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2022 8th International Conference on Control, Automation and Robotics (ICCAR)最新文献

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A Simulation and Prediction Method for Unpowered Airdropped Buoys Based on Aircraft Dynamics Modeling 基于飞机动力学建模的无动力空投浮标仿真与预测方法
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782647
Xin Wu, Zhaohong Wang, Zhangpeng Tu, Yuanchao Zhu, Weitao Wu, Yulu Chen, Puzhe Zhou, Canjun Yang
{"title":"A Simulation and Prediction Method for Unpowered Airdropped Buoys Based on Aircraft Dynamics Modeling","authors":"Xin Wu, Zhaohong Wang, Zhangpeng Tu, Yuanchao Zhu, Weitao Wu, Yulu Chen, Puzhe Zhou, Canjun Yang","doi":"10.1109/ICCAR55106.2022.9782647","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782647","url":null,"abstract":"Unpowered airdrop is a widely used way to deploy buoys in marine research. This paper presents a method to predict the trajectory and the velocity of unpowered airdropped buoys through numerical simulation. A differential dynamic model of the airdropped buoy is established with reference to the aircraft dynamics, which contains the kinetics, kinematics, and geometric constraints of the buoy. The corresponding aerodynamic hyperparameters of the buoy are calculated and obtained by XFlow software. Although specific aerodynamic coefficient values need to be recalculated for buoys with different geometries and mass distributions, the proposed modeling paradigm is always applicable. The simulation results show the trajectory and velocity characteristics of the buoy, which provide guidance for grasping the timing of airdrop release and parachute opening.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115167596","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
Nonlinear Electromagnetic Force Model and Its Application to Magnetic Levitation Control System 非线性电磁力模型及其在磁悬浮控制系统中的应用
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782635
D. Zhou, Te Zhang, Lianchun Wang, Jie Li
{"title":"Nonlinear Electromagnetic Force Model and Its Application to Magnetic Levitation Control System","authors":"D. Zhou, Te Zhang, Lianchun Wang, Jie Li","doi":"10.1109/ICCAR55106.2022.9782635","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782635","url":null,"abstract":"The electromagnetic force in the magnetic levitation system is highly nonlinear, and the leakage flux brings in tremendous error to the conventional empirical formula, which makes the force feedback hard to use in a practical maglev controller. This paper aims to present a more precise but computational efficient force model for the estimation of the electromagnetic force during levitation. Different electromagnetic force models are presented for tests, and their parameters are determined by measured data and the least squares fit. Then the best model is selected. Experiments are carried out to validate the effect of the model on a levitation control test rig. Experimental results show that the estimated electromagnetic force agrees well with the actual force; the precision of the proposed nonlinear model is satisfactory and is easy to be used in a practical maglev controller. This work paves a way for a series of control algorithms that depends on electromagnetic force feedback, which is believed to behave more robustly in the presence of elastic track and track irregularities.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123696494","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
A Class of Active Fault-tolerant Loop Filters for Phase-Locked Loop 一类用于锁相环的有源容错环路滤波器
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782597
Ping Lin, Rui Wang
{"title":"A Class of Active Fault-tolerant Loop Filters for Phase-Locked Loop","authors":"Ping Lin, Rui Wang","doi":"10.1109/ICCAR55106.2022.9782597","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782597","url":null,"abstract":"This paper investigates a class of fault-tolerant loop filters designed by improved active disturbance rejection algorithm for phase-locked loop (PLL), which can accurately estimate the the phase of three-phase power grid in consideration of phase voltage unbalance, voltage harmonics and direct current offset. Firstly, this letter proposes a class of fault-tolerant loop filters derived from part known fault information. Furthermore, simulations are finished to validate that the performance of the proposed loop filters is better than the conventional loop filters.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132477243","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
Obstacle Circumnavigation System Based on Lidar Sensing 基于激光雷达传感的障碍物环绕导航系统
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782601
Dejun Yan, Chunnian Zeng, Shu Yan
