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2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)最新文献

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USV Target Interception Control With Reinforcement Learning and Motion Prediction Method 基于强化学习和运动预测方法的USV目标拦截控制
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023694
Y. Liu, Yuanda Wang, Lu Dong
{"title":"USV Target Interception Control With Reinforcement Learning and Motion Prediction Method","authors":"Y. Liu, Yuanda Wang, Lu Dong","doi":"10.1109/YAC57282.2022.10023694","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023694","url":null,"abstract":"In this paper, an unmanned surface vehicle (USV) target interception problem is studied with reinforcement learning (RL)-based method. In the proposed new structure, the proximal policy optimization (PPO) and proportional derivative (PD) are combined. First, the PD controller is used to predict the interception position. Then, the PPO algorithm is trained to control the USV, so that it can move quickly to the predicted position. By comparing with the traditional PPO algorithm, the simulation results verify that the proposed algorithm spends less time solving the problem of the USV interception of a moving target.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"35 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128765090","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 Study on Disinfection Robot System for Epidemic Prevention and Control 传染病防控消毒机器人系统的研究
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023600
Haohua Xia, Yu Chen, Fuwen Su, Huiwen Xia
{"title":"A Study on Disinfection Robot System for Epidemic Prevention and Control","authors":"Haohua Xia, Yu Chen, Fuwen Su, Huiwen Xia","doi":"10.1109/YAC57282.2022.10023600","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023600","url":null,"abstract":"After the new coronavirus has undergone multiple mutations, its infectivity and severity have greatly increased, which has caused great threats and inconvenience to people’s production and life. In order to disinfect the isolated area comprehensively, a control system of disinfection robot for epidemic prevention and control is designed. The robot takes STM32 as the main controller, collects and analyses the environmental information by lidar EKF-SLAM. In addition, Improved Ant Colony Algorithm is used for optimal path planning, and 3-DOF robotic arm is carried out to sanitize the designated area. The system can achieve the functions such as mapping, real-time localization, robot distribution and disinfection. The feasibility and superiority of the 3D reconstruction, path planning algorithm and end-effector pose control method are verified by MATLAB simulation. It can reduce the contact frequency of the crowd and the workload of the disinfection staff, and making contributions to epidemic prevention and control further.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116986889","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 Three-rhombus Configured Remote Center of Motion Mechanism for Robot-assisted Surgery 一种用于机器人辅助手术的三菱形配置远程运动中心机构
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023817
Yuzhou Duan, Yunzhi Zhang, Yayi Shen, J. Ling, Yuchuan Zhu
{"title":"A Three-rhombus Configured Remote Center of Motion Mechanism for Robot-assisted Surgery","authors":"Yuzhou Duan, Yunzhi Zhang, Yayi Shen, J. Ling, Yuchuan Zhu","doi":"10.1109/YAC57282.2022.10023817","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023817","url":null,"abstract":"Remote center of motion (RCM) mechanisms are widely utilized to achieve minimally invasive surgery (MIS) instead of manual operation. To realize the translation motion in an RCM mechanism, the proximal actuation method is generally adopted, which has the disadvantages of reducing the vision field, offsetting the RCM point, and increasing the moment of inertia. This paper proposes a surgery robot with a novel RCM configuration realized by a three-rhombus mechanism. The great merit of this robot is the actuators are all mounted on the base. The kinematics and singularity of the mechanism are investigated analytically. Parameter optimization is done under the given rotation angle of 90° and feed depth of 47.8 mm, respectively. Preliminary simulations are conducted in SolidWorks environment to validate the effectiveness of the RCM mechanism.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132554191","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
UUV 3D Path Planning Based on PSO-ACO Fusion Algorithm 基于PSO-ACO融合算法的UUV三维路径规划
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023579
Yanliang Chen, Wenhui Luo, Min Wang, Yixin Su, Huajie Zhang
