2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)最新文献

Motion-distribution method in triple-trajectory tracking of a high redundant non-holonomic MDAMs under joint limits 关节极限下高冗余度非完整adams三轨迹跟踪的运动分布方法

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-15 DOI: 10.1109/ITNEC.2017.8285106

Yan Wei, A. Rahmani

{"title":"Motion-distribution method in triple-trajectory tracking of a high redundant non-holonomic MDAMs under joint limits","authors":"Yan Wei, A. Rahmani","doi":"10.1109/ITNEC.2017.8285106","DOIUrl":"https://doi.org/10.1109/ITNEC.2017.8285106","url":null,"abstract":"This paper presents a motion distribution-based triple-trajectory tracking method for a high redundant Mobile Dual-Arm Manipulator System (MDAMs) which acts as a personal assistant. The MDAMs consists of one non-holonomic mobile platform, one holonomic body with a moving waist, two 7-DoFs arms and two dexterous hands. Inspired by human movement determination, a new subtask is introduced, i.e., the relative motion of the right end-effector (EE) with respect to its body frame. Two relative task variables are introduced which allow the control of the right EE in the world frame and the left EE with respect to the right EE. Moreover, two compact relative Jacobian matrices are constructed to link the joint space with the task space. Furthermore, the task-priority based inverse kinematic (IK) solving method is applied by using pseudo-inverse Jacobian matrix. Finally, a semi-decentralized control law is proposed for the MDAMs with kinematic control law for the mobile part. This paper builds a mathematical MDAMs model and numerically simulates a triple-trajectory tracking by using the proposed control law. The simulation results validate the effectiveness of the triple-trajectory tracking control method.","PeriodicalId":285834,"journal":{"name":"2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122915571","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 the inverse kinematics solution of robot arm for watermelon picking 西瓜采摘机械臂运动学逆解研究

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/ITNEC.2017.8285026

Z. Zou, Jiusheng Han, Man Zhou

{"title":"Research on the inverse kinematics solution of robot arm for watermelon picking","authors":"Z. Zou, Jiusheng Han, Man Zhou","doi":"10.1109/ITNEC.2017.8285026","DOIUrl":"https://doi.org/10.1109/ITNEC.2017.8285026","url":null,"abstract":"This paper puts forward a genetic algorithm based on non-linear programming in order to deal with the inverse kinematics solution precision of robot arm for watermelon picking, ensure the yield after picking and improve the fruit quality after picking. The robot arm for watermelon picking adopts the model of Denavit-Hartenberg, which mainly applies the non-linear genetic algorithm to give solution on the inverse kinematics issues. Lastly the paper differentiate the obtained inverse kinematics parameters through random forests algorithm. This paper respectively applies the genetic algorithm and nonlinear programming genetic algorithm for inverse kinematics solution on robot arm for watermelon picking with five degrees, six degrees and seven degrees of freedom. The experiment result shows that the non-linear programming genetic algorithm could effectively give inverse kinematics solution on robot arm for watermelon picking with multiple degrees of freedom, with the solution precision 300 to 600 times that of the genetic algorithm. There are more than one solution for the inversion result of the robot arm and the random forests algorithm could select fairly good picking path and gesture to reduce the unnecessary damage to the watermelon fruits in the picking.","PeriodicalId":285834,"journal":{"name":"2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115383137","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: 7

Study on optimize design of central cooling system 中央冷却系统优化设计研究

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/ITNEC.2017.8285048

Xingming Qi, Jinyi Jiao, T. Tang, Yuntao Chu, Shuai Shi

引用次数: 3

Design of frequency-domain controlled source for electromagnetic prospecting based on multi-frequency resonance 基于多频共振的电磁勘探频域可控源设计

