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ICCMA 2020 TOC
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/iccma51325.2020.9301552
{"title":"ICCMA 2020 TOC","authors":"","doi":"10.1109/iccma51325.2020.9301552","DOIUrl":"https://doi.org/10.1109/iccma51325.2020.9301552","url":null,"abstract":"","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114443963","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 Enlarging Vacuum Gripper Using Slider Crank Mechanism 采用滑块曲柄机构的放大真空夹持器设计
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301556
Aman Dhadge, Girish Tilekar
{"title":"Design of Enlarging Vacuum Gripper Using Slider Crank Mechanism","authors":"Aman Dhadge, Girish Tilekar","doi":"10.1109/ICCMA51325.2020.9301556","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301556","url":null,"abstract":"Varieties of robotic grippers are developed with high flexibility and multi-functional approaches. In this paper, the study and design of an innovative approach of a gripper for handling variable size, shape and weight is proposed. This paper proposes a gripper that is capable of changing the distance between its two opposite grippers. For this purpose, we use slider crank mechanism which is actuated by servo motors. The paper gives a deep understanding and the use of this type of gripper.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117003469","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 Path Planning Method For Overhead Crane Based on Spatial Stratification 基于空间分层的桥式起重机路径规划方法
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301611
Zhiwei Wang, Xuyang Cao, Xuhui Wang, Dianlong Wang, Jintao Chen
{"title":"A Path Planning Method For Overhead Crane Based on Spatial Stratification","authors":"Zhiwei Wang, Xuyang Cao, Xuhui Wang, Dianlong Wang, Jintao Chen","doi":"10.1109/ICCMA51325.2020.9301611","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301611","url":null,"abstract":"The automatic operation and obstacle avoidance for overhead crane in special environments is an urgent problem to be solved in the field of unmanned and intelligent factory. At present, the path planning problem for overhead crane is mostly based on 2D path planning method, and the research theory of spatial path planning is still immature. In this paper, a novel spatial path planning method is proposed for the lifting process of overhead crane, a factory space which containing obstacles is layered in the vertical direction, and the ant colony algorithm is used to calculate the path trajectory of each layer, then the optimal path can be determined through the evaluation indexes: running time, available energy and collision risk(represented by the turning point). Finally, the rationality and feasibility of the spatial path planning method proposed in this paper is verified by numerical examples.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128113240","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
Development and Control of an Enhanced Active Compliance based Soft Pneumatically Actuated Robotic Hand 基于增强主动顺应性的柔性气动机械手的开发与控制
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301597
John K. Fahim, Andrew M. Faried, Omar M. Shehata, E. I. Morgan
{"title":"Development and Control of an Enhanced Active Compliance based Soft Pneumatically Actuated Robotic Hand","authors":"John K. Fahim, Andrew M. Faried, Omar M. Shehata, E. I. Morgan","doi":"10.1109/ICCMA51325.2020.9301597","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301597","url":null,"abstract":"Soft robotic grippers surpassed the rigid actuated grippers in its ability to deal with soft delicate objects. Pneumatic actuated soft gripping is one of the most effective technologies used in designing the industrial soft grippers, especially when adding a sensory feedback for an accurate closed-loop system to enhance the position control of the actuator and detection of objects hindering its motion. In this paper, detailed fabrication procedures were introduced for the soft pneumatic actuator with a reinforcing layer. Practical tests were made to show the importance of this layer in the accuracy of motion of the actuator and enables it to withstand a higher air pressure. A resistive flex sensor has been used for generating a data-driven empirical model to predict and control the bending angle of the soft actuator. Finite Element Analysis (FEA) model has also been generated on Abaqus to simulate the motion of the soft pneumatic actuator and to conduct a stress analysis of the designed model to detect the weak points of the actuator when high pressure is applied on it. Finally, a mechanism to screw and unscrew a light bulb is designed to test the soft pneumatic gripper system behavior in a real life practical application.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127944681","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
