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

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An Intelligent Fault Diagnosis Method of Rolling Bearing with Wide Convolution Kernel Network 基于宽卷积核网络的滚动轴承故障智能诊断方法
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9229954
Chuan Xiang, Zejun Ren
{"title":"An Intelligent Fault Diagnosis Method of Rolling Bearing with Wide Convolution Kernel Network","authors":"Chuan Xiang, Zejun Ren","doi":"10.1109/CACRE50138.2020.9229954","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9229954","url":null,"abstract":"In this paper, a method based on two wide convolution kernels network (WCNN) is proposed for the fault diagnosis of rolling bearing. Firstly, the vibration signal of bearing was input into WCNN network which acquired and extracted the intrinsic features of vibration signal by itself. The whole training process was optimized by the Adam algorithm. Finally, the bearing fault was diagnosed by softmax function. Compared with other common methods, this method does not require manual extraction of fault features. And at the same time, average diagnostic accuracy can be above 99% in different noisy environment and with less training time.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"15 Suppl 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":"132841527","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
AUV Path Planning Based on Improved Genetic Algorithm 基于改进遗传算法的AUV路径规划
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230339
W. Tao, Shaokun Yan, Feng Pan, Guanfang Li
{"title":"AUV Path Planning Based on Improved Genetic Algorithm","authors":"W. Tao, Shaokun Yan, Feng Pan, Guanfang Li","doi":"10.1109/CACRE50138.2020.9230339","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230339","url":null,"abstract":"The path planning model of AUV is established based on the improved genetic algorithm. In the model, the shortest path length is taken as the main criterion, and the boundary conditions are established with the range of collision avoidance and turning angle as constraints. The reasonable crossover and mutation adaptive probability models are designed. Then, the simulation results show that the effectiveness of AUV path planning is verified by a specific example The algorithm can converge quickly, which proves the correctness and feasibility of the path planning model.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"25 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":"129311067","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
Finite-Time Observer Based Three-Dimensional Tracking Control of an Underwater Robot with Multiple Unknowns 基于有限时间观测器的多未知数水下机器人三维跟踪控制
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230264
Xingru Qu, Xiao Liang, Zhao Zhang, W. Shi
{"title":"Finite-Time Observer Based Three-Dimensional Tracking Control of an Underwater Robot with Multiple Unknowns","authors":"Xingru Qu, Xiao Liang, Zhao Zhang, W. Shi","doi":"10.1109/CACRE50138.2020.9230264","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230264","url":null,"abstract":"In this paper, a finite-time observer based three-dimensional tracking control (FTO-TDTC) strategy is proposed for trajectory tracking of an under-actuated underwater robot (UR) with multiple unknowns involving system uncertainties and current disturbances. To avoid the explosion of complexity and simplify the dynamics controller design, virtual velocity-based backstepping control laws are proposed to control pitch rate and yaw rate, simultaneously. By virtue of the finite-time observer (FTO), the multiple unknowns are completely estimated and incorporated into dynamics controller, thus contributing to the UR tracking performance with strong robustness. Rigorous theoretical analysis is deployed by the aid of Lyapunov direct method. Finally, simulation verifications are exhibited to evaluate the maneuverability of the FTO-TDTC strategy when system uncertainties and current disturbances are acting on the under-actuated UR.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"40 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":"129495988","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
Prediction of AQI by BP Neural Network Based on Genetic Algorithm 基于遗传算法的BP神经网络空气质量预测
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230036
Yu Su, Haiyan Xie
{"title":"Prediction of AQI by BP Neural Network Based on Genetic Algorithm","authors":"Yu Su, Haiyan Xie","doi":"10.1109/CACRE50138.2020.9230036","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230036","url":null,"abstract":"Air quality issues are gradually attracting people’s attention. In order to achieve a high accuracy rate of air quality index (AQI) prediction, this paper uses genetic algorithm to optimize the weights and thresholds of BP neural network, establishes an air quality index prediction model based on genetic algorithm and BP neural network, and conducts experiments on six monitoring objects of Dalian’s air quality index in 2018 and 2019. The experimental results show that this method performs better than the traditional BP neural network method, which has certain guiding significance for the prediction research of air quality index.","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":"132290650","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
