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2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)最新文献

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Pseudoinverse-based Motion Planning Scheme for Robot Manipulators with Joint Physical Limits 具有关节物理极限的机械臂伪逆运动规划方法
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702176
Qingping Liu, Dongsheng Guo
{"title":"Pseudoinverse-based Motion Planning Scheme for Robot Manipulators with Joint Physical Limits","authors":"Qingping Liu, Dongsheng Guo","doi":"10.1109/ICNSC52481.2021.9702176","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702176","url":null,"abstract":"The approach with the pseudoinverse-based (P-based) formulation is the classic and widely-used one for the motion planning of robot manipulators. However, it is difficult to simultaneously and directly deal with joint physical limits in the approach formulation. This paper attempts address such a limitation by providing the first P-based motion planning (PMP) scheme that can readily handle joint physical limits. Specifically, the motion planning of physically-constrained robot manipulators is formulated as solving a linear kinematics system with bound constraint. By utilizing an exponential decay rule, a neurodynamic model is obtained to solve the above system. Such a model is discretized via Euler difference formula, and the new PMP scheme at velocity level is thus proposed for robot manipulators with joint physical limits. Comparative simulation results under the PUMA560 robot manipulator further verify the effective and superior performance of the proposed PMP scheme.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124791054","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 Two-Stage Congestion-Aware Routing Method for Automated Guided Vehicles in Warehouses 仓库自动引导车辆的两阶段拥塞感知路径方法
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702160
Xinyu Chen, Ligen Feng, Xingkai Wang, Weimin Wu, Ruifen Hu
{"title":"A Two-Stage Congestion-Aware Routing Method for Automated Guided Vehicles in Warehouses","authors":"Xinyu Chen, Ligen Feng, Xingkai Wang, Weimin Wu, Ruifen Hu","doi":"10.1109/ICNSC52481.2021.9702160","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702160","url":null,"abstract":"With multi-AGV (automated guided vehicle) systems gradually employed in modern warehouses, the research on how to coordinate AGVs in an efficient way has attracted more scholars than ever. As the size of AGVs grows over time, the possibility of traffic congestion is increasing rapidly, especially in a limited space. Therefore, the congestion-aware routing method is one of the most vital and fundamental topics in multi-AGV control research. In this paper, a two-stage congestion-minimizing routing method is presented. The proposed method not only plans paths that avoid congested areas, but also changes paths in real time to cope with the volatile traffic situations. An experiment is carried out to test the effectiveness and efficiency of the proposed method, and the results are highly promising in terms of alleviating traffic congestion.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125076629","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: 2
Real Object Registration Algorithm Based on SURF and RANSAC 基于SURF和RANSAC的真实目标配准算法
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702198
Chuyi Dai, Ding Liu, Weihao Hu
{"title":"Real Object Registration Algorithm Based on SURF and RANSAC","authors":"Chuyi Dai, Ding Liu, Weihao Hu","doi":"10.1109/ICNSC52481.2021.9702198","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702198","url":null,"abstract":"In recent years, with the rapid development of smartphone devices and mobile cellular network technology, real-time virtual reality feedback software and games based on mobile phone cameras have developed rapidly. However, current existing real-scene item matching algorithms usually need to rely on Internet connections or require the high-performance computing power of devices to meet the demand. For this reason, this paper proposes a real-scene item registration algorithm based on the SURF algorithm, which has the advantages of good real-time performance, low calculation amount, and easy implementation. It can be adopted and further developed in real-scene software for item recognition and registration used in games and intelligent robots.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125374541","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: 2
Global Practical Tracking of Nonholonomic Systems via Sampled-Data Control 基于采样数据控制的非完整系统全局实用跟踪
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702239
Sisi Sun, Hongyan Chu
{"title":"Global Practical Tracking of Nonholonomic Systems via Sampled-Data Control","authors":"Sisi Sun, Hongyan Chu","doi":"10.1109/ICNSC52481.2021.9702239","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702239","url":null,"abstract":"Nonholonomic systems with uncertain nonlinearity are very important since there are numerous real world applications. Our previous work has constructed a globally stabilizing output feedback controller for nonholonomic systems. In this article, we further study on the global practical tracking of nonholonomic systems via sampled-data control. Under a low triangular linear growth condition, using changing of coordinates, a sampled-data state feedback controller is constructed such that the states are globally bounded. The system can track a uncertain time-variant object in 2.4 seconds within a given tolerance. Examples and simulations illustrate the effectiveness of the proposed controllers.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"782 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116129936","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
