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

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RoboNet: a Neural Network Based Kinematic Parameter Identification Model 基于神经网络的机器人运动参数辨识模型
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702247
Diwen Xiong, Mingsheng Shang
{"title":"RoboNet: a Neural Network Based Kinematic Parameter Identification Model","authors":"Diwen Xiong, Mingsheng Shang","doi":"10.1109/ICNSC52481.2021.9702247","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702247","url":null,"abstract":"The positioning accuracy of a robot is crucial for its industrial applications. A common way to improve such accuracy is through robot calibration, which mostly aims to identify the errors of a robot’s kinematic parameters. However, while a robot kinematic model being a highly nonlinear system with non-Gaussian noises, approaches could cause truncation error when approximating such nonlinearity, resulting in a less sufficient calibration result. To address this issue, this paper innovatively proposes a neural network-based approach: the RoboNet, which identifies the kinematic parameters by nonlinearly approximating the error function of each parameter with neurons and nonlinear activation functions. It also provides a unified architecture for kinematic parameters identification of the robot calibration process, so that with simple modifications, RoboNet could be applied to the various robot calibration processes. And supported by the simulation results, RoboNet can accurately identify the errors in kinematic parameters and is robust against flawed data.","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":"129396234","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
Task Scheduling and Path Planning of Multiple AGVs via Cloud and Edge Computing 基于云和边缘计算的多agv任务调度与路径规划
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702191
Zhicheng Lin, Penghui Ding, Jun Yu Li
{"title":"Task Scheduling and Path Planning of Multiple AGVs via Cloud and Edge Computing","authors":"Zhicheng Lin, Penghui Ding, Jun Yu Li","doi":"10.1109/ICNSC52481.2021.9702191","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702191","url":null,"abstract":"Automated Guided Vehicles (AGVs) are playing a crucially important role in automated warehousing and logistics. To achieve high efficiency of management and operation of large-scale AGV systems, we design a steady hierarchical cloud–edge control platform in this paper. The platform has been characterized by load balancing, service reconfiguration, and stability, and low latency of communication between the cloud and AGVs. Also, we adapt a parallelized scheduling algorithm as a cloud service for a large-scale AGV system to attain higher algorithm performance. Next, a parallel path planning algorithm is designed at the edge to plan conflict-free paths for single AGVs. Finally, many experiments are conducted and the results show the effectiveness and superiority of the presented methods.","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":"130130910","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
Adaptive Active Disturbance Rejection Control Design For Uncertain Input Gain 不确定输入增益的自适应自抗扰控制设计
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702128
Wang-Xiang He, Zhuo‐Yun Nie, En-Ze Zhu, He-Ran Li, Leijun Xiang
{"title":"Adaptive Active Disturbance Rejection Control Design For Uncertain Input Gain","authors":"Wang-Xiang He, Zhuo‐Yun Nie, En-Ze Zhu, He-Ran Li, Leijun Xiang","doi":"10.1109/ICNSC52481.2021.9702128","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702128","url":null,"abstract":"In the well-known active disturbance rejection control (ADRC) scheme, the input gain b0 is a critical parameter for control system design. However, it is difficult to obtain the accurate b0 information due to the coupling effect caused by the external disturbance. In this paper, we propose an adaptive scheme for b0 online tuning when the uncertainties occur. The tracking error between a reference model and control system is adopted to generate the adaptive b0 tuning. The stability is proved by Lyapunov theory, and an energy-dependent parameter is used to provide a normalizing adaptation such that the adaptive system can operate with a wide range of external inputs. Finally, two simulation examples are used to illustrate the effectiveness of the proposed method.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"87 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":"134378975","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
Steering Actuator Efficiency Estimation for Vehicle Lateral Dynamics 车辆横向动力学转向作动器效率估计
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702165
N. A. Oufroukh
{"title":"Steering Actuator Efficiency Estimation for Vehicle Lateral Dynamics","authors":"N. A. Oufroukh","doi":"10.1109/ICNSC52481.2021.9702165","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702165","url":null,"abstract":"This paper investigates observer design for actuator efficiency faults estimation for autonomous vehicles. We are focusing on the steering actuator efficiency. The vehicle lateral model is transformed into an uncertain discrete time LPV switched system. In fact the vehicle is subject to both measured varying parameters such as forward speed and unmeasured parameters such as tire cornering stiffness. The observer is designed in order to estimate both the vehicle state vector and the actuator efficiency gathered into an augmented state vector. The designed observer is able to estimate both constant and time varying actuator deficiency with bounded estimation error, while minimizing the effect of the input disturbance on the estimation error. The synthesis procedure is solved using linear matrix inequalities. Simulation results are provided and well illustrate the effectiveness of the proposed approach.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"28 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":"133190672","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