Research on Measuring System of Torque Sensor Based on AD7705 基于AD7705的扭矩传感器测量系统研究
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230252
Yuanbao Zhang, Ningzhuang Liu
{"title":"Research on Measuring System of Torque Sensor Based on AD7705","authors":"Yuanbao Zhang, Ningzhuang Liu","doi":"10.1109/CACRE50138.2020.9230252","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230252","url":null,"abstract":"Torque sensor is a precision measuring instrument that measures various torques, speeds and mechanical powers. To improve the measurement accuracy and stability, a torsion sensor electrical signal acquisition system with a 16-bit analog-to-digital converter AD7705 as the core is proposed, and the FPGA is described. The design idea of the control module and the implementation method of VHDL, and the FPGA is used as the controller to realize the AD7705 logic control. The AD7705 collected digital quantity is filtered and the Quartus II software is used for simulation testing, and the embedded logic analyzer is used for actual measurement. The result shows: design Meet the requirements, the system is stable and reliable, the system reliability is high, the measurement is flexible, and the measurement accuracy is high.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"11 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":"124437813","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
Robust Distributed Guidance and Control of Multiple Autonomous Surface Vehicles based on Extended State Observers and Finite-set Model Predictive Control 基于扩展状态观测器和有限集模型预测控制的多自主地面车辆鲁棒分布式制导与控制
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230166
Haoliang Wang, Jizhou Jiang, Wentao Wu, Lu Liu, Dan Wang, Zhouhua Peng
{"title":"Robust Distributed Guidance and Control of Multiple Autonomous Surface Vehicles based on Extended State Observers and Finite-set Model Predictive Control","authors":"Haoliang Wang, Jizhou Jiang, Wentao Wu, Lu Liu, Dan Wang, Zhouhua Peng","doi":"10.1109/CACRE50138.2020.9230166","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230166","url":null,"abstract":"This paper is concerned with the guidance and control design for a swarm of multiple under-actuated autonomous surface vehicles subject to unmeasured velocities of neighbors, system uncertainties and ocean disturbances. A robust distributed guidance and predictive control architecture is presented to achieve a desired formation along a parameterized path. Specifically, a robust distributed constant bearing guidance law is designed based on extended state observers. Then, optimized surge speed and heading controllers are designed based on finiteset model predictive control for selecting optimal actions within finite control sets and extended state observers for recovering the unmeasured yaw rate and unknown model. Simulation results demonstrate the effectiveness of the proposed robust distributed cooperative guidance and control methods for path-guided formation maneuvering of multiple under-actuated autonomous surface vehicles.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"30 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":"122476829","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
The Division of the Terminal Distribution Regions for Fresh Food E-commerce Based on the Complex Networks 基于复杂网络的生鲜电子商务终端配送区域划分
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9229930
Ping Xu, Na Li, Wei-lai Zhong, J. Dai, Guan-chu Wang
{"title":"The Division of the Terminal Distribution Regions for Fresh Food E-commerce Based on the Complex Networks","authors":"Ping Xu, Na Li, Wei-lai Zhong, J. Dai, Guan-chu Wang","doi":"10.1109/CACRE50138.2020.9229930","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9229930","url":null,"abstract":"The rapid development of fresh food e-commerce provides an effective solution for increasing farmers’ income, meeting consumers’ needs and reducing the loss of fresh food circulation. As the key link of fresh food e-commerce logistics, the distribution is of great significance to improve consumer satisfaction and reducing the operating cost of e-commerce enterprises. This article divides the distribution regions of fresh food e-commerce through the LinkRank community detection algorithm based on the complex networks, explores and constructs a method of the division of the terminal distribution regions for fresh food e-commerce logistics by using simulated annealing algorithm to optimizes the network modularity, and verified the effectiveness of the method by analysing the case of Jingkou District of Zhenjiang City. Hope to offer a reference for fresh food e-commerce to construct the logistics distribution system suitably.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"2 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":"126195325","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 SLAM navigation of wheeled mobile robot based on ROS* 基于ROS*的轮式移动机器人SLAM导航研究
