechanism are analyzed.In this paper, we present a bifurcation closed chain of URRC(U-universal joint, R-rotating pair, C-cylinder pair) configuration, which has two degrees of freedom instantaneous motion when it is in singular configuration, and one degree of freedom continuous rotation of the whole space or one degree of freedom plane continuous motion when it is in general configuration. Furthermore, URRC bifurcation closed chain was connected with 4 DOF PRRR (P-prismatic pair) open chain to obtain a hybrid branched chain with one constraint couple and one constraint line vector. Finally, three symmetrically arranged URRC-PRRR and mixed branch chains assembled into a motion bifurcation parallel mechanism, which have four variable motion modes of 2R3T, 2R2T, 2R1T and 3R1T (T-translation, R-rotation).","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121781638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Study on the Motion Characteristics of two-ball Hysteretic Pendulum 双球滞回摆运动特性研究
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366233
C. Shan, Yi-duo Bian, Xiaozong Dou, Lun Zhao, Li Zhao, Yao Zhang
{"title":"Study on the Motion Characteristics of two-ball Hysteretic Pendulum","authors":"C. Shan, Yi-duo Bian, Xiaozong Dou, Lun Zhao, Li Zhao, Yao Zhang","doi":"10.1145/3366194.3366233","DOIUrl":"https://doi.org/10.1145/3366194.3366233","url":null,"abstract":"The hysteresis pendulum is that two or more pendulum balls are connected in series at the midpoint of the motor rotation axis, rotated under the action of the motor, and when they are stable, each pendulum ball moves in a uniform circumference in its own horizontal plane. The latter pendulum ball lags the former pendulum ball by π phases. The main factors that affect the stable motion of hysteretic pendulum are the mass of pendulum ball and cycloid length. Therefore, the study on the stability of hysteretic pendulum is a complex nonlinear problem. Firstly, mathematical modeling and analysis are carried out on the hysteretic pendulum, and then the control variable method is applied to study the influence of pendulum mass and cycloid length on the stability of the two pendulum balls. The experimental results are in good agreement with theoretical derivation, which provides a way of thinking for studying the motion law of multi-ball hysteretic pendulum.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"84 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133107744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and Analysis of A CNC Lathe for Repairing Car Wheel 汽车车轮修理用数控车床的设计与分析
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366230
Jianhua Zhang, Qingping Zhang
{"title":"Design and Analysis of A CNC Lathe for Repairing Car Wheel","authors":"Jianhua Zhang, Qingping Zhang","doi":"10.1145/3366194.3366230","DOIUrl":"https://doi.org/10.1145/3366194.3366230","url":null,"abstract":"In this paper, the vertical lathe for repairing wheel surface is a special lathe for repairing wheel surface of aluminium alloy automobile wheel. It can carry out micro-turning on the wheel surface with intact body but with wear, aesthetic and slight scars. Static characteristic analysis of lathe lays a foundation for follow-up dynamic characteristic research and optimization design. And this analysis has very important theoretical and practical significance for improving the overall performance and design level of lathe. According to the different types of processing hub, four typical processing positions of NC lathe are determined to find the maximum loading position. Through the finite element analysis, it is determined that the third position is the most dangerous position among four typical positions, the deformation of the whole machine is the largest, and the maximum stress is the largest.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133480052","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Motion Control of Spraying Robot System Based on Identification Information of End Sensor 基于末端传感器识别信息的喷涂机器人系统运动控制
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366288
Weng-Chang Shen, Haibo Xu, L. xilinx Wang, Yingkun Qian
{"title":"Motion Control of Spraying Robot System Based on Identification Information of End Sensor","authors":"Weng-Chang Shen, Haibo Xu, L. xilinx Wang, Yingkun Qian","doi":"10.1145/3366194.3366288","DOIUrl":"https://doi.org/10.1145/3366194.3366288","url":null,"abstract":"The rocket tank needs to be sprayed with adiabatic coating. However, due to the particularity of tank spraying conditions, robot path planning is difficult. To improve the above problem, this paper constructs the overall scheme of the spraying robot system by using an interactive motion sensor at the end of the robot. According to the characteristics of the motion control system guided by the sensor, the basic control model of the robot system is built based on admittance control, and the control performance of the parameters of the controller is analyzed. The parameters of admittance controller are selected. The spraying task segment of the robot is characterized by cosine similarity and the running speed of the robot. Based on the fuzzy control method, a modified admittance control model with variable admittance parameter configuration is constructed. The experimental results show that the modified control model can improve the response characteristics of the robot under variable working conditions.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114373537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Single Image Dehazing Algorithm Based on Cycle-GAN 基于循环gan的单幅图像去雾算法
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366237
Chenghuan Wang, Z. Meng, Ronglei Xie, Xiaoai Jiang
{"title":"A Single Image Dehazing Algorithm Based on Cycle-GAN","authors":"Chenghuan Wang, Z. Meng, Ronglei Xie, Xiaoai Jiang","doi":"10.1145/3366194.3366237","DOIUrl":"https://doi.org/10.1145/3366194.3366237","url":null,"abstract":"Due to the effect of atmospheric light scattering, the quality of images taken under haze weather conditions will be seriously degraded. These characteristics affect the judgment and extraction of image features and reduce the application value of images. Image dehazing is therefore a necessary step in many computer vision tasks. In this paper, an end-to-end image dehazing algorithm Dehaze-GAN based on Cycle-GAN is proposed. In order to ensure that the structure of the images before and after dehazing is basically the same, the algorithm adds structure consistency loss on the basis of Cycle-GAN. The input of Dehaze-GAN is a hazy image and the output is a clean image. Dehaze-GAN is trained by a large number of hazy images and their corresponding clean images. The experimental results show that Dehaze-GAN is superior to other dehazing algorithms in both PSNR and SSIM dehazing performance indicators.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"283 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115635431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Control and simulation of power balance in optical storage micro-grid based on photovoltaic power supply 基于光伏电源的光存储微网功率平衡控制与仿真
