2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)最新文献

{"title":"Development of machine vision module for intelligent portable bowling system","authors":"Rongsheng Liu, Tingting Xu, Ding Wang","doi":"10.1109/YAC53711.2021.9486505","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486505","url":null,"abstract":"This design analyzes the functional requirements of portable bowling system, and designs the overall framework of machine vision module based on the whole bowling system. The UP Board was chosen as the master chip, and Intel Realsense D435 as the data acquisition device. The HOG (Histogram of Oriented Gradient) feature and Adaboost algorithm were combined to detect the status of the bowling pins. We integrated all algorithms into the program, and completed the software design of the whole module, and debugged and improve the hardware. Finally, the software and hardware of the machine vision module are fully combined, running stably and realizing normal functions, which meets all the requirements of this design.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"209 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115311882","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}

{"title":"Human-Robot Interaction System Design for Manipulator Control Using Reinforcement Learning","authors":"Z. Ding, C. Song, Jianhua Xu, Yi-geng Dou","doi":"10.1109/YAC53711.2021.9486647","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486647","url":null,"abstract":"In this article, a novel human-robot interaction (HRI) system is presented and applied in the robotic arm coordinated operation control task. The presented HRI system includes two parts, the impedance model controller and the robotic arm controller, which allows the operator to manipulate the robotic arm to accomplish the given task with minimal human effort. First, the model-based reinforcement learning (RL) method is applied in the impedance model for operator adaptation. The impedance model controller can transform human input into the specific signal for the manipulator. Second, a novel adaptive manipulator controller is designed. In contrast to existing controllers, a velocity-free filter is implemented in our controller, which is developed to replace the manipulator actuator’s speed signal. The effectiveness of the presented HRI system is verified by the simulation based on real manipulator parameters.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123546964","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}

{"title":"Design of an indoor map construction and target detection technology platform based on ROS","authors":"Yipeng Dai, Zhongwei Li, Ding Wang","doi":"10.1109/YAC53711.2021.9486637","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486637","url":null,"abstract":"In recent years, a variety of intelligent home robot devices have emerged on the market. According to the analysis of the functional requirements of intelligent home robot system and combining with the actual situation, this paper designs an application experiment platform combined visual localization and map building (SLAM) technology, target recognition technology and movement control technology. The platform uses the ROS operating system to implement the overall algorithm and function. The STM32F4 is used to control the movement of the vehicle body, and the Raspberry Pi 4B is used to process the visual information collected by the Intel RealSense D435 depth camera, so as to complete the construction of the indoor map and the detection of the specified target, and complete the follow-up tasks.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116725952","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}

{"title":"PDE modeling and control of a cylindrical soft manipulator with bounded cable tension","authors":"Zhiji Han, Yuhua Song, Zhijie Liu, W. He","doi":"10.1109/YAC53711.2021.9486521","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486521","url":null,"abstract":"In this paper, we establish a planar dynamic model of a soft manipulator and propose a boundary control algorithm to regulate the end of the manipulator to a given bending angle. The soft manipulator is driven by cables and has uniformly spatial parameters. As opposed to common approaches, the dynamic model is dominated by two sets of partial differential equations, which remain more concise and exacter expression. Then, we propose a bounded control law where the value of the controller is limited by the hyperbolic tangent function to deal with the control problem of soft manipulators. Specially, this paper presents a Lyapunov-based stability analysis, which is rare in the control synthesis of soft robots. Finally, some numerical examples are utilized to assess the established model and control.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128271946","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}

{"title":"Design of heat pump temperature control system based on particle swarm optimization fuzzy PID","authors":"Han Qingqing, Yang Yi, Yu Jingya, Gu Haiqin, R. Xiaolin, Gao Long","doi":"10.1109/YAC53711.2021.9486467","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486467","url":null,"abstract":"The mathematical model of the temperature control system of air source heat pump is established by collecting experimental data. Due to the time-varying, nonlinear and pure hysteresis characteristics of the temperature control system, on the basis of fuzzy PID control, MATLAB is used to design a two-dimension adaptive fuzzy PID controller based on particle swarm optimization. By optimizing each parameter of the system, the water flow of the system can be well controlled and the temperature effect of the control heat pump system can be optimized and improved. Finally, the stability verification is carried out, that is, after the system is stable, the pulse interference signal is suddenly added to cause interference to the system Observe the stabilizing effect of the system The simulation results show that the fuzzy PID based on PSO not only combines the advantages of fuzzy control and PID control, but also optimizes the scale factor and quantization factor to reduce randomness. The resulting optimization curve has almost no overshoot, rise and adjustment time is effectively shortened, and response The speed becomes faster, and the robustness and anti-interference performance of the heat pump system are improved.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130409463","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}

{"title":"An Implicit Iterative Algorithm for Linear Quadratic Optimal Control Problem","authors":"Meijun Liu, Xueyan Zhao","doi":"10.1109/YAC53711.2021.9486515","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486515","url":null,"abstract":"This paper investigates linear quadratic regulator(LQR) problem of linear stochastic systems. An novel algorithm is proposed to solve the general algebraic Riccati equation(GARE) derived from linear stochastic systems based on successive over-relaxation technique. With some initial conditions satisfied, the monotone convergence can be guaranteed, and an initial value selection method is proposed. Furthermore, a numerical example is given to demonstrate the effectiveness of the algorithm.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130567921","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}