Integrated Distributed Production and Distribution Problem for Minimizing Earliness and Tardiness Penalty 最小早迟到惩罚的集成分布式生产与分配问题
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702229
Yushuang Hou, Yaping Fu, Mengchu Zhou, Xiwang Guo, Liang Qi
{"title":"Integrated Distributed Production and Distribution Problem for Minimizing Earliness and Tardiness Penalty","authors":"Yushuang Hou, Yaping Fu, Mengchu Zhou, Xiwang Guo, Liang Qi","doi":"10.1109/ICNSC52481.2021.9702229","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702229","url":null,"abstract":"Production and distribution play essential roles in a supply chain. How to integrate them for overall high performance has become an important problem in academia and industry. This work proposes an intelligent optimization method to solve an Integrated Distributed Production and Distribution problem with Time-windows (IDPDT). We need to assign the jobs among flow shops and deliver the products by vehicles to customers within required time windows. Accordingly, a mathematical programming model is built to minimize total weighted earliness and tardiness and an improved brainstorm optimization algorithm is developed by fully considering problem characteristics. Through a comparison with a memetic algorithm, the experiment results indicate that the developed approach is effective in handling the investigated problem.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"17 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":"127790046","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
Histogram Equalization based on Binary Optimization Model with Subjective and Objective Consistency 主客观一致二值优化模型的直方图均衡化
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702126
Qi Yuan, Ziyu Wang, S. Dai
{"title":"Histogram Equalization based on Binary Optimization Model with Subjective and Objective Consistency","authors":"Qi Yuan, Ziyu Wang, S. Dai","doi":"10.1109/ICNSC52481.2021.9702126","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702126","url":null,"abstract":"Histogram equalization (HE) is the most famous method for image enhancement due to its low computation complexity and wide application scope. However, existing HE-based methods often lead to over-enhancement, under-enhancement and unnatural visual perception. To overcome these defects, an adaptive HE algorithm is proposed in this paper. The core idea is to adjust the histogram with the optimal gamma correction parameter. Firstly, a sequence of images with gradually changing quality is obtained by traversing the gamma parameters, and two measurement values are calculated for each image in the sequence. Then a binary optimization model is proposed to search for the optimal parameter. Importantly, in order to compensate for the difference between the objective model and the subjective perception, a novel correction factor is designed to adjust the optimal parameter from the model. Finally, secondary gamma correction is performed by inverting the final parameter to preserve image details and prevent under enhancement. Experimental results show that the proposed algorithm outperforms those state-of-the-art HE-based algorithms.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"8 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":"115927025","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
Minimization of Product Transportation and Temporary Storage Costs for Home Appliances Manufacturing Factories 家电制造工厂产品运输和临时储存成本的最小化
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702188
Shan Zeng, Yan Qiao, SiWei Zhang, Jie Li, N. Wu, Bin Liu
{"title":"Minimization of Product Transportation and Temporary Storage Costs for Home Appliances Manufacturing Factories","authors":"Shan Zeng, Yan Qiao, SiWei Zhang, Jie Li, N. Wu, Bin Liu","doi":"10.1109/ICNSC52481.2021.9702188","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702188","url":null,"abstract":"In home appliances manufacturing factories, the cycle time of a certain type of products is deterministic such that the daily outputs of such products are fixed. If the completed products are not delivered out of the factory in time, the warehouse in the factory cannot hold all completed products since its capacity is limited. This work focuses on a factory for which the completed products should be delivered out of the factory to a warehouse at a harbor for temporary storage and then shipped abroad. This results in a cost for the product transportation from the warehouse in the factory to the one at the harbor as well as a storage cost for the warehouse at the harbor. This work aims at finding out a schedule for product transportation with the objective of minimizing the total cost. To do so, a periodical scheduling method is proposed for the product transportation. Based on the scheduling method, a mathematical programming model is established to minimize the total cost for the product transportation. Finally, an actual case study is given to show the applicability of the proposed method.","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":"130154814","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
