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2018 10th International Conference on Modelling, Identification and Control (ICMIC)最新文献

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Kinematics Modelling and Trajectory Planning for an Industrial Robot 工业机器人运动学建模与轨迹规划
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529911
W. Ma, Guanbin Gao, Jun Zhao
{"title":"Kinematics Modelling and Trajectory Planning for an Industrial Robot","authors":"W. Ma, Guanbin Gao, Jun Zhao","doi":"10.1109/ICMIC.2018.8529911","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529911","url":null,"abstract":"Kinematic model is important for the motion control of industrial robots. In this paper, the modified Denavit-Hatenberg (D-H) method is used to construct the kinematic model for industrial robots. Firstly, the structural characteristics and parameters of each link for an EFORT industrial robot are analyzed and a kinematic equation based on the modified D-H method is obtained. The strong ability of MATLAB in calculating matrix is utilized during the process of building the kinematic model. In addition, the simulation is carried out by means of the Robotics Toolbox, which is also a module of MATLAB. Furthermore, six groups of joint angles are randomly chosen to verify the kinematic model. Finally, the trajectory planning simulation is conducted, and it shows that the movement of the robot is stable.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117286087","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
An Intelligent Terminal Sliding Mode Control Algorithm with Chattering Reduction Based on Particle Swarm Optimization 基于粒子群优化的颤振智能终端滑模控制算法
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529871
Binghe An, Yongji Wang, Lei Liu, Zhiwei Hou
{"title":"An Intelligent Terminal Sliding Mode Control Algorithm with Chattering Reduction Based on Particle Swarm Optimization","authors":"Binghe An, Yongji Wang, Lei Liu, Zhiwei Hou","doi":"10.1109/ICMIC.2018.8529871","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529871","url":null,"abstract":"In order to solve the chattering problem of sliding mode controller, an intelligent terminal sliding mode control algorithm based on particle swarm optimization is proposed. The terminal sliding mode surface is used to ensure that the error converges within finite time on the sliding surface. The control law is divided into two parts, which are the equivalent control item and the auxiliary control item. The equivalent control item is calculated by the nominal model of the system, while the auxiliary control item is calculated by using the particle swarm optimization with adaptive weight. The appropriate performance index is designed to ensure that the sliding mode variable gradually converges to zero and eliminate the controller output chattering. Finally, the method proposed is applied to the control problem of inverted pendulum device. The results show the advantages of method proposed when compared to the traditional terminal sliding mode control with the same uncertainties.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122843318","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
Research on Multiple Unmanned Aerial Vehicles Area Coverage for Gas Distribution Mapping 燃气分布测绘中多无人机区域覆盖研究
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529963
Qiuyue Yu, Lei Cheng, Xin Wang, Pengxiang Bao, Quanmin Zhu
{"title":"Research on Multiple Unmanned Aerial Vehicles Area Coverage for Gas Distribution Mapping","authors":"Qiuyue Yu, Lei Cheng, Xin Wang, Pengxiang Bao, Quanmin Zhu","doi":"10.1109/ICMIC.2018.8529963","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529963","url":null,"abstract":"This paper deals with the problem of area coverage for gas distribution mapping with multiple unmanned aerial vehicles. The area coverage has included two aspect: 1) area allocation of multi micro drones; 2) path planning of each UAV in subarea. The area allocation in this paper is based on the conditions of environment and performance of micro drones: prior gas concentrations of given area and flight time of each UAV. In this paper, there are twice area divisions. First one is used to calculate the density function by equal area grid division method. Other is used in area allocation in order to pertinently complete the task of mapping gas distribution of given area based on density function. Thus, we present an algorithm of area coverage for multiple unmanned aerial vehicles based on the density function in limited time for gas distribution mapping in this paper. The algorithm divides the area into some unequal subareas and achieves the path planning of these areas. Finally the effectiveness of this algorithm is verified by comparing with the equal area coverage algorithm by simulation and analysis.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128479058","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
A Novel Software Test Platform for Train Handling Based on Matlab 基于Matlab的列车操纵软件测试平台
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529933
Hailong Song
