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

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Research on modeling method of Globoidal Cam mechanism 弧面凸轮机构建模方法研究
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9229899
Z. Ge, Qiujie Zhao, Jiawei Li
{"title":"Research on modeling method of Globoidal Cam mechanism","authors":"Z. Ge, Qiujie Zhao, Jiawei Li","doi":"10.1109/CACRE50138.2020.9229899","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9229899","url":null,"abstract":"Taking the globoidal CAM mechanism as the research object, this paper deduces the calculation equation of globoidal CAM contour surface and pressure Angle, and summarizes the general motion law of globoidal CAM follower. On this basis, the design software of globoid CAM is developed to realize the globoid CAM mechanism, including globoid indexing CAM, globoid deceleration CAM, globoid CAM with oscillating roller follower, as well as the contour data output of ATC multi-head globoid CAM, cutter position processing data output, and the verification of mechanism pressure Angle. Finally, ATC multi-head cambered mechanism is taken as an example to realize the establishment of its model and kinematic simulation, and the rationality of the design is verified.","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":"124631233","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
Study on detection technique of Asbestos in Brake Pads 刹车片中石棉检测技术研究
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230123
Hongwei Wang, Defu Xia, Weizhe Zhao, Jun Liu, Yusong Zhu, Bin Hu, Hongwei Su
{"title":"Study on detection technique of Asbestos in Brake Pads","authors":"Hongwei Wang, Defu Xia, Weizhe Zhao, Jun Liu, Yusong Zhu, Bin Hu, Hongwei Su","doi":"10.1109/CACRE50138.2020.9230123","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230123","url":null,"abstract":"Asbestos is highly fire-resistant, and electrically and thermally insulating, and it is a type of important industrial material. At the same time, however, this type of substance is proven to be highly dangerously carcinogenic. Asbestos fiber is harmful to human health, and it is important to test the asbestos in products. There is no applicable specification available in our country for the method of determining the asbestos in Brake Pads. In this paper, one method of using a polarizing microscope with a X-ray diffraction is used to identify the asbestos. Firstly, the characteristic features of the specimen was obtained under a polarizing microscope, if any fibrous particle exists, further test will be made with the help of a X-ray diffraction. If the fiber under observation has asbestos diffraction peak, it will be initially determined that the fiber under observation is the asbestos fiber. Otherwise, it will be determined that the fiber under observation is not asbestos fiber particles, and no asbestos has been found in the specimens. The other method of using a scanning electron microscope with a X-ray diffractometer is used to identify the asbestos in automotive brake pads, and this method is simple, fast, reliable and suitable to be widely applied. And the result shows that this method of testing for asbestos in brake pads through polarizing microscope and X-ray diffraction or a scanning electron microscope and X-ray diffractometer are simple, reliable and suitable to be widely applied.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"4 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":"130200269","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
Fiducial marker-based Metric Initialization for Monocular SLAM 基于基准标记的单目SLAM度量初始化
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230158
M. Zhou, Jianjun Gui, Baosong Deng, Dengke Xu, Ye Yan
{"title":"Fiducial marker-based Metric Initialization for Monocular SLAM","authors":"M. Zhou, Jianjun Gui, Baosong Deng, Dengke Xu, Ye Yan","doi":"10.1109/CACRE50138.2020.9230158","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230158","url":null,"abstract":"This paper proposes a novel approach for metric monocular SLAM Initialization using keypoints and a fiducial marker. SLAM approaches using one camera only can obtain the scale relevant to initial movement and the reference world origin must be attached to the initial frame. These make monocular SLAM approaches hard to achieve metric scale in localization and navigation problems or to provide true scale reference in augmented reality applications. In this paper, a fiducial marker is adopted at the initialization stage of SLAM. The relative and the absolute scale for 3D coordinates of some particular visual features would be calculated. The initial map would be adjusted by the ratio of these two values at the same time. Our experimental results show that feature-based monocular SLAM can acquire metric scale and the world origin can be coordinated to the marker plane after initialization. The scale outputs can reach centimeter accuracy with real-time performance in a normal computing unit.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"33 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":"116036683","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