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366258
Yeyu Ouyang, Yun Guo, Hao Chen
{"title":"Control and simulation of power balance in optical storage micro-grid based on photovoltaic power supply","authors":"Yeyu Ouyang, Yun Guo, Hao Chen","doi":"10.1145/3366194.3366258","DOIUrl":"https://doi.org/10.1145/3366194.3366258","url":null,"abstract":"Micro-grid is one of the most effective ways to utilize renewable energy. It is of great significance to study how to realize the energy management of micro-grid and optimize the utilization of energy. Micro-grid is a system unit composed of distributed power generation, energy storage device, energy conversion device, load, control and protection device, etc. It is an autonomous system that can realize self-control, protection and management. Most of the power sources in the micro-grid are distributed power sources, such as wind turbine, photovoltaic power generation, micro gas turbine, fuel cell, super-capacitor, flywheel battery and other energy storage devices. Connecting them to the user end has the characteristics of low cost, low voltage and low pollution, and is the mainstream development direction of the current power system. This paper introduces the composition and control technology of micro-grid, as well as the energy management and simulation of optical storage micro-grid in island and grid-connected mode. In this paper, two modes of island and grid connection are simulated by Simulink. The results show that the optical storage micro-grid system with switching mechanism can effectively improve the utilization rate of photovoltaic power, realize the efficient integration and utilization of distributed power supply, and carry out load side operation management autonomously by switching switch.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"309 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114656581","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on pedestrian occlusion detection based on SSD algorithm 基于SSD算法的行人遮挡检测研究
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366268
Yin Zhang, Jianqiang Lin
{"title":"Research on pedestrian occlusion detection based on SSD algorithm","authors":"Yin Zhang, Jianqiang Lin","doi":"10.1145/3366194.3366268","DOIUrl":"https://doi.org/10.1145/3366194.3366268","url":null,"abstract":"As a basic identification technology, pedestrian detection provides technical support for many areas such as security monitoring and autonomous driving, and has a wide range of application scenarios. Based on the Single Shot MultiBox Detector (SSD) target detection algorithm, this paper trains a pedestrian detection system based on the SSD target detection framework with a self-built occlusion pedestrian dataset for the specific target of occlusion pedestrians. The test set and the re-annotated INRIA test set were used to compare the HOG+SVM based pedestrian detection system and the trained SSD model in OpenCV. The experimental results show that the detection effect of the SSD model is significantly better than the traditional pedestrian detection system based on HOG+SVM. The features learned by the deep convolutional neural network are more robust.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124728158","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on composite adsorption device for ship wall climbing robot 船舶爬壁机器人复合吸附装置的研究
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366306
Peng Li, Guangyuan Zhang, Lijuan Xu
{"title":"Research on composite adsorption device for ship wall climbing robot","authors":"Peng Li, Guangyuan Zhang, Lijuan Xu","doi":"10.1145/3366194.3366306","DOIUrl":"https://doi.org/10.1145/3366194.3366306","url":null,"abstract":"In the rust removal work on the surface of the ship, a kind of Composite adsorption method climbing robot is designed. The composite adsorption device adopts a combination of a permanent magnet and an electromagnet, and the adsorption device is not in contact with the ferromagnetic wall surface, and the robot adopts the walking mode of the wheel. Overcome the problem that the single adsorption method is not adjustable and the adsorption force is difficult to control. In this paper, the measured values of the adsorption force of a single adsorption module and the measured values of the adsorption capacity of the composite adsorption module are compared. Summarize the advantages of the composite adsorption method; Building a climbing robot prototype platform, method of passing prototype experiment, study the effects of composite adsorption methods and mobile methods, and optimize the adsorption method.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"337 16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123232252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Time Delay Analysis of Nonlinear Generalized Lü-like Systems 非线性广义类<s:1>系统的时滞分析
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366248
S. Guan, Cui Yan
{"title":"Time Delay Analysis of Nonlinear Generalized Lü-like Systems","authors":"S. Guan, Cui Yan","doi":"10.1145/3366194.3366248","DOIUrl":"https://doi.org/10.1145/3366194.3366248","url":null,"abstract":"The nonlinear Lü-like system is reduced the uncertain conditions in the practical application process. In this paper, we take a new generalized Lü-like system, analyze the stability of the equilibrium point by the Routh-Hurwitz criterion, adopt Hopf bifurcation theory and combine with the time lag factors in the system to analyzes the time-delay Lü-like system. Through the judgment of the stability index, the time-delay parameters of the bifurcation are determined, and the type of Hopf bifurcation in the system is received. The feedback method controls the bifurcation parameters of the system. Combined with the linear state feedback method theory, the range of control coefficients in the system is proved when the bifurcation parameters of the system reach the control target. The results demonstrate that the overall stability of the generalized L ü-like system is improved when the time-delay parameters are introduced. The system has a relatively stable limit cycle, and the amplitude of the overall limit cycle is more stable.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131856240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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