{"title":"A Novel Software Test Platform for Train Handling Based on Matlab","authors":"Hailong Song","doi":"10.1109/ICMIC.2018.8529933","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529933","url":null,"abstract":"Train speed controller is a critical module of the trip energy saving product, it controls the train speed to follow the optimized speed profile, and keep train safe in the situation with errors. Currently, it is mainly tested on the real train running on the track with safety risk. Because of the testing difficulties, development of trip energy saving product is slow. It is necessary to design a test platform to simulate and test the train speed controller. A novel software test platform based on Matlab is designed, which can test the train speed control performance with selected route and different errors. The application of the test platform accelerates the trip energy saving product development.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"41 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128481131","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
T-S Fuzzy Logic Control with Genetic Algorithm Optimization for Pneumatic Muscle Actuator 气动肌肉执行器的遗传算法优化T-S模糊控制
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529841
Cheng Chen, Jian Huang, Dongrui Wu, Zhikang Song
{"title":"T-S Fuzzy Logic Control with Genetic Algorithm Optimization for Pneumatic Muscle Actuator","authors":"Cheng Chen, Jian Huang, Dongrui Wu, Zhikang Song","doi":"10.1109/ICMIC.2018.8529841","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529841","url":null,"abstract":"Based on the three elements model of pneumatic muscle actuators(PMA), this paper proposed a T-S fuzzy logic control with genetic algorithm optimization and achieved the trajectory tracking control of PMA. To guarantee the stability of control system, the Lyapunov direct method was used. And the LMI Toolbox of Matlab was used in this paper to solve linear matrix inequalities(LMls) and calculate the state feedback gains. Finally, the results of experiment demonstrated that, T-S fuzzy logic control with genetic algorithm optimization can achieve desired control performance, which overcome the chattering of trajectory tracking, reduced tracking error effectively and improved the accuracy of control.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128956858","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 of Longitudinal Motion for Under Water High Speed Supercavitating Vehicles 水下高速超空泡航行器纵向运动控制
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529991
Aiping Pang, Zhen He, Ming-han Zhao, Jinghua Wang, Feng Guo, Chengbao Zhou
{"title":"Control of Longitudinal Motion for Under Water High Speed Supercavitating Vehicles","authors":"Aiping Pang, Zhen He, Ming-han Zhao, Jinghua Wang, Feng Guo, Chengbao Zhou","doi":"10.1109/ICMIC.2018.8529991","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529991","url":null,"abstract":"For the control design of the high-speed supercavitating vehicles, the <tex>$H_{infty}$</tex> control is proposed and this <tex>$H_{infty}$</tex> performance requirement is analyzed in the paper. The <tex>$H_{infty}$</tex> performance requirement lead to the problem of selection of weights on the state variables and control inputs. A comprehensive solution to this weight selection problem is presented. And the unit weighting <tex>$H_{infty}$</tex> control was comparisoned in the paper. Simulation shows general unit weighting coefficient design of <tex>$H_{infty}$</tex> control doesn't work in this special problem. This <tex>$H_{infty}$</tex> design methodology can also be used for other <tex>$H_{infty}$</tex> problem as well.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131827430","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 Quality-Relevant Monitoring Method for Closed-Loop Industrial Processes with Dual Consideration of Static and Dynamic Analysis 一种兼顾静态和动态分析的闭环工业过程质量监控方法
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529974
Y. Qin, C. Zhao
{"title":"A Quality-Relevant Monitoring Method for Closed-Loop Industrial Processes with Dual Consideration of Static and Dynamic Analysis","authors":"Y. Qin, C. Zhao","doi":"10.1109/ICMIC.2018.8529974","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529974","url":null,"abstract":"Traditional quality-relevant process monitoring approaches do not consider whether the data are collected in closed-loops, resulting in no attention about influences of feedback control action on quality information. Consequently, if quality-relevant process variations influenced by closed-loops cannot be extracted, they cannot be well monitored and thus complete monitoring results for evaluating the process operating status are exposed to the risk of generating limited insights and even false conclusions. To solve this problem, a monitoring method with dual consideration of quality information and process dynamics is proposed for closed-loop manufacturing processes. Quality-relevant process variations influenced by closed-loop systems are directly separated by a new method, which maximizes the correlation between latent variables and quality indices meanwhile minimizes the slowly varying amplitude of latent variables. The remaining process-relevant process variations are obtained, however, which contain a large amount of dynamics caused by feedback control action. In this way, process data matrix is decomposed into three static subspaces and their corresponding dynamic subspaces. On the basis of this, the proposed method provides a meaningful decomposition through comprehensive consideration of quality interpretability and process dynamics. Finally, the application of the proposed method to a typical chemical process illustrates its efficacy.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132368488","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
