2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)最新文献

Adaptive Backstepping Control of a 2-DOF Helicopter System in the Presence of Quantization 量化存在下二自由度直升机系统的自适应反演控制

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646184

S. Schlanbusch, Jing Zhou

引用次数: 1

Autonomic Hydroponic System with Real Time Monitoring 具有实时监测的自主水培系统

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646221

Cristian Nuñez, José Moreno, Juan Valdez, J. Quiroga, J. Pacheco, V. Benitez

{"title":"Autonomic Hydroponic System with Real Time Monitoring","authors":"Cristian Nuñez, José Moreno, Juan Valdez, J. Quiroga, J. Pacheco, V. Benitez","doi":"10.1109/ICCMA54375.2021.9646221","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646221","url":null,"abstract":"This article describes the implementation of a hydroponic system prototype using embedded devices based on the Internet of Things (IoT) for real-time monitoring with the integration of Autonomic Computing techniques to trigger the events necessary for self-maintenance, auto-monitoring, self-regulation, and self-repair to provide efficient and optimal use of its resources. By taking control of the hydroponic system through the use of these novel techniques and methodology mentioned in this document, the complete system can be managed as a cyber-physical system that represents outstanding advantages: it reduces human presence for monitoring, control, maintenance, or assistance to incidents. Since it is being monitored remotely, it also provides a large amount of data for analytical purposes such as Artificial Intelligence algorithms, machine learning, deep learning, among others. It is well known that hydroponic systems are experiencing a great demand in recent decades, and this is mainly due to increasing world population, lack of freshwater, climate change, demand for food, etc. Smart hydroponics systems help solve the problem. The main purpose of this article is to give an overview of the benefits of upgrading from traditional agricultural and hydroponic systems to the cyber-physical hydroponic system. Therefore, a prototype has been implemented to demonstrate that the techniques used are feasible and cost-effective.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121532510","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

Analytical Inverse Kinematics for Franka Emika Panda – a Geometrical Solver for 7-DOF Manipulators with Unconventional Design 熊猫的解析运动学逆解——一种非常规设计的七自由度机械臂几何求解器

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646185

Yanhao He, Steven Liu

引用次数: 12

Adaptive Real-time Learning-based Neuro-Fuzzy Control of Robot Manipulators 基于自适应实时学习的机械臂神经模糊控制

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646224

Adel Baselizadeh, Diana Saplacan, J. Tørresen

{"title":"Adaptive Real-time Learning-based Neuro-Fuzzy Control of Robot Manipulators","authors":"Adel Baselizadeh, Diana Saplacan, J. Tørresen","doi":"10.1109/ICCMA54375.2021.9646224","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646224","url":null,"abstract":"This paper presents a learning-based model-free Neuro-Fuzzy control framework for robot manipulators. A real-time learning strategy based on the emotional learning concept is applied to an ANFIS-type (Adaptive Neuro-Fuzzy inference system) fuzzy controller to solve the trajectory-following problem for robot manipulators. The proposed learning strategy eliminates the dependency of the ANFIS controller on the training phase by real-time updating of its neural network component parameters. In this strategy, an agent unit evaluates the controller’s performance by continuously monitoring the robot manipulator. Based on the evaluation results, the Agent applies appropriate changes to the controller parameters for enhancing its overall performance. Numerical simulations show the effectiveness of the proposed learning-based control framework for trajectory tracking of a 2-DOF robot manipulator. The normalized root mean square (NRSME) of tracking errors is less than 1 deg for each robot’s joint. The controller also shows a robust behavior in the presence of uncertainties, when 50% and 20% uncertainties are applied to the robot manipulator’s physical parameters and closed-loop control signals, respectively.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"84 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131623278","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

[ICCMA 2021 Front cover] [ICCMA 2021封面]

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/iccma54375.2021.9646192

引用次数: 0

Spherical Magnetorheological Brake with Optical Mouse Sensors 带有光学鼠标传感器的球形磁流变制动器

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646202

G. Zhou, H. Gurocak

引用次数: 1

Pose Estimation of a Drone Using Dynamic Extended Kalman Filter Based on a Fuzzy System 基于模糊系统的无人机姿态估计的动态扩展卡尔曼滤波

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646187

Eun-Hye Lim

引用次数: 1

Arm Movements Recognition by Implementing CNN on Microcontrollers 在单片机上实现CNN的手臂动作识别

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646200

Siyu Qin, Jiaqi Zhang, Hongji Shen, Yizhou Wang

{"title":"Arm Movements Recognition by Implementing CNN on Microcontrollers","authors":"Siyu Qin, Jiaqi Zhang, Hongji Shen, Yizhou Wang","doi":"10.1109/ICCMA54375.2021.9646200","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646200","url":null,"abstract":"Surface electromyography is a technique mainly used to detect hand movements to help patients regain control over their fingers or manipulate prosthetic arms. This body signal measuring technique is usually used with machine learning to recognize various arm movement s. However, past studies on arm movement recognitions used powerful computers that is inconvenient for patients to carry around to perform real-time sEMG signal measuring. This paper compares the performance of the two commonly used sEMG signal feature extraction methods, 1D-CNN, and 2D-CNN architectures. We first collected sEMG signals from 10 subjects. The 1D-CNN architecture reached an average recognition accuracy of 89.4% and the 2D-CNN architecture reached an average recognition accuracy of 98.9%. The 2D-CNN architecture is converted from TensorFlow file to TensorFlow Lite file and is imported into the Arduino nano 33 BLE sense microcontroller. The microcontroller is able of repeating the machine learning process with a processing time of 79-85ms and 132-135ms respectively for 1D-CNN and 2D-CNN models. In the future, it is suggested that ASIC devices with specially designed electrodes can be applied to further reduce power consumption, size, and processing time of the device to help patients regain control of their hands or to manipulate prosthetic hands to perform dangerous experiments.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"96 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127990723","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

An Accelerated Self Optimizing Control Framework for Smart Process Control Using Fractional Order Stochasticity 基于分数阶随机性的智能过程控制加速自优化控制框架

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646222

J. Viola, Y. Chen

引用次数: 1

Optimal ITAE Criterion PID Parameters for PTn Plants Found with a Machine Learning Approach 用机器学习方法求解PTn对象的最优ITAE准则PID参数

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/iccma54375.2021.9646211

Roland Buchi

引用次数: 4