{"title":"UUV 3D Path Planning Based on PSO-ACO Fusion Algorithm","authors":"Yanliang Chen, Wenhui Luo, Min Wang, Yixin Su, Huajie Zhang","doi":"10.1109/YAC57282.2022.10023579","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023579","url":null,"abstract":"In order to solve the problems of difficult convergence and local optimal solution of ant colony optimization (ACO) algorithm, and low convergence accuracy of particle swarm optimization (PSO) algorithm, a particle swarm optimization ant colony optimization (PSO-ACO) fusion algorithm is proposed to deal with the three-dimensional (3D) path planning problem of unmanned underwater vehicle (UUV). In this algorithm: based on the idea of spatial stratification, a 3D grid model is established to build underwater environment model; PSO algorithm is used to pre search the path and quickly obtain the solution, which is used as the initial pheromone increment of ACO algorithm; the pheromone global updating method of ACO algorithm is improved: an adjusting factor is added to the pheromone global update equation to accelerate the convergence speed of ACO algorithm; the state transition equation of ACO algorithm is also improved, so that the algorithm has a greater probability to select the point with the largest weighted product of pheromone and heuristic information as the next path point. Experimental results show that the fusion algorithm effectively improves the global search ability and shortens the search time.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132827464","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 line segment detector based on subanchor point and line segment combination method 基于子锚点和线段组合方法的线段检测器
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023750
Fuyou Fan, Y. Jiang, Ke Han, Hong Li, Xiaohan Fang, Yuan Fan
{"title":"A line segment detector based on subanchor point and line segment combination method","authors":"Fuyou Fan, Y. Jiang, Ke Han, Hong Li, Xiaohan Fang, Yuan Fan","doi":"10.1109/YAC57282.2022.10023750","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023750","url":null,"abstract":"Linear segment features contains rich geometric information and it is crucial to perform accurate linear segment detection. We propose a temporal line segment detector based on subanchor point and line segment combination approach, which gives more accurate results without adjusting the parameters. The speed remains essentially the same as the fastest running line segment detectors (EDLines) existing and is 89’ faster compared to the conventional LSD line extraction algorithm. The proposed algorithm introduces bilateral filtering and line segment combination methods based on EDLines. The bilateral filter is used after the image input to remove the noise and retain the edge information of the image well. The short line segments that exist homologous are combined to generate clearer long line segments, which overcomes the problem of broken lines in LSD algorithm and excessive filtering of short line segments in EDLines algorithm. We validate the effectiveness of the proposed algorithm in experiments of line feature extraction for multiple sets of images in different scenes.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128151066","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
Quasi-synchronization of stochastic heterogeneous complex networks via event-triggered control 基于事件触发控制的随机异构复杂网络的准同步
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023722
Dongsheng Xu, Siyuan Cheng, H. Su, Yongbao Wu
{"title":"Quasi-synchronization of stochastic heterogeneous complex networks via event-triggered control","authors":"Dongsheng Xu, Siyuan Cheng, H. Su, Yongbao Wu","doi":"10.1109/YAC57282.2022.10023722","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023722","url":null,"abstract":"In this paper, the quasi-synchronization of stochastic heterogeneous complex networks are investigated. By combining periodic sampling and event-triggered control (E-TC), static and dynamic periodic E-TC are designed, respectively. Different from continuous E-TC used in existing literatures, Zeno behavior can be naturally eliminated. By applying the Lyapunov method and graph theory, the sufficient conditions are established to guarantee the quasi-synchronization of heterogeneous complex networks. An example of single-link robot arm system is presented to show the effectiveness of proposed PE-TC strategy.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131803159","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
Adaptive Dynamical Programming for Multiplayer Zero-Sum Games of Continuous-Time Markov Jump Linear Systems 连续时间马尔可夫跳线性系统多玩家零和博弈的自适应动态规划
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023549
Huan Chen, Xilin Xin, S. He
{"title":"Adaptive Dynamical Programming for Multiplayer Zero-Sum Games of Continuous-Time Markov Jump Linear Systems","authors":"Huan Chen, Xilin Xin, S. He","doi":"10.1109/YAC57282.2022.10023549","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023549","url":null,"abstract":"This work solve the problem of multiplayer zero-sum games (MZSGs) by using an adaptive dynamic programming (ADP) algorithm. First, the problem is considered as an equivalent problem of solving the coupled game algebraic Riccati equations (CGARE). Then, in response to the complexity of the Markov jump systems (MJSs), a novel conversion technology is introduced to solve the coupling relationship between subsystems of the MJSs and design an online policy algorithm. Meanwhile, the probing noise is added to stimulate the system. Finally, simulations involving a multiplayer case shows the correctness of the designed control algorithm.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"45 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132242874","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
