2019 4th International Conference on Control and Robotics Engineering (ICCRE)最新文献

Motion Camouflage for Point-Mass Robots Using a Lyapunov-based Control Scheme 基于lyapunov控制方案的点质量机器人运动伪装

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-05-30 DOI: 10.1109/ICCRE.2019.8724163

Avinesh Prasad, B. Sharma, J. Vanualailai

引用次数: 0

Weld Bead Width and Height Measurement Using RANSAC 用RANSAC测量焊缝宽度和高度

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-20 DOI: 10.1109/ICCRE.2019.8724363

Kaixuan Zhou, Guoliang Ye, Xiangdong Gao, Kaihong Zhong, J. Guo, Bing Zhang

引用次数: 2

Power Supply Service: Assessing the Feasibility and Merits of Applying Electric Emergency Power Vehicles 供电服务:评估应用电动应急电源车辆的可行性和优点

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-20 DOI: 10.1109/ICCRE.2019.8724341

Jie Jiang, Wenzhe Chen, Gang Wu, Yanan Jiao

引用次数: 0

Comparison between Classic Control Systems Techniques against Adaptive and Nonlinear Control Techniques in a Lower Limb Prostheses 经典控制技术与自适应和非线性控制技术在下肢假肢中的比较

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-20 DOI: 10.1109/ICCRE.2019.8724210

Fermín C. Aragón, J. Huegel, Adriana Vargas-Martínez, J. Lozoya-Santos, R. Ramírez-Mendoza, R. Morales-Menéndez

{"title":"Comparison between Classic Control Systems Techniques against Adaptive and Nonlinear Control Techniques in a Lower Limb Prostheses","authors":"Fermín C. Aragón, J. Huegel, Adriana Vargas-Martínez, J. Lozoya-Santos, R. Ramírez-Mendoza, R. Morales-Menéndez","doi":"10.1109/ICCRE.2019.8724210","DOIUrl":"https://doi.org/10.1109/ICCRE.2019.8724210","url":null,"abstract":"Foot prosthesis have been well documented, not one has successfully developed and verified that such a prosthesis can improve amputee gait compared to a conventional passive A Previous Work elastic prosthesis. One of the main hurdles that hinder such a development is the challenge of building an ankle-foot prosthesis that matches the size and weight of the intact ankle, but still provides a sufficiently large instantaneous power output and torque to propel an amputee [1–2]. A large number of motorized prototypes have been developed in prosthetic systems, the actuators, sensors and architectures developed have improved the performance of these for human walking in users who have this motor impairment, however the surgical technique used for amputation as well as the control techniques implemented have not had notable progress. This paper presents the design and simulation of the control system for a lower limb prostheses. Three control methods were compared (PD Classic Controller, Model Reference Adaptative Control (MRAC), and sliding mode control) and the behavior of the model was studied after its linearization and its identification through the matlab toolbox.","PeriodicalId":366332,"journal":{"name":"2019 4th International Conference on Control and Robotics Engineering (ICCRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128535361","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

Optimization Design and Simulation of an Air Suspension with Auxiliary Chamber and Throttle Valve 带有副腔和节流阀的空气悬架优化设计与仿真

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-20 DOI: 10.1109/ICCRE.2019.8724215

Quan Zhou, Yuanchao Hu, Qi Liu, Yun Xiang, Shirui Zheng, Zhangwei Guo, Boyun Wang

{"title":"Optimization Design and Simulation of an Air Suspension with Auxiliary Chamber and Throttle Valve","authors":"Quan Zhou, Yuanchao Hu, Qi Liu, Yun Xiang, Shirui Zheng, Zhangwei Guo, Boyun Wang","doi":"10.1109/ICCRE.2019.8724215","DOIUrl":"https://doi.org/10.1109/ICCRE.2019.8724215","url":null,"abstract":"With the continuous improvement of automobile shock absorption technology and the improvement of people's living standards, people's requirements for ride comfort are constantly improving. Designing new suspensions to reduce vehicle vibration has become an important research direction in the field of automotive engineering. Conventional air suspensions are primarily air springs that use a single working chamber, the stiffness of which cannot be adjusted according to road conditions. Therefore, this paper introduces the design of auxiliary air chamber and throttle valve to break through the limitations of conventional air suspensions, so that it can change the equivalent stiffness of air suspension according to road conditions, and further improve the shock absorption of the suspension. In this paper, a new air suspension mathematical model is firstly established to obtain the equivalent stiffness of the air spring. Then the random road roughness model is constructed to obtain the random road surface excitation. Finally, the random road surface excitation, air spring equivalent stiffness and vehicle parameters are introduced into the 4 degree-of-freedom half-vehicle model to obtain the acceleration signal of the vehicle body. Then we compare the acceleration signals of the vehicle body under the throttle valve with different opening degrees. According to the simulation results of this paper, the newly designed air suspension can effectively improve the ride comfort, and can adjust the air spring stiffness by changing the opening degree of the throttle valve to adjust the ride comfort of the vehicle.","PeriodicalId":366332,"journal":{"name":"2019 4th International Conference on Control and Robotics Engineering (ICCRE)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121999399","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 Frontal Collision Reconstruction Model Based on Coupling of PCCRASH and MADYMO 基于PCCRASH和MADYMO耦合的正面碰撞重构模型研究