The Position Control Method of two Joint Manipulator Based on Sliding Mode and Trajectory Setting Algorithm of Quintic Polynomial Interpolation 基于滑模和五次多项式插值轨迹设定算法的双关节机械臂位置控制方法
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702202
Yi Huang, Mi Zhao, Jian Zhang
{"title":"The Position Control Method of two Joint Manipulator Based on Sliding Mode and Trajectory Setting Algorithm of Quintic Polynomial Interpolation","authors":"Yi Huang, Mi Zhao, Jian Zhang","doi":"10.1109/ICNSC52481.2021.9702202","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702202","url":null,"abstract":"Two joint Manipulator attract more attention in industrial application, which highlights the importance of trajectory tracking accuracy and output vibration suppression in manipulator control system. This paper presents a novel vibration suppression and position control approach for a two joint manipulator. Firstly, the trajectory setting algorithm based on fifth-order polynomial interpolation is developed, which greatly contributes to solve the problem of the acceleration discontinuity in the continuous trajectory when compared with the cubic polynomial interpolation method, thereby further restrains the output vibration degree of the manipulator in the process of motion. Secondly, in order to improve the tracking performance and control precision, a position controller based on sliding mode control is then designed by sufficiently considering its kinematics analysis and dynamic model, whose stability is also proved. Finally, the whole system simulation on MATLAB/Simulink platform is performed to verify the effectiveness and its related performance of the proposed method. Compared to the tractional PD controller, the simulation results indicate that the proposed method achieves more better dynamic performance of trajectory tracking and position control accuracy, especially in acceleration and output torque vibration suppression.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"47 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":"128538565","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
Optimal Input Calculation and Control for a Class of Timed Petri Nets under Marking Constraints 一类有标记约束的定时Petri网的最优输入计算与控制
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702177
Yingjie Li, Yifan Hou, Zizhuo Wu
{"title":"Optimal Input Calculation and Control for a Class of Timed Petri Nets under Marking Constraints","authors":"Yingjie Li, Yifan Hou, Zizhuo Wu","doi":"10.1109/ICNSC52481.2021.9702177","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702177","url":null,"abstract":"In this paper, a new control technique is developed for a class of Petri net subject to synchronization phenomena. Combined with dioids algebra, this work deals with the state feed-back control of TEGs under specifications expressed with linear marking constraints. The optimal input of TEGs is calculated and multiple controller design strategies based on the calculated optimal input are proposed to obtain an optimal or a sub-optimal controller, for the purpose of improving the throughput of the system. Some conditions for whether the control laws can be used are also discussed. The computed controller can be represented by a set of marked and timed places.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"49 4 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":"117201461","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
Research on operating characteristics of a hot blast stove 热风炉工作特性的研究
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Pub Date : 2021-12-03 DOI: 10.1109/ICNSC52481.2021.9702222
Yufeng Gan, Fan Yang, C. Pan, Xiang-yu Gao, Chichun Lee, Shengyou Liao
{"title":"Research on operating characteristics of a hot blast stove","authors":"Yufeng Gan, Fan Yang, C. Pan, Xiang-yu Gao, Chichun Lee, Shengyou Liao","doi":"10.1109/ICNSC52481.2021.9702222","DOIUrl":"https://doi.org/10.1109/ICNSC52481.2021.9702222","url":null,"abstract":"The function of a hot blast stove is mainly used to supply stable hot blast for blast furnace, which of the cyclic operating process consists of an on-gas period and an on-blast period. In this study, a 3D thermal-dynamics model of a DiDier type hot blast stove was used to calculate the temperature distribution in the operating process. In order to simplify the model, a non-equilibrium porous medium model was applied to calculate the heat exchange process in the checker chamber. The simulation result was compared with the experimental data of the cold flue temperature, and the maximum error was found to be lower than 5%. Experimental result shows that the temperature of the flue gas/blast and the checker decreased along the flow direction in the on-gas period but increased along the flow direction in the on-blast period.","PeriodicalId":129062,"journal":{"name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","volume":"433 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":"122822095","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
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