Implementation of Power Battery Voltage Fault Diagnosis System Based on Improved Shannon Entropy Algorithm 基于改进香农熵算法的动力电池电压故障诊断系统实现
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702238
Weidong Fang, Yiting Jiang, H. Lv
{"title":"Implementation of Power Battery Voltage Fault Diagnosis System Based on Improved Shannon Entropy Algorithm","authors":"Weidong Fang, Yiting Jiang, H. Lv","doi":"10.1109/ICNSC52481.2021.9702238","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702238","url":null,"abstract":"Nowadays, electric vehicles have become one of the most promising new products. The research on the faults in the power battery system can effectively diagnose the faults in the power battery system, predict the occurrence of faults, and improve the service life of the power battery system. This paper uses Matlab / Simulink to simulate the sensor data acquisition system. It builds our own database on software to receive the data sent by MATLAB, and sends the data in the format of can message, so as to build the joint simulation system of CANoe and MATLAB. This enables data exchange between the two.By connecting Jetson Nano with CANoe software and big data platform onenet, the principle of Shannon entropy algorithm is studied, and the improved Shannon entropy is realized through software programming. The big data platform displays the single cell voltage data obtained by Jetson nano and the results of single cell voltage through Shannon entropy algorithm. The experimental results show that Shannon entropy can predict the voltage undervoltage fault of single cell 52 seconds in advance.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120963120","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
Optimized Formation Control for a Class of Second-order Multi-agent Systems based on Single Critic Reinforcement Learning Method 一类二阶多智能体系统的优化群体控制
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702159
Wentai Shao, Yutao Chen, Jie Huang
{"title":"Optimized Formation Control for a Class of Second-order Multi-agent Systems based on Single Critic Reinforcement Learning Method","authors":"Wentai Shao, Yutao Chen, Jie Huang","doi":"10.1109/ICNSC52481.2021.9702159","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702159","url":null,"abstract":"In this paper, an optimized formation control based on single critic reinforcement learning is developed for a class of second-order multi-agent systems. Unlike first-order systems, both position and velocity variables need to be considered in second-order system control. Therefore, the control of second-order systems is more challenging. In the control design, single critic reinforcement learning method combined with fuzzy logic systems is used. Fuzzy logic systems approximator is used to compensate the nonlinearity of the systems. Compared with the actor-critic reinforcement learning method, single critic reinforcement learning requires only one network iterative training such that the training errors are smaller, and the calculation time caused by the iterative loop between actor and critic can be reduced. According to the analysis of Lyapunov stability theory, the proposed control design can achieve the control objective. Finally, the effectiveness of the proposed method is verified by simulation.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114952730","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
A Decision-support Framework for Port Container Stowage Plan 港口集装箱配载计划决策支持框架
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702221
Shuo Wang, Tao Zhang, Zichao Xing, Weimin Wu
{"title":"A Decision-support Framework for Port Container Stowage Plan","authors":"Shuo Wang, Tao Zhang, Zichao Xing, Weimin Wu","doi":"10.1109/ICNSC52481.2021.9702221","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702221","url":null,"abstract":"With the development of international trade, container transportation increases rapidly. Loading large quantities of containers requires efficient port operations and an efficient container stowage plan (CSP). A CSP is the placement of containers onto the shipping plan slots, which should decrease loading cost and keep the ship stability. The yard operational efficiency, ship stability, and operational safety are the major factors that should be considered in port loading and unloading. Since, factors are related to others, to generate a CSP is proven to be NP-complete. This paper proposes a decision-support framework for determining a shipment plan, which is to achieve the optimal shipment objects by a planning model. The experimental results show that the proposed framework can improve the operating efficiency of the storage yard while keeping the ship’s stability and reducing the dangerous loading scenes.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124105754","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-sensor Gesture Interaction System for Human-robot Cooperation 面向人机协作的多传感器手势交互系统