{"title":"Welding quality identification based on bionic pattern recognition and sound information","authors":"Jiahao Zhao, Juping Gu, Liang Hua, Hui Yang, Ling Jiang, Tianyu Cheng","doi":"10.1109/YAC53711.2021.9486675","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486675","url":null,"abstract":"Aiming at the quality identification of melt inert-gas (MIG) welding, a novel algorithm based on bionic pattern recognition and sound features is proposed in this paper. Firstly, the features of Mel-frequency cepstral coefficients (MFCCs), zero-crossing rate (ZCR), root mean square (RMS) and spectral flatness measure (SFM) are extracted from the arc sound signals, and the feature matrix is constructed. Subsequently, the objective function is constructed in Clifford algebraic space to represent the distance between the two feature matrices. Finally, optimized by using the distance of two feature matrices as a criterion, the bionic pattern recognition theory is used to identify the welding quality. The experimental results indicate that the proposed algorithm can accurately identify the samples obtained from defective welding conditions with few reference samples, which has provided a new method and idea for welding quality identification of MIG welding. Furthermore, it also has profound theoretical research significance and extensive practical application value.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114746990","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}

{"title":"Orderly Charging Control of Distributed Electric Vehicles","authors":"Shengwei Zou, Ruilin Chen","doi":"10.1109/YAC53711.2021.9486457","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486457","url":null,"abstract":"With the emergence of electric vehicle as an emerging industry, electric vehicle charging stations, electric vehicle supporting charging technologies and electric vehicle surrounding industries have also seen great development and changes. However, there are still problems such as difficulties in finding piles for electric vehicle users, low utilization rate of charging piles, and difficulty in making profits for operating enterprises. How can an electric car battery technology, the reasonable solution to charging pile enough information circulation and mutual trust between operators and electric car owners security issues, on this basis, considering a reasonable interest with the user of electric vehicle charging pile match, improve the utilization rate of resources, guarantee the user experience of charging at the same time, this is the need to study and solve the problem. Firstly, this topic proposes to establish an electric vehicle charging chain by using block chain technology, so as to reasonably solve the problem of insufficient circulation of charging pile information and mutual trust and safety between operators and electric vehicle owners. Secondly, in order to power grid security, user experience and the interests of the operators make a comprehensive consideration, assignment model is proposed based on distributed ordering of electric vehicle charging model will charge directly link between cars and charging pile, put forward considering ordering charging scheme of interests, and by solving the model to get the most reasonable ordering charging scheme. Thirdly, in order to better allocate the resources in the station, the waiting time of electric vehicle charging is reduced, and the orderly charging model is optimized. This topic proposes the power distribution strategy within the station, through a simple algorithm, to achieve the priority of using high power charging in the charging station with low power, and fully balance the load resources of each station. Finally, in order to verify the effectiveness of the model, the simulation platform is built and verified. Collected by charging and the electric car GPS data, set up the simulation object model by using ArcGIS software, and set up complete simulation platform of distributed electric vehicle charging ordering model for simulation, the simulation results show that the proposed ordering of electric vehicle charging model based on block chain technology can improve the utilization rate of resources, charging at the same time guarantee the user experience.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114836033","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}

{"title":"Trajectory Tracking Based on Backstepping Sliding Mode Control for Underactuated USV","authors":"Jiahua Chen, Qingyong Zhang, Yue Qi, Zhiwen Leng, Danhong Zhang, Jiashu Xie","doi":"10.1109/YAC53711.2021.9486451","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486451","url":null,"abstract":"Unmanned surface vessel (USV) has been widely applied due to its advantages in the maritime security inspection and resources exploration. As a complex nonlinear system, the trajectory tracking of USV requires the controller to achieve fast tracking for a given target, and at the same time, the controller needs to have strong anti-interference capability due to the complex water surface conditions with many uncertainties and disturbances. In this paper, a backstepping sliding mode control design method for USV is proposed, and it is used to realize the trajectory tracking problem of USV. The asymptotic stability of the control system is proved by theoretical derivation, while numerical simulation is used to verify that the unmanned boat achieves the tracking control effect of open trajectory and closed trajectory in the presence of external disturbances. The simulation results show that the designed controller can track the set target quickly and accurately, and has strong disturbance resistance in the case of periodic disturbances.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124331349","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}

{"title":"Noise Suppression Method of Power Amplifier Current Sensor Based on Adaptive Wavelet","authors":"Haoyuan Sun, Wenyue Ma, Jingxiang Zhou, Xue Han, Jing Zhang, Zheng Wei","doi":"10.1109/YAC53711.2021.9486600","DOIUrl":"https://doi.org/10.1109/YAC53711.2021.9486600","url":null,"abstract":"The output of the current sensor in active magnetic bearing power amplifier system contains a lot of noise, which will cause the output of the power amplifier to be saturated. Using a traditional second-order low-pass filter to suppress noise will give rise to the phase lag. This paper presents an adaptive wavelet method to suppress the high-frequency noise in current sensor signals. Discrete wavelet transform is applied to estimate the noise of the current sensor, and input the estimated noise into the adaptive filter to suppress correlated components from the reference signal. Theoretical analysis and simulation results show that the noise suppress result of the adaptive wavelet method is better than that of the second order low-pass filter.","PeriodicalId":107254,"journal":{"name":"2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"316 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124481761","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}