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Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering最新文献

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Stabilization Control of Underactuated Unmanned Surface Vessels Based on Backstepping and Lyapunov Direct Method 基于Backstepping和Lyapunov直接法的欠驱动无人水面舰艇镇定控制
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351956
Fangfang Hu, Chao Zeng, Gang Zhu, Shiling Li
{"title":"Stabilization Control of Underactuated Unmanned Surface Vessels Based on Backstepping and Lyapunov Direct Method","authors":"Fangfang Hu, Chao Zeng, Gang Zhu, Shiling Li","doi":"10.1145/3351917.3351956","DOIUrl":"https://doi.org/10.1145/3351917.3351956","url":null,"abstract":"In this paper, a time-varying controller is proposed for the underactuated Unmanned Surface Vessels (USV) with non-diagonal inertia and damping matrices. By introducing a reference trajectory, the controller can guarantee global asymptotic convergence from any initial values at any moment. Firstly, with the method of global diffeomorphism equivalent and input transformation, the stabilization problem of underactuated USV can be transformed into the stabilization of two cascaded subsystems. Secondly, according to the characters of the cascaded subsystems, the stabilization problem can be reduced to the one of the second subsystem, a nonlinear time-varying controller is developed through backstepping and Lyapunov's methods, stability analysis proves that all the states can be globally regulated to the origin. Finally, simulation results demonstrate the effectiveness of the proposed control approach.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114577061","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
Applying a Bayesian Stackelberg game to secure infrastructure system: from a complex network perspective 应用贝叶斯Stackelberg博弈安全基础设施系统:从复杂网络的角度
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351924
Xueqiang Gu, Chengyi Zeng, Fengtao Xiang
{"title":"Applying a Bayesian Stackelberg game to secure infrastructure system: from a complex network perspective","authors":"Xueqiang Gu, Chengyi Zeng, Fengtao Xiang","doi":"10.1145/3351917.3351924","DOIUrl":"https://doi.org/10.1145/3351917.3351924","url":null,"abstract":"Protecting critical infrastructure is a challenging