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702166
Jiahui Yu, Min Li, Xin-Li Zhang, T. Zhang, Xianzhong Zhou
{"title":"A Multi-sensor Gesture Interaction System for Human-robot Cooperation","authors":"Jiahui Yu, Min Li, Xin-Li Zhang, T. Zhang, Xianzhong Zhou","doi":"10.1109/ICNSC52481.2021.9702166","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702166","url":null,"abstract":"Gestures are considered as a natural expression of the human body and are used to communicate with other people. The gesture-based human-robot interaction is natural, convenient, and applicable, and can be applied to complex interactive scenarios. In this paper, considering the real-time nature of the human-robot cooperation(HRC) system and the variability of the interaction range, we combine Kinect V2.0 (far-range sensor) and Leap Motion (short-range and high precision sensor), and propose a real-time multi-sensor gesture interaction system. Firstly, a reasonable layout of two sensors is discussed to realize far-range perception of natural gesture interaction. Then, nine gestures are defined that are easy for users to remember and operate. At the same time, a gesture interactive mechanism is proposed that can automatically switch two sensors according to the distance of the operator’s position. It can better improve the defects such as occlusion and confusion in the process of gesture controlling, and solve the minimum distance constraint of Kinect. Finally, the interactive experiment proves the stability and accuracy of the system.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114011889","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: 3
An Improved Competitive Swarm Optimizer Based on Generalized Pareto Dominance for Large-scale Multi-objective and Many-objective Problems 基于广义Pareto优势的大规模多目标和多目标问题的改进竞争群优化器
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702169
Meiji Cui, Li Li, Shuwei Zhu, Mengchu Zhou
{"title":"An Improved Competitive Swarm Optimizer Based on Generalized Pareto Dominance for Large-scale Multi-objective and Many-objective Problems","authors":"Meiji Cui, Li Li, Shuwei Zhu, Mengchu Zhou","doi":"10.1109/ICNSC52481.2021.9702169","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702169","url":null,"abstract":"Large-scale multi-objective and many-objective problems are widely existing in the real-world. These problems are extremely challenging to deal with as a result of exponentially expanded search space as well as complicated conflicting objectives. Most existing algorithms focus either on large-scale decision variables or multiple objectives solely while few algorithms consider both of them. In this paper, we propose an improved competitive swarm optimization (ICSO) dedicated to deal with large-scale search space. Moreover, we incorporate ICSO into the MultiGPO framework, an efficient framework for many-objective problems, and name it as MultiGPO_ICSO. To validate the performance of MultiGPO_ICSO, we test all algorithms on LSMOP with dimensions varying from 100 to 500. Compared with other algorithms, MultiGPO_ICSO shows competitive performance on most problems with limited computational resources. Therefore, MultiGPO_ICSO is suitable to deal with large-scale multi-objective and many-objective problems.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131285658","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
Hybrid Whale Optimization Algorithm with Differential Evolution and Chaotic Map Operations 差分进化和混沌映射操作的混合鲸优化算法
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702209
J. Bi, Wenduo Gu, Haitao Yuan
{"title":"Hybrid Whale Optimization Algorithm with Differential Evolution and Chaotic Map Operations","authors":"J. Bi, Wenduo Gu, Haitao Yuan","doi":"10.1109/ICNSC52481.2021.9702209","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702209","url":null,"abstract":"Original Whale Optimization Algorithm (WOA) is a meta-heuristic optimization one generated by imitating whale hunting. It has achieved good performance in many optimization problems. However, WOA is prone to lose the diversity of solutions in the iterative process and fall into local optima, which makes the optimization process stagnate. This work aims to solve this problem by combining the chaos theory and the idea of a Differential Evolution (DE) algorithm to enhance the randomness and diversity of solutions generated by WOA, so as not to fall into a locally optimal solution in the iteration as far as possible. Specifically, this work proposes a Chaotic Differential WOA (CDWOA), which is tested with 10 benchmark functions, and final optimization results are obtained to demonstrate its performance. In addition, experiments with higher dimensions are conducted to evaluate the performance of CDWOA. The running time of CDWOA for each problem is tested to demonstrate the efficiency of CDWOA. The comparison of experimental results shows that it outperforms its typical peers in solving both low-dimensional and high-dimensional problems of single-objective optimization.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132315848","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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