Swarm Robotics Pattern Formation Algorithms 群机器人模式形成算法
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301540
Mohamed H. Wagdy, Hady A. Khalil, S. Maged
{"title":"Swarm Robotics Pattern Formation Algorithms","authors":"Mohamed H. Wagdy, Hady A. Khalil, S. Maged","doi":"10.1109/ICCMA51325.2020.9301540","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301540","url":null,"abstract":"Pattern formation is an important challenge in autonomous swarm robotics, it can drastically increase the efficiency of a group of robots and can be used in applications such as exploration and area coverage. Many pattern formation algorithms have been suggested with different constraints and assumptions of the robot's capabilities typically leaning towards robots with limited sensors meanwhile the proposed work relies on the current advancements in autonomous robots algorithms using robots with a wide range of sensors to tackle the pattern formation problem.We will present four main algorithms to solve the pattern formation problem mainly: peer detection, leader selection, pattern formation, and narrow path detection.These algorithms will be explained in this paper and are tested using ROS/Gazebo under different scenarios.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124580094","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
An Optical Joint Angle Measurement Sensor based on an Optoelectronic Sensor for Robot Manipulators 基于光电传感器的机械臂关节角测量传感器
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301526
Dalia Osman, Xinli Du, Wanlin Li, Y. Noh
{"title":"An Optical Joint Angle Measurement Sensor based on an Optoelectronic Sensor for Robot Manipulators","authors":"Dalia Osman, Xinli Du, Wanlin Li, Y. Noh","doi":"10.1109/ICCMA51325.2020.9301526","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301526","url":null,"abstract":"This paper presents the design of a joint angle measurement sensor using optoelectronic reflective sensors for use with robotic applications. It offers a minimised solution to shape sensing that can easily be integrated into robotic joints. A mathematical model used to characterize sensor behaviour is presented, and validated experimentally. A single unit of a robotic jointed finger is designed, and the sensing principle is tested with rotational motion. Results are presented and compared to simulated values. While the mathematical model can accurately estimate output signal with varying displacements, limitations of angle range means an updated sensor model is required, with addition of real electrical properties such as saturation of signal and resistance of electrical components. Regression fitting method is therefore done and a third order function was able to accurately estimate the output signal over a simulated sweep of joint angle values.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117185087","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
Investigation of Various Optimization Algorithms in Tuning Fuzzy Logic-based Trajectory Tracking Control of Quadcopter 基于模糊逻辑的四轴飞行器轨迹跟踪控制的各种优化算法研究
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301485
A. M. Salem, Catherine M. Elias, Omar M. Shehata, E. I. Morgan
{"title":"Investigation of Various Optimization Algorithms in Tuning Fuzzy Logic-based Trajectory Tracking Control of Quadcopter","authors":"A. M. Salem, Catherine M. Elias, Omar M. Shehata, E. I. Morgan","doi":"10.1109/ICCMA51325.2020.9301485","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301485","url":null,"abstract":"The merging of the abilities of controllers and optimization algorithms to have a better optimized controller has shown a great enhancement in terms of all performance aspects for controlling complex systems. The purpose of this research paper is to tune fuzzy logic controller (FLC) for quadcopter indoor trajectory tracking control by various optimization techniques to create a hybrid FLC and highlight the performance of each optimization algorithm, giving a comparison between them to find out the best hybrid controller. Three of the most spreading algorithms in optimization field are tuning FLC, and they are genetic algorithm, particle swarm optimization, and artificial bee colony. All optimization algorithms are subjected to the same goal, which is finding the optimal tuning for FLC for trajectory tracking control, and the same constraints as laptop specifications, number of population, stop criteria, and objective function. Generally, the comparison between the hybrid controllers and manually tuned FLC shows that the performance is dramatically boosted, and specifically, based on the performance measurements taken, fuzzy logic-based particle swarm optimization controller is the best hybrid controller for quadcopter trajectory tracking control.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128317885","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