Adaptive Normalization Gradient-Based Autofocusing Algorithm for Industrial Measurement 基于自适应归一化梯度的工业测量自动调焦算法
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023551
Ning Lang, Decheng Wang, Peng Cheng
{"title":"Adaptive Normalization Gradient-Based Autofocusing Algorithm for Industrial Measurement","authors":"Ning Lang, Decheng Wang, Peng Cheng","doi":"10.1109/YAC57282.2022.10023551","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023551","url":null,"abstract":"The growing demand for high-quality industrial products in recent years has significantly increased the importance of industrial measurement in industrial production. Computer vision—a contactless, rapid, and accurate measurement method—is widely used in industrial measurement; The acquisition of clear images forms the basis of computer vision measurement. In this study, we propose an auto-focus algorithm based on a convolutional neural network (CNN) and an adaptive normalization gradient to automatically select the best in-focus lens position. First, the focus window is automatically selected by the CNN and a percentile pooling strategy is used to remove outliers. Second, a novel adaptive normalization gradient is used to estimate the degree of image sharpness. Finally, a searching algorithm based on support vector regression is applied to determine the best in-focus lens position. The efficacy of the proposed algorithm was evaluated using various experiments. The results indicate that the proposed method offers better sensitivity and monotonicity than existing methods and is well-suited for industrial measurement.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"44 3-4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133169522","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 Feature Extraction Method of Pipeline Magnetic Flux Leakage Signal based on Expert Experience 基于专家经验的管道漏磁信号特征提取方法
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023690
Lei Wang, Huaguang Zhang, Jiayue Sun, Junna Zhang
{"title":"A Feature Extraction Method of Pipeline Magnetic Flux Leakage Signal based on Expert Experience","authors":"Lei Wang, Huaguang Zhang, Jiayue Sun, Junna Zhang","doi":"10.1109/YAC57282.2022.10023690","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023690","url":null,"abstract":"Considering the complex relationship between the original magnetic flux leakage (MFL) signal collected by the detector in the pipeline and the defect size in the industrial environment, in order to improve the accuracy of defect size estimation, a feature extraction method of MFL signal based on expert experience is proposed. First, a three-axis MFL signal preprocessing method is designed to reduce the abnormal fluctuation and noise interference. Second, based on the principle of MFL signal and domain knowledge, a multi view feature extraction algorithm is proposed, including two parts: static features and dynamic features. Finally, in order to screen out the feature quantity with stronger correlation with defect size, a feature combination method is constructed. The experimental verification is carried out by using the actually collected triaxial MFL signal and the experimental results verify the effectiveness of the proposed method.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132974825","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
Fast Evaluation of Distribution Network Reliability Based on Topology 基于拓扑的配电网可靠性快速评估
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023896
Xinyu Zhang, Ziyang Wu, Wen-qiang Xie, Qiang Luo
{"title":"Fast Evaluation of Distribution Network Reliability Based on Topology","authors":"Xinyu Zhang, Ziyang Wu, Wen-qiang Xie, Qiang Luo","doi":"10.1109/YAC57282.2022.10023896","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023896","url":null,"abstract":"This paper designs a model that can quickly evaluate the security of distribution network. By extracting the distribution network features, the distribution network feature vectors are formed, and the vectors are quickly clustered to obtain the distribution network security evaluation results. In this paper, the topology theory is innovatively introduced into the research of distribution network, and it is found that the topology of distribution network can measure the security of distribution network well, and the accuracy of distribution network can be obtained quickly and accurately by using this method.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133976424","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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