Research on Adaptive Friction Compensation for Electric Linear Load Simulator Based Backstepping controller 基于反步控制器的电动线性负载模拟器自适应摩擦补偿研究
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230180
Da-Wei Cao, Yuan-Xun Fan, Wei-Dong Pan, Peng-Cheng Lu, Jian-Wei Zhang
{"title":"Research on Adaptive Friction Compensation for Electric Linear Load Simulator Based Backstepping controller","authors":"Da-Wei Cao, Yuan-Xun Fan, Wei-Dong Pan, Peng-Cheng Lu, Jian-Wei Zhang","doi":"10.1109/CACRE50138.2020.9230180","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230180","url":null,"abstract":"The electric linear load simulator (ELLS) is one kind of servo system with uncertainties and disturbances such as friction nonlinear characters. In order to improve the loading accuracy of ELLS system, aiming at the friction torque existing in the system, we present adaptive friction Backstepping controller based on the LuGre friction model. Using Lyapunov stability theorem to prove the global asymptotic stability of the system. Backstepping control theory reorganizes system equations into multiple virtual subsystems. Design virtual control variables for each virtual subsystems, and obtain the system nonlinear controller by Backstepping recursion. Finally, simulation results show that: compared with the traditional force command feedforward compensation + PID controller, the adaptive friction Backstepping controller can better suppress the excess force, ELLS system output can achieve asymptotic tracking of the given force reference signal. The proposed control method can better suppress the effect of friction on ELLS system and improve the loading accuracy.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"32 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":"122279453","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
Three-dimensional Path Following of Underactuated AUV Based on Nonsingular Terminal Sliding Mode Control 基于非奇异末端滑模控制的欠驱动水下航行器三维路径跟踪
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230236
F. Wang, Chen Guo, Haomiao Yu, Hengyin Cui
{"title":"Three-dimensional Path Following of Underactuated AUV Based on Nonsingular Terminal Sliding Mode Control","authors":"F. Wang, Chen Guo, Haomiao Yu, Hengyin Cui","doi":"10.1109/CACRE50138.2020.9230236","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230236","url":null,"abstract":"This paper studies path-following control of underactuated autonomous underwater vehicle (AUV) with parameter perturbation and time-varying disturbances. First, the three-dimensional path following error equation is established through the Serret-Frenet frame. Then, the kinematics guidance laws of underactuated AUV are established by backstepping method. And the dynamic controller is designed through nonsingular terminal sliding mode control (NTSMC) method and extended disturbance observer (EDO), so that AUV can keep up with the desired velocity on external disturbances. Finally, it is proved that the designed path-following controller can make the error converge globally asymptotically. Simulation shows that this method can accomplish the task of path tracking control well.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"12 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":"132438827","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 control strategy for ground extension and retraction test of landing gear 起落架地面放放试验控制策略研究
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230073
Linhai Zhang, Yeming Yao, Lilin Xu
{"title":"Research on control strategy for ground extension and retraction test of landing gear","authors":"Linhai Zhang, Yeming Yao, Lilin Xu","doi":"10.1109/CACRE50138.2020.9230073","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230073","url":null,"abstract":"During take-off and landing of airplanes, landing gear control system features have huge influence on airplane safety. In this paper, Labview software, a virtual instrument from National Instruments Corporation is used as a development platform to apply its powerful G language programming ablity and friendly program design interface to develop system application in order to enable control of landing gear extension and retraction and perform landing gear-related ground tests under laboratory conditions.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"238 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":"132197439","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
Analysis And Simulation Of The Feasibility Of A Self-deformable Reconfigurable Multi-mode Obstacle-crossing Mobile Robot 自变形可重构多模式跨障移动机器人可行性分析与仿真
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230205
An Ping, Chunyan Zhang