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/ITNEC.2017.8285109

Wang Zhu, Yan Liu, Xuegui Zhu

引用次数: 3

A new way to choose splitting attribute in ID3 algorithm ID3算法中选择分割属性的一种新方法

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/ITNEC.2017.8284813

Zijing Wang, Yu Liu, Luguo Liu

引用次数: 10

Simulation verification technology of airdrop mission system for transport aircraft 运输机空投任务系统仿真验证技术

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/itnec.2017.8285074

Yu Li, Ting Li, Xin Li

引用次数: 0

A fault detection and diagnosis technique for solar system based on Elman neural network 基于Elman神经网络的太阳能系统故障检测与诊断技术

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/ITNEC.2017.8284777

Guangyu Liu, Weijie Yu

{"title":"A fault detection and diagnosis technique for solar system based on Elman neural network","authors":"Guangyu Liu, Weijie Yu","doi":"10.1109/ITNEC.2017.8284777","DOIUrl":"https://doi.org/10.1109/ITNEC.2017.8284777","url":null,"abstract":"Facing the shortage of energy supply and environmental pollution, the solar energy industry is developing rapidly all over the world. However, the harsh and volatile environmental factors will lead to many fault types in PV systems. Simple monitoring and fault diagnosis technology can not realize the requirement of intellectualization and informatization of PV power generation systems. In this work, we present a new detection and fault diagnosis method based on Elman Neural Network (ENN). The proposed method mines the implicit mapping relationship between original data and fault types and establish multiple hypothesis models, then compares the mean and variance of diagnostic errors to choose best diagnostic model. Based on the self — made photovoltaic power plant simulation platform to simulate the failure situation, the effectiveness of the new method was verified. The experimental results show that the proposed method can identify fault states in changing environment. Therefore, the new method to achieve the intelligent monitoring of photovoltaic power plant system to reduce the risk of power plant failure to improve power generation efficiency, with the promotion and application of significance.","PeriodicalId":285834,"journal":{"name":"2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117248832","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: 11

Substation sensing monitoring system based on power Internet of Things 基于电力物联网的变电站传感监控系统

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/ITNEC.2017.8285066

Yu Tian, Z. Pang, Weibin Wang, Lizong Liu, Dawei Wang

引用次数: 13

A data encoding method for passive induction setting system 一种被动感应设定系统的数据编码方法

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/ITNEC.2017.8285019

D. Xiong, Mingjing Ma, Zhoumei Zhu, Xiaomin Dong

引用次数: 0

Instantaneous-model impedance control based on hybrid position controller 基于混合位置控制器的瞬时阻抗控制

2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2017-12-01 DOI: 10.1109/ITNEC.2017.8284797

Xiaowei Tan, Yong Jiang, Hongzhao Zhang

{"title":"Instantaneous-model impedance control based on hybrid position controller","authors":"Xiaowei Tan, Yong Jiang, Hongzhao Zhang","doi":"10.1109/ITNEC.2017.8284797","DOIUrl":"https://doi.org/10.1109/ITNEC.2017.8284797","url":null,"abstract":"Since the complementary characteristics of Impedance/Admittance Control and the low-controllability in singular configuration, this kind of compliant method is less likely to be uniformly used in diversified-tasks and unstructured surroundings. For these problems, formula derivation and manipulability ellipsoid are utilized to analyze and describe this dilemma in great detail. Moreover, the instantaneous-model impedance control based on hybrid position controller is proposed at the basis of instantaneous-model impedance control (IMIC), and this control strategy, apart from overcoming the plight of Impedance/Admittance control, can also remain relatively well controllability in singularities of manipulator so as to achieving the precise tracking of position as well as impedance behavior and dynamic contact-stability. Simulation experiment on 2-DOF manipulator is utilized to execute the traditional Impedance/Admittance control and proposed control law to have a comparison in terms of three different indexes. Besides, further physical experiment is conducted by using six-axis force/torque sensor and 6-DOF modular manipulator to verify the feasibility and effectivity of the designed control algorithm.","PeriodicalId":285834,"journal":{"name":"2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115221046","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