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230186
Z. Meng, Chuang Wang, Zhao Han, Zirong Ma
{"title":"Research on SLAM navigation of wheeled mobile robot based on ROS*","authors":"Z. Meng, Chuang Wang, Zhao Han, Zirong Ma","doi":"10.1109/CACRE50138.2020.9230186","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230186","url":null,"abstract":"In order to get a better mapping effect and use it in robot navigation, this paper first established the kinematic model and dynamic model of the wheeled mobile robot used in the experimental research, and determined the relationship between the relevant parameters of the mobile robot experimental equipment. After comparing and analyzing the advantages and disadvantages of different SLAM (Simultaneous Localization and Mapping) algorithms such as HectorSLAM, LagoSLAM, Cartographer, and GMapping, Monte Carlo adaptive positioning and laser mapping (GMapping) algorithms were selected for better results. And aiming at the problem that the traditional GMapping algorithm has no loopback and low accuracy, a solution of increase the closed-loop detection link to improvement is proposed. This GMapping algorithm is implemented through the ROS operating system. This algorithm improves the accuracy of mapping by changing the internal scanning registration algorithm. Finally, the improved algorithm and robot autonomous navigation technology are combined in experiments, and the accuracy of the improved algorithm’s mapping is verified through many experiments.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"10 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":"125082257","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
Redundancy Management for Fault-tolerant Control System of an Unmanned Underwater Vehicle 无人潜航器容错控制系统的冗余管理
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230038
Wenbin Huang, Hao Xu, Jian Wang, Chuan Miao, Yi Ren, Lifeng Wang
{"title":"Redundancy Management for Fault-tolerant Control System of an Unmanned Underwater Vehicle","authors":"Wenbin Huang, Hao Xu, Jian Wang, Chuan Miao, Yi Ren, Lifeng Wang","doi":"10.1109/CACRE50138.2020.9230038","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230038","url":null,"abstract":"In the field of UUV control system design, fault-tolerant control and redundancy management is the important method to improve system reliability. This paper addresses a fault-tolerant steering control system to improve the reliability of UUV. A novel fault-tolerant control system, which uses the hybrid redundant structural configuration based on the characteristics of the X rudder UUV, is designed. The configuration is based on duplex redundant control calculation coupled with a quadruplex redundant actuator. Redundancy management strategies and algorithms are used to implement the UUV fault-tolerant control. The analysis indicates that the reliability of the control system which used the proposed configuration is improved obviously compared with the conventional configuration.","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":"127523464","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
Fault Diagnosis for Ballast Water System Operation on Ships based on SVM 基于SVM的船舶压载水系统运行故障诊断
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI: 10.1109/CACRE50138.2020.9230213
Ying Wang, Yajie Wang, Haiyan Xie
{"title":"Fault Diagnosis for Ballast Water System Operation on Ships based on SVM","authors":"Ying Wang, Yajie Wang, Haiyan Xie","doi":"10.1109/CACRE50138.2020.9230213","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230213","url":null,"abstract":"This paper establishes a fault diagnosis model for ballast water system on ships based on support vector machine. We explored how to obtain the parameters of the optimal kernel function by MATLAB. Meanwhile, we compared the accuracy of fault classification with BP neural network and RBF neural network. Numerical experiments for fault classification demonstrate that the proposed method has higher classification accuracy and generalization ability than other two baseline methods.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"301 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":"127566018","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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