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2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)最新文献

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Precision Cavity Length Control System Design for Ring Laser Gyroscope 环形激光陀螺仪精密腔长控制系统设计
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398376
Shuying Li, Zhaoyang Xu, San Zhang
{"title":"Precision Cavity Length Control System Design for Ring Laser Gyroscope","authors":"Shuying Li, Zhaoyang Xu, San Zhang","doi":"10.1109/ICMRA51221.2020.9398376","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398376","url":null,"abstract":"Laser gyroscope is a kind of high precision angular sensor which has been widely used in strapdown inertial navigation system. The cavity length of laser gyroscope varies with the external temperature changes, which have influence on the scale factor stability and bias stability. In this regard, to control cavity length of laser gyroscopes with higher precision and reliability, a precision cavity length control system with self-adaption temperature compensation method is designed. The main motivation of this contribution is to design the higher accurate cavity length control system with self-adaption temperature compensation algorithm embedded. Experimental tests show the significant performance and effectiveness of cavity length control system proposed.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125496102","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
Collision Detection of Industrial Automation 工业自动化碰撞检测
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398368
Jhe-Wei Lin, Cheng-Yan Siao, Chia-Hsuan Lin, Rong-Guey Chang
{"title":"Collision Detection of Industrial Automation","authors":"Jhe-Wei Lin, Cheng-Yan Siao, Chia-Hsuan Lin, Rong-Guey Chang","doi":"10.1109/ICMRA51221.2020.9398368","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398368","url":null,"abstract":"At present, most anti-collision mechanisms use graphics processing unit (GPU) for operations and object simulations are drawn using polygonal meshes. However, their costs are always very high. Therefore, we propose a novel approach to improve the anti-collision mechanism for robotic arms. We apply the octree algorithm to decompose the object model and cooperate with the Bounding Box technology to form the object into a covering box. In this manner, the computation space will be reduced and simplify the calculation of the anti-collision. Finally, the proposed work has been implemented on Rhino to construct a simulation system for industrial manufacturing production lines.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116872916","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
Fixed-Time Tracking Control for Robotic Arm with Performance Constraints 具有性能约束的机械臂固定时间跟踪控制
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398371
Liu Pinwei, Dai Jiyang
{"title":"Fixed-Time Tracking Control for Robotic Arm with Performance Constraints","authors":"Liu Pinwei, Dai Jiyang","doi":"10.1109/ICMRA51221.2020.9398371","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398371","url":null,"abstract":"The problem of fixed-time tracking control is investigated for single-link robotic arm using backstepping control strategy and Lyapunov stability theory, and the robot arm's output angle is constrained. The proposed control algorithm ensures that the system tracks to a given signal in a fixed time, and the tracking error converges in any small neighborhood near the origin, and the convergence time is independent of the initial states of the system. Finally, the effectiveness of the scheme is verified by a MATLAB simulation example.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123191925","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
On the Comparison of Mono Visual Odometry Front End in Low Texture Environment 低纹理环境下单视觉测程前端的比较研究
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398353
Xianyu Wang, Qimin Li, Zhiwei Lin
{"title":"On the Comparison of Mono Visual Odometry Front End in Low Texture Environment","authors":"Xianyu Wang, Qimin Li, Zhiwei Lin","doi":"10.1109/ICMRA51221.2020.9398353","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398353","url":null,"abstract":"Visual odometry is the process of determining the position and orientation of a vehicle using associated camera images. As we known, the quality of outcomes of the six degrees-of-freedom (DoF) poses created by visual odometry play a decisive role in autonomous location, map creating, and path planning in SLAM system. While different approaches for handling the monocular visual odometry have been used in practice, but few previous studies have been carried out to systematically analyze their differences, especially in a repeat scene or a low texture environment which detect a small amount of feature points. In this paper, we present the comparative analysis of ORB feature detection and matching, and Shi-Tomasi detection and optical flow matching in visual odometry front end process. We briefly introduce the commonly used Perspective-n-Point (PnP) methods and experimentally compare three PnP approaches: based on linear method DLT, EPnP, and Bundle Adjustment (BA) which based on nonlinear optimization method. We built a simulation data set to evaluate those PnP approaches, and finally sum up an optimal combination of visual front-end in the area of low texture environment based on the calculation efficiency, reliability and accuracy.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116214496","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
DeepPIRATES: Enabling Deployment-Independent Supervised PIR-Based Localization DeepPIRATES:启用独立于部署的监督的基于pir的本地化
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398338
Tianye Yang, Peng Guo, Wenyu Liu, Xuefeng Liu
{"title":"DeepPIRATES: Enabling Deployment-Independent Supervised PIR-Based Localization","authors":"Tianye Yang, Peng Guo, Wenyu Liu, Xuefeng Liu","doi":"10.1109/ICMRA51221.2020.9398338","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398338","url":null,"abstract":"Among existing device-free localization (DFL) methods, the methods based on pyroelectric infrared (PIR) sensor networks are much promising due to their advantages of low cost and privacy protection. Recently, we proposed a deep-learning-based method PIRNet which much decreases the deployment density of PIR-based DFL methods in multi-person scenarios. However, since PIRNet utilizes an end-to-end neural network that receives all the deployed PIR sensors' signals as input for localization, it has a defect of deployment-dependence: it assumes the PIR sensors' deployment in the testing environment is same to the training environment. Otherwise, it requires to be retrained. To address this problem, in this paper, we propose a deployment-independent method DeepPIRATes, which can be applied in environments of any deployments without retraining. DeepPIRATES has the character of deployment-independence because it divides the localization task into two steps and only utilizes deep learning in the first step. Especially, the first step aims at estimating the information about the persons' relative locations to a PIR sensor. Therefore, the utilized neural network only needs to receive a single PIR sensor's signal as input and is independent to the sensors' deployment. In the second step, DeepPIRATES further infers the persons' absolute locations by a particle filter which fuses the predicted information about the persons' relative locations to each sensor and does not require training data. Through DeepPIRATes, we achieve average localization errors of 0.55m, 0.73m, and 0.88m in scenarios of 1-person, 2-persons, and 3-persons with a deployment density of 0.08 sensors/m2.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133726621","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
