2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)最新文献_第3页

A fault ride through strategy of multi-ports DC transformer 多端口直流变压器的故障穿越策略

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230334

Hao Wu

引用次数: 1

A Fast Method to Calculate the Parameter of Operational Capability Index Model 作战能力指标模型参数的快速计算方法

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230052

Changfu Dong, Xue Zheng, Feng Zhu, Mingqian Wang

引用次数: 0

3D-Lidar based obstacle detection and fast map reconstruction in rough terrain* 基于3d激光雷达的障碍物检测和粗糙地形的快速地图重建*

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230146

Ning Li, Bo Su

{"title":"3D-Lidar based obstacle detection and fast map reconstruction in rough terrain*","authors":"Ning Li, Bo Su","doi":"10.1109/CACRE50138.2020.9230146","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230146","url":null,"abstract":"Obstacle detection based on 3D-Lidar is an important sensing means of automation navigation. In rough terrain, due to the unstructured characteristics of the field environment and the bumpy road, it is difficult to accurately detect obstacles by Lidar in a single scan. Meanwhile the reconstruction of obstacles in the blind area of the sensor is also a key problem of autonomous navigation for safety. We propose a 3D-Lidar based obstacle detection and fast map reconstruction method to solve these problems in rough terrain. First, point clouds are projected onto the 2D grid map of overhead view. we use gradient statistics in the height direction to obtain a basic obstacle detection result. Then according to the obstacle detection result in single frame, the proposed method uses Bayesian probability calculation based on the first-order Markov model for perception map reconstruction. The final perception result consists of the current frame perception result and historical results by map reconstruction. And a probability map on the confidence value of obstacle is generated rather than the traditional binary grid map of obstacle and obstacle-free area. This method has high robustness for obstacle detection in rough terrain and can effectively solve the problem of environmental perception in unstructured scenes. In addition, obstacle in the blind area of the sensor is retained by map reconstruction to ensure the safe driving of the UGV. The calculation period of the method is within 100ms and meets the real-time requirement for autonomous navigation of the UGV.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127078191","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

Dynamic Characteristics Analysis of A Magnetically Driven Dual Hemisphere Capsule Robot by Eccentric Gravity Center 偏心重心磁驱动双半球胶囊机器人动态特性分析

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9229987

Huiyuan Yang, Yongshun Zhang, Xu Liu

{"title":"Dynamic Characteristics Analysis of A Magnetically Driven Dual Hemisphere Capsule Robot by Eccentric Gravity Center","authors":"Huiyuan Yang, Yongshun Zhang, Xu Liu","doi":"10.1109/CACRE50138.2020.9229987","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9229987","url":null,"abstract":"Capsule robots have broad application prospects for interventional diagnosis and treatment in the gastrointestinal tract. This paper proposes a dual hemisphere capsule robot driven by a pure magnetic moment. Its structure features that the upper and lower hemisphere, which can relatively rotate freely, constitutes a coaxial body, thus the dual hemisphere capsule robot can realize panoramic observation during the suspended posture adjustment in passive mode and rolling locomotion in active mode. The dynamic equation for attitude control is established based on the analysis of the magnetic moment, damping moment and gravity moment models of the dual hemisphere capsule robot, thus the influence on the dynamic characteristics by the center of gravity offset is studied particularly. The research results show that when the center of gravity of the dual hemisphere capsule robot moves along its axis, the orientation of the dual hemisphere capsule robot axis can still be controlled by changing the normal vector of the rotating magnetic field, and the dual hemisphere capsule robot axis will make regular precession in the stable state. This research has laid a solid foundation for the reliable application of the dual hemisphere capsule robot.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130088276","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 Switched Fuzzy Adaptive Double Coupled Sliding Mode Control for Vehicles Platoon 车辆队列切换模糊自适应双耦合滑模控制设计

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9229940

Huipu Xu, Chunlei Lu

{"title":"Design of Switched Fuzzy Adaptive Double Coupled Sliding Mode Control for Vehicles Platoon","authors":"Huipu Xu, Chunlei Lu","doi":"10.1109/CACRE50138.2020.9229940","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9229940","url":null,"abstract":"This paper presents a switched fuzzy adaptive double coupled sliding mode approach for longitudinal control of a platoon with a leader vehicle and multiple followers based on third-order model with bounded external disturbance. For the purpose of avoiding collisions between vehicles, some control strategies are designed to guarantee the strong stability of the whole platoon system. First, in order to guarantee the strong string stability of the platoon system, a condition for coupling coefficients of sliding mode surfaces about adjacent vehicles is given in the paper. Then, the control law employing double coupled sliding mode control is designed for the stability of every vehicle in the platoon and the corresponding theorem is proved in the paper. Moreover, for the development of the chattering problem in the sliding mode control which becomes severe as the boundary of the disturbance increases, a novel switched fuzzy adaptive double coupled sliding mode control is proposed in this paper by using the universal approximation property in fuzzy system. Finally, some numerical examples are finished to verify the validity of the proposed method.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"2412 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130722227","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

Research and Analysis on Flight Stability Improvement of the Quadcopter 提高四轴飞行器飞行稳定性的研究与分析

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230092

Chao-Hsien Hsieh, Jiahao Huang, Ziyi Wang, Mengchen Lv, Fangan Gao, Xinyue Wu

{"title":"Research and Analysis on Flight Stability Improvement of the Quadcopter","authors":"Chao-Hsien Hsieh, Jiahao Huang, Ziyi Wang, Mengchen Lv, Fangan Gao, Xinyue Wu","doi":"10.1109/CACRE50138.2020.9230092","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230092","url":null,"abstract":"In recent years, with the rapid development of the UAV manufacturing technology, great progress has also been made in the Quadcopter. Usually, the small Quadcopter is flexible and easy to be operated. The stability is one of the most important evaluation indexes for the flight quality of the Quadcopter. However, external environmental impacts (such as the wind power) or internal design problems often cause the Quadcopter to deviate to one side during the flight. Therefore, in order to solve this problem, this paper adopts the method of physical weight gain and low-cost design. Then, we did experiments in the windless condition indoors and in the windy condition outdoors. We test and analyze how weight gain affects the Quadcopter’s flight stability. By comparing the test group and control group, we find that test group is more stable and faster than the control group. Also, the experiments show that when the weight of the Quadcopter increases, with the help of the low-cost design and the mathematic model, the flight offset can be reduced to 20% at most. Thus, the flight stability of the Quadcopter is improved as well. In addition, our stability design is not affected by the environment. Also, this design doesn’t need to change the internal structure of the Quadcopter.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126403834","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

Kinematics and Dynamics Modeling and Analysis of Line-Driven Continuum Robot 直线驱动连续体机器人的运动学与动力学建模与分析

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230238

H. Liu, D. Kou, D. Yu, K. Ge, Y. Hu

引用次数: 1

Research Status of 6LoWPAN in the Field of Internet of Things 6LoWPAN在物联网领域的研究现状

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230293

Liang Zhao, Guangwen Wang

引用次数: 1

Concept Design of a Reconfigurable Robot for Assembly Lines 装配线可重构机器人的概念设计

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230034

Bin Wei, Dan Zhang

引用次数: 1

Research on Remanufacturing Scheduling optimization with Uncertain Process 不确定过程下的再制造调度优化研究

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230290

Lin Liu, Qingfei Zhang, Yun Sha

引用次数: 0