{"title":"Analysis And Simulation Of The Feasibility Of A Self-deformable Reconfigurable Multi-mode Obstacle-crossing Mobile Robot","authors":"An Ping, Chunyan Zhang","doi":"10.1109/CACRE50138.2020.9230205","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230205","url":null,"abstract":"In this paper, a reconfigurable multi-mode walking-rolling mobile robot is used as a motion unit foot. Through a self-deformable reconfigurable multi-mode obstacle-crossing robot that can make different motion unit feet in different motion modes for obstacle climbing is proposed. The mobile robot is composed of 4 reconfigurable multi-mode stepping mobile robot motion units and I-shaped brackets with the same structure. Through gait analysis, it is found that the mechanism has two different movements: four-bar walking over obstacles and six-bar deformation over obstacles rolling. Through the establishment of the virtual prototype and simulation environment of the robot in ADAMS, simulation experiments were carried out for each movement mode to simulate and verify the feasibility of each movement mode.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"28 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":"133198725","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
Pre-impact Trajectory Planning of Nonredundant Free-Floating Space Manipulator 非冗余自由浮动空间操纵器的撞击前轨迹规划
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230224
Qi Zhang, Guohua Kang, Jiaqi Wu, Han Zhang
{"title":"Pre-impact Trajectory Planning of Nonredundant Free-Floating Space Manipulator","authors":"Qi Zhang, Guohua Kang, Jiaqi Wu, Han Zhang","doi":"10.1109/CACRE50138.2020.9230224","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230224","url":null,"abstract":"The joint motion of the space manipulator and the collision between the end-effector and target may cause the attitude disturbance of the base. To minimize these two kinds of disturbances simultaneously, a pre-impact trajectory planning method for a nonredundant Free-Floating Space Manipulator (FFSM) system is proposed. Firstly, using the momentum conservation and nonholonomic characteristics, a transitional state between the initial state and the final capture state is added. This state can achieve the correct capture pose of the end-effector. Thereafter, the particle swarm optimization (PSO) algorithm is employed to optimize the transitional state and parameterized joint trajectory to minimize the base disturbance caused by joint motion and collision pulses. Finally, the proposed method is applied to a 6-DOF FFSM system. The results show that this method can realize the optimal pre-impact trajectory planning, and verify its effectiveness.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"4 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":"130303162","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: 3
Research on Sensorless Control Technology of Dual-winding PMSM 双绕组永磁同步电机无传感器控制技术研究
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230256
Chongchong Chang, Qixun Zhou
{"title":"Research on Sensorless Control Technology of Dual-winding PMSM","authors":"Chongchong Chang, Qixun Zhou","doi":"10.1109/CACRE50138.2020.9230256","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230256","url":null,"abstract":"This paper aims at various problems existing in the traditional position sensorless control technology. First, it makes a detailed classification and comparison of the existing position sensorless control technology, and analyzes the advantages and disadvantages of various control technologies; secondly, it focuses on the dual winding permanent magnet The synchronous motor uses the high-frequency signal injection method to detect the rotor position at zero speed. There is a problem of extra torque ripple. According to the special structure of the dual-winding permanent magnet synchronous motor, a new dual-channel high-frequency signal injection method is proposed to avoid The generation of extra torque ripples improves the stability of the system. The correctness and feasibility of the theory are verified by SIMULINK simulation.","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":"129354701","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
Research and Implementation of Unknown Environment Map Construction Method with Lidar-based Robot 基于激光雷达机器人的未知环境地图构建方法研究与实现
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230033
Chenggang Lu, Jinxiang Wang, Xu Cui
{"title":"Research and Implementation of Unknown Environment Map Construction Method with Lidar-based Robot","authors":"Chenggang Lu, Jinxiang Wang, Xu Cui","doi":"10.1109/CACRE50138.2020.9230033","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230033","url":null,"abstract":"The role of mobile robots is becoming more and more important. In the meantime, It is the basis for the robot to build a map in an unknown environment autonomously. In this paper, by using ROS robot and 360 distance laser sensor LDS-01, the laser scanning information is acquired in real-time, Synchronous map construction in real-time through the fusion of robot self-positioning information and environmental information. Update existing maps in real-time during the build process, ultimately enabling map construction of the entire unknown environment. By testing in the simulator Gazebo and building an indoor environment map, the test results in the actual environment show that the method of this paper can construct the unknown environment map more accurately and in real-time.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"15 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":"128790892","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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