[Title Page] (标题页)
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/icmra51221.2020.9398332
{"title":"[Title Page]","authors":"","doi":"10.1109/icmra51221.2020.9398332","DOIUrl":"https://doi.org/10.1109/icmra51221.2020.9398332","url":null,"abstract":"","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124421656","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 of Furnace Temperature Control System for Billet Heating Furnace Based on Fuzzy-MFAC 基于模糊mfac的钢坯加热炉炉温控制系统设计
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398341
Zheng-guang Xu, Siqiang Niu, Lutian Wang, Jin Huang, Yanrong Lu, Tao Liu, Li Yuan
{"title":"Design of Furnace Temperature Control System for Billet Heating Furnace Based on Fuzzy-MFAC","authors":"Zheng-guang Xu, Siqiang Niu, Lutian Wang, Jin Huang, Yanrong Lu, Tao Liu, Li Yuan","doi":"10.1109/ICMRA51221.2020.9398341","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398341","url":null,"abstract":"The structure and dynamic process characteristics of furnace temperature control system of billet heating furnace are analyzed, and the idea of adaptive control without model is put forward, and the corresponding temperature controller is constructed. In the process of furnace temperature control, the nonlinear, hysteresis and time-varying characteristics of the system are analyzed. In the process of heating and cooling control, the idea of fuzzy control is used to effectively overcome the difficulty that the system parameters are not suitable to cause the temperature fluctuation in the process of temperature rise and fall. The simulation results show that the controller can control the furnace temperature well.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"154 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121486270","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
Design and Dynamic Simulation of Wheel/Track Transform Mobile Device 轮轨变换移动装置的设计与动态仿真
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398363
J. Leng, Ming Chen, Jianyu Xiao, Jun Liu, Jiahua Xie
{"title":"Design and Dynamic Simulation of Wheel/Track Transform Mobile Device","authors":"J. Leng, Ming Chen, Jianyu Xiao, Jun Liu, Jiahua Xie","doi":"10.1109/ICMRA51221.2020.9398363","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398363","url":null,"abstract":"At present, most underwater robots have a single walking mode which cannot adapt to all sorts of varied and complex seabed terrain. To solve these problems, this paper has designed a new type of wheel/track transform mobile device. Through this device, the robot can selectively switch the walking mode according to different seabed conditions. The mode is switched from wheel mode to quadrilateral track mode, which effectively increases the ground contact area and reduces the ground specific pressure. In this paper, the wheel/track transform mobile device is dynamically simulated on both soft and hard terrain. The simulation results show that the mobile device has the ability to change the shape of the track. It can walk smoothly on the ground with soft and hard terrain, it effectively improves the walking performance of the robot.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127670087","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
Submarine Low-Noise Optimum Depth Controller Design Based on LQR 基于LQR的潜艇低噪声最优深度控制器设计
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398369
B. Lv, Bin Huang, Likun Peng, Kun Bi
{"title":"Submarine Low-Noise Optimum Depth Controller Design Based on LQR","authors":"B. Lv, Bin Huang, Likun Peng, Kun Bi","doi":"10.1109/ICMRA51221.2020.9398369","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398369","url":null,"abstract":"An optimum manipulating scheme for depth control is key to low noise administration during submarine submerged status. The Linear Quadratic Regulator (LQR) controller for depth change was developed, where the bow plane, stern plane deflection and attack angle absolute value integration during depth change period were selected as low-noise index. The controller performance evaluation function was established by synthetically considering the maneuvering and low-noise indices, and the weighting matrices were optimized by Genetic Algorithm (GA). The results show that after controller optimization, the low-noise index increases by 46.5% and the depth maneuvering index increases by 16.4%. Low-noise optimum manipulation was realized while fully utilizing the maneuvering performance of the submarine. The controller performance can be adjusted between low noise management and depth maneuvering requirement by changing low-noise index proportion in the performance evaluation function.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130283054","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
Test and Research on Energy Management Control Strategy of 4WD Plug in Hybrid Electric Vehicle 四驱插电式混合动力汽车能量管理控制策略试验与研究
2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398358
Wen Wang, Fufan Qu, Wenbo Li, Chong Guo
{"title":"Test and Research on Energy Management Control Strategy of 4WD Plug in Hybrid Electric Vehicle","authors":"Wen Wang, Fufan Qu, Wenbo Li, Chong Guo","doi":"10.1109/ICMRA51221.2020.9398358","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398358","url":null,"abstract":"The article researches on the energy control strategy of Energy control strategy of four-wheel drive Vehicle with Series-Parallel hybrid power system based on pattern classification. A kind of four-wheel drive hybrid system whose structure is front axle driven by series-parallel hybrid system and rear axle driven by a single motor is designed, and its components are introduced. In addition, mode switching boundary and mode switching dynamic control are designed. According to the system efficiency, the operating points of the powertrain in each mode are optimized. Finally, the economy of the system is verified in a variety of working conditions by vehicle test, and the energy-saving mechanism are verified through the analysis of working condition characteristics, working mode proportion and operating point distribution.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128519764","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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