{"title":"Obstacle Circumnavigation System Based on Lidar Sensing","authors":"Dejun Yan, Chunnian Zeng, Shu Yan","doi":"10.1109/ICCAR55106.2022.9782601","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782601","url":null,"abstract":"With the development of artificial intelligence, autonomous driving has made remarkable achievements, promoting the rapid transformation and upgrading of the traditional automobile industry, which is the development trend of the future automobile. However, in the actual road test, how to detect obstacles and how to avoid obstacles safely and effectively is still an urgent problem to be solved. In view of this problem, this paper proposes a perceptual obstacle circumnavigation system composed of perception, decision-making and planning. The sensing system detects obstacles by lidar, the decision-making system judges the types of obstacles and how to deal with them, and the planning system plans the corresponding safe and effective path around obstacles according to the decision results.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124369658","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
Temperature Monitoring and Analysis of Low-power Breeding Pigs Based on Machine Learning 基于机器学习的低功率种猪温度监测与分析
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782630
Chunxi Zhu, Shaopeng He, Yusong Yan, Jian Xiao
{"title":"Temperature Monitoring and Analysis of Low-power Breeding Pigs Based on Machine Learning","authors":"Chunxi Zhu, Shaopeng He, Yusong Yan, Jian Xiao","doi":"10.1109/ICCAR55106.2022.9782630","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782630","url":null,"abstract":"In view of the problems of poor accuracy and low efficiency of current breeding pig body temperature measurement and lack of further research of body temperature data, the domestic LP5100 low-power embedded chip, combined with ADT7320 high-precision temperature detection chip and LoRa communication module, is integrated into an electronic ear tag, which is able to worn on the tested pig, can quickly and efficiently carry out high-frequency and accurate measurement of the breeding pig. The data will be transmitted to the background gateway for summary, analyzed by the artificial intelligence training model, and then transferred to the terminal equipment through the form of web page, WeChat Mini Programs and so on. So that using temperature measurement data to determine whether pigs have a fever in real time, which would dramatically improve the efficiency of breeding. In this paper, a machine learning training model is established to give accurate guidance of healthy body temperature and set up an alarm.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"87 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127408310","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
Impact-Resistant External Torque Estimation for Robot Joint Using Optimized Compliant Model 基于优化柔顺模型的机器人关节抗冲击外扭矩估计
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782668
Mingyue Qin, Jiayu Liu, Juyi Li, Lin Cheng
{"title":"Impact-Resistant External Torque Estimation for Robot Joint Using Optimized Compliant Model","authors":"Mingyue Qin, Jiayu Liu, Juyi Li, Lin Cheng","doi":"10.1109/ICCAR55106.2022.9782668","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782668","url":null,"abstract":"External torque estimation is important for collab-orative robots. But sharp acceleration or deceleration motion could result in motor current impact, which would lead to undesired estimation error. In this paper, to eliminate the large estimation error caused by the motor current impact, we propose a compliant robot joint model based external torque estimator, and optimize the model through minimizing the weighed sum of maximum and normalized mean squared estimation error. The experimental results on a collaborative robot joint show that the proposed method can effectively estimate the external torque, and resist the error produced by the current impact.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129946083","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
Active Fault Tolerant Control for a UAV Subject to Sensor Faults Using Sliding Mode Control 基于滑模控制的传感器故障无人机主动容错控制
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782611
Wasif Shabbir, Li Aijun, M. Taimoor, Cui Yuwei, Muhammad Auwal Shehu
{"title":"Active Fault Tolerant Control for a UAV Subject to Sensor Faults Using Sliding Mode Control","authors":"Wasif Shabbir, Li Aijun, M. Taimoor, Cui Yuwei, Muhammad Auwal Shehu","doi":"10.1109/ICCAR55106.2022.9782611","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782611","url":null,"abstract":"Unmanned aerial vehicle (UAV) pitch tracking control in the presence of pitch rate gyro sensor faults is addressed in this work using sliding mode control (SMC). Fault estimation is carried out using two different observers, a high gain observer (HGO) and a radial basis function neural network (RBFNN). Real-time fault estimations are used in the control law to counter the effects of the faults. The chattering problem of SMC is resolved using a power reaching law in the switching part of the control. This forms an active fault tolerant control without the need for controller reconfiguration. The stability of the faulty system is proved using the Lyapunov method. The proposed strategy is applied to pitch tracking control of a scaled Yak-54 UAV. The simulation results show the effectiveness of the proposed methodology.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126597671","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 Antibiotic Terahertz Spectrum Recognition Method Based on CNN and Attention-BiLSTM 基于CNN和注意力- bilstm的抗生素太赫兹频谱识别方法