Face Recognition and Tracking System Based on Embedded Platform 基于嵌入式平台的人脸识别与跟踪系统
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529842
Chen Zhang, Tianyue Li, Boquan Li, Xinyu. Ye
{"title":"Face Recognition and Tracking System Based on Embedded Platform","authors":"Chen Zhang, Tianyue Li, Boquan Li, Xinyu. Ye","doi":"10.1109/ICMIC.2018.8529842","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529842","url":null,"abstract":"The paper introduces a face recognition and tracking system based on My RIO (National Instruments, USA), LabVIEW, NI Vision tool kit and OpenCV library. The system includes two parts, static recognition and dynamic tracking of face detection. The static part is mainly based on the combination of face feature extraction and template matching to realize the function of face recognition. The dynamic part is based on the combination of Haar classification and Camshift algorithm, through which the system completes the task of tracking face. The results show that the system works optimal when the threshold of matching is set as 60. To a certain extent, the accuracy of the system is affected by the illumination. With poor lighting, the system's recognition rate can still reach 72.10/0 and the rate of tracking gets to 83.4%. From the above performance, the system works well. Therefore, the system is significant to authentication and other fields.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134298138","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
Comparison and Analysis of Image Fusion Algorithms for GF-2 Satellite GF-2卫星图像融合算法比较与分析
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529899
Wan-Zhen Zhou, Jia-Ze Li
{"title":"Comparison and Analysis of Image Fusion Algorithms for GF-2 Satellite","authors":"Wan-Zhen Zhou, Jia-Ze Li","doi":"10.1109/ICMIC.2018.8529899","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529899","url":null,"abstract":"Image fusion is an indispensable step in the technology of satellite image processing. After orthorectification and registration can image fusion, the image fusion can effectively increase the utilization rate of the image and improve the discrimination of objects in the image. Firstly, this article introduces the background and significance of image fusion technology nowadays, and then introduced the related algorithms of image fusion in detail. Finally, the algorithm is implemented through experiments. The experiment adopts “GF-2” satellite to acquire the image data. The Xiongan New Area divided by Hebei Province was chosen as the experimental area. Comparing and analyzing the Baiyangdian Wharf in Anxin County, which is rich in features, high contrast, and low cloudiness. Several fusion algorithms were compared and analyzed by visual observation and quantitative analysis. The experimental results in this paper can be used to provide a reference for the fusion and application of “GF-2” satellite image data.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128245975","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
Application of Matter Element Information Entropy and SVM in Lithium Battery Efficiency Evaluation and Prediction 物元信息熵和支持向量机在锂电池效率评价与预测中的应用
2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI: 10.1109/ICMIC.2018.8529896
Niu Guo-Cheng, Hu Zhen, H. Dongmei
{"title":"Application of Matter Element Information Entropy and SVM in Lithium Battery Efficiency Evaluation and Prediction","authors":"Niu Guo-Cheng, Hu Zhen, H. Dongmei","doi":"10.1109/ICMIC.2018.8529896","DOIUrl":"https://doi.org/10.1109/ICMIC.2018.8529896","url":null,"abstract":"The state of health (SOH) of the power batteries is one of the most important performances of the electric vehicle power batteries system. In order to comprehensively evaluate the health of the batteries, the stereoscopic cross compound matter element is used in parameters of batteries charging and discharging, the joint weight of the evaluation index is determined by the analytic hierarchy process(AHP) and the maximum entropy method, and the matter element-maximum information entropy is used to carry out the quantitative calculation analysis for the health index of the lithium batteries. Parameter-optimizing Support Vector Machine is used to predict the health index of lithium batteries. The experimental results show that this method has a good guiding function for the state of health analysis, it provides a theoretical basis for the use of the power batteries.","PeriodicalId":262938,"journal":{"name":"2018 10th International Conference on Modelling, Identification and Control (ICMIC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123948998","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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