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-20 DOI: 10.1109/ICCRE.2019.8724154

Wang Jie, He Yutong

引用次数: 0

Research on Unmanned Vehicle Stability Control with Model Prediction Control 基于模型预测控制的无人驾驶汽车稳定性控制研究

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-20 DOI: 10.1109/ICCRE.2019.8724349

Ji Zhang, Hui Jin

引用次数: 1

Robust Face Tracking Using Siamese-VGG with Pre-training and Fine-tuning 基于siames - vgg的人脸鲁棒跟踪

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-01 DOI: 10.1109/ICCRE.2019.8724212

Shuo Yuan, Xinguo Yu, Abdul Majid

{"title":"Robust Face Tracking Using Siamese-VGG with Pre-training and Fine-tuning","authors":"Shuo Yuan, Xinguo Yu, Abdul Majid","doi":"10.1109/ICCRE.2019.8724212","DOIUrl":"https://doi.org/10.1109/ICCRE.2019.8724212","url":null,"abstract":"In order to analyze facial expression in human-computer interaction, real time face-tracking has become significant research problem. Traditional face tracking methods have achieved good results in some constrained environments (such as good illumination, no background interference, etc.) However, these methods require to design manual facial features depending on researcher’s experience. In addition, lacking ability for generalization problems is worthy of study. The robustness of face tracking in complex scenes is challenging due to fast moving, multi-scale changes, rotation and occlusion, illumination changes, etc. In view of the above considerations, this paper proposes an improved method based on Siamese-Net to optimize for face tracking tasks. Our work mainly includes four aspects. First, the first two convolutional layers of deeper VGG-16 are used to extract feature. So we call our method Siamese-VGG. Second, we report experiment on face tracking using a pre-trained VGG-Face model which is trained by 2.6M images for face recognition and then fine-tuning to acceleration convergence. Third, in this research the same size crops are input to two branches in the framework and then the inner smaller template feature maps are extracted during training. The proposed method in this paper reduce offset losses by this way. Finally, L2 regularization add to the loss function to improve the generalization ability of the model. The experiment results show better robustness and generalization performance over the original algorithm. In complex scenes, the proposed improved method have achieved the great improvements by almost 11% on average overlap. But, the frame rate of improved method is still 18.5fps on the Nvidia GTX1070Ti GPU.The improved method proposed in this paper is more practical in terms of speed and accuracy.","PeriodicalId":366332,"journal":{"name":"2019 4th International Conference on Control and Robotics Engineering (ICCRE)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122616179","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: 6

Design of Fuzzy Controller for Arc Suppression Coil Automatic Tuning 消弧线圈自动调谐模糊控制器的设计

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-01 DOI: 10.1109/ICCRE.2019.8724213

Dong-Juan Ma, Yi-Ling Zhang, Xinyuan Liu, Meng-zan Li, Ling-ling Li

引用次数: 0

Development and Testing of ZMK5530TZJF100 S plit Type CBM V ehicle Drilling R ig zmk5530tzjf100s分体式CBM V车用钻机的研制与试验

2019 4th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2019-04-01 DOI: 10.1109/ICCRE.2019.8724224

Jianghua Chang, Qingxiu Liu, Hongliang Tian, Dong Fan

{"title":"Development and Testing of ZMK5530TZJF100 S plit Type CBM V ehicle Drilling R ig","authors":"Jianghua Chang, Qingxiu Liu, Hongliang Tian, Dong Fan","doi":"10.1109/ICCRE.2019.8724224","DOIUrl":"https://doi.org/10.1109/ICCRE.2019.8724224","url":null,"abstract":"With the capabilities increasing and the functions improvement, the size of the vehicle-mounted drilling rig is becoming larger and larger, and the increase in weight and size affects the safety and mobility of the vehicle. In order to improve the transportation safety of high-power vehiclemounted drilling rig, the modular design concept is adopted. According to the principles of safe transportation and quick and easy assembly, the ZMK5530TZJF100 vehicle-mounted drilling rig is divided into two parts: the main vehicle and the power pump station, which can be connected by 10 hydraulic hoses and 1 communication cable in one hour. This type of split rig with skid-mounted structure pump station weights 53t, which can be transported independently, and its weight and size meet the standard truck transportation requirements. This type of split rig combines transportation safety and ease of use. After testing, the maximum torque of ZMK5530TZJF100 vehicle-mounted drilling rig is 31500 Nm and the maximum lifting force is 1 000kN. Its main parameters have met the design requirements, which indicates that modularization is a feasible solution for high-power vehicle-mounted drilling rig.","PeriodicalId":366332,"journal":{"name":"2019 4th International Conference on Control and Robotics Engineering (ICCRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132511812","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