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782639
Yuanyuan Xu, Tao Li, Huijuan Fang
{"title":"An Antibiotic Terahertz Spectrum Recognition Method Based on CNN and Attention-BiLSTM","authors":"Yuanyuan Xu, Tao Li, Huijuan Fang","doi":"10.1109/ICCAR55106.2022.9782639","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782639","url":null,"abstract":"The terahertz spectrum has the characteristics of a fingerprint spectrum, which can realize the identification of antibiotics. Antibiotic identification based on traditional learning methods has achieved certain results. Models based on deep learning can automatically extract kernel features, and convolutional neural network (CNN) models rely on a convolution layer to extract features. In view of the high characteristic dimension of antibiotic spectrum sequences, we propose a new CNN model and attention bidirectional long short-term memory (BiLSTM). We use CNN to reduce the dimension of an antibiotic sequence. However, the convolution kernel limits a CNN's long-term dependence in processing time-series signal data. BiLSTM can effectively solve this problem and capture the dependence before and after the timing signal. The attention mechanism is added to BiLSTM to further extract the subtle features of the antibiotic spectrum, and can better capture the most important local information. A full connection network achieves the purpose of antibiotic identification. In experiments, the F1 score of the proposed model is 0.98, confirming its strong recognition ability and good interpretability.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"20 9-10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116716269","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
Graph Inspired Geometric Area Allocation for Swarm of Robots in a Warehouse Environment 仓库环境下机器人群的图启发几何面积分配
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782664
Sumanth Udupa, Ayush Das, Ajay Victor
{"title":"Graph Inspired Geometric Area Allocation for Swarm of Robots in a Warehouse Environment","authors":"Sumanth Udupa, Ayush Das, Ajay Victor","doi":"10.1109/ICCAR55106.2022.9782664","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782664","url":null,"abstract":"Swarm robotics has received much spotlight in the past decade in regards to research and has already been deployed in many real life scenarios. From what started to be an interesting application for surveillance, search and rescue based applications has now been scaled to a multitude of applications ranging from the medical industry to industrial warehouse applications. With a plethora of interesting problems seen in such application themes, our work addresses a problem most relatable to the industrial logistics use case. In this paper, a graph inspired geometric area allocation is done which in turn streamlines the process of task allocation not just efficiently but also reduces infrastructure costs in a traditional industrial setting. A fail safe approach is introduced, wherein if a situation arises where robot(s) fail, then the system would realize and dynamically re-adjust the area allocation to make sure the pipeline continues unhampered.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122699864","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 Anthropomorphic Motion Retargeting Method Based on an Adaptive Genetic Algorithm 基于自适应遗传算法的拟人运动重定向方法
2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782620
Yuanchao Zhu, Yilu Cheng, Canjun Yang, Zhangpeng Tu, Xin Wu, Weitao Wu
{"title":"An Anthropomorphic Motion Retargeting Method Based on an Adaptive Genetic Algorithm","authors":"Yuanchao Zhu, Yilu Cheng, Canjun Yang, Zhangpeng Tu, Xin Wu, Weitao Wu","doi":"10.1109/ICCAR55106.2022.9782620","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782620","url":null,"abstract":"A manipulator with human-like movements enables better human-machine interaction and a more intuitive experience for the operator when he or she teleoperates it. In this work, we developed an interactive interface based on the robot operating system (ROS). An adaptive genetic algorithm was used to find the optimal robot arm configuration based on the positions of the elbow and wrist of the human arm inputted by the Kinect camera and inertial measurement unit (IMU). Validating the feasibility of the proposed method were the fixed pose experiment, the continuous wave experiment, and the pick-place experiment. Comparison of the proposed method to the conventional inverse kinematics algorithm and the general genetic algorithm shows that the wrist position error obtained by the three methods is smaller, and the elbow position obtained by the proposed method is closer to the target position. Based on the proposed method, the polygonal area enclosed by the configurations of the operator's arm and the manipulator is smaller, and the anthropomorphism is better.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"24 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132803159","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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