Control of a Hexa-Rotor System Using Various of X-MPC Techniques 利用各种X-MPC技术控制六转子系统
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301536
A. Ahmed, Catherine M. Elias, Omar M. Shehata
{"title":"Control of a Hexa-Rotor System Using Various of X-MPC Techniques","authors":"A. Ahmed, Catherine M. Elias, Omar M. Shehata","doi":"10.1109/ICCMA51325.2020.9301536","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301536","url":null,"abstract":"Designing a drone to be fully autonomous has many challenges, one of which, is the trajectory tracking problem. Model predictive control (MPC) is widely used by researchers to tackle this problem, however, it is used as a high level controller of a prestabilized drone. This research aims to use MPC control to stabilize and steer a hexa-rotor system to the required trajectory. There are various types of MPC controllers, therefore, this study will compare three of the most common ones. Then, Gazebo simulator will be used to verify the controllers and ensure their effectiveness in real time applications.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127269816","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
Researches about Controlling Switching SF6 Circuit Breaker Transition Regime 开关SF6断路器过渡状态控制研究
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301534
D. Ciulica, M. Panoiu, C. Panoiu, S. Mezinescu
{"title":"Researches about Controlling Switching SF6 Circuit Breaker Transition Regime","authors":"D. Ciulica, M. Panoiu, C. Panoiu, S. Mezinescu","doi":"10.1109/ICCMA51325.2020.9301534","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301534","url":null,"abstract":"A transient regime appears in the electrical power supply systems, when the power supply status changes from one state to another. This may occur if an electrical discharge causes the lightning to touch the ground in the vicinity of a high-voltage transmission line or when the lightning strikes the station directly. Most transient regimes occurring in the electrical power supply systems are the result of a switching action. Network breakers from different nodes of the electrical power supply network are interrupting high currents and create short-circuit currents which are flowing into the faulty parts of the system. The time period in which the voltages and currents transients are produced is in the range of microseconds to milliseconds. This paper proposes a software program that command the current interruption of the circuit breaker in order to occur at zero crossing current in a time interval of microseconds.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121562231","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
Decentralized Control on Coolant Application Rate to Mitigate Fire Propagation in Hydrocarbon Storage Tank Farms 分散控制冷却剂用量以减少油气储罐区火灾蔓延
2020 8th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2020-11-06 DOI: 10.1109/ICCMA51325.2020.9301525
A. Saber, M. A. El-Nasr, A. Elbanhawy
{"title":"Decentralized Control on Coolant Application Rate to Mitigate Fire Propagation in Hydrocarbon Storage Tank Farms","authors":"A. Saber, M. A. El-Nasr, A. Elbanhawy","doi":"10.1109/ICCMA51325.2020.9301525","DOIUrl":"https://doi.org/10.1109/ICCMA51325.2020.9301525","url":null,"abstract":"Fire propagation in hydrocarbon storage tank farms is a critical safety issue in oil industries. This is an intriguing topic due to its severe impact on environment, economy, and more importantly on human lives. Contradictions in standards and codes regarding optimum cooling water application rate and spacing between tanks represent an industrial problem, which trigger researchers’ interest. In this paper, thermal radiation from pool fires on adjacent storage tanks surfaces is modelled and calculated. The rate of heat absorbed by the cooling water on these adjacent tanks is discussed, from which the suitable amount of cooling water application rate on each tank segments could be determined. New distribution technique of cooling water application rate according to amount of heat removal required from each tank segment is proposed and applied on a real tanks farm case study. Decentralized application rate control scheme provides promising results in comparison to traditional uniform centralized technique. For controlling application rates on different tank segments, PIC control sliding valve is suggested to be used instead of traditional Deluge ON/OFF valve used for uniform cooling water distribution control.","PeriodicalId":289867,"journal":{"name":"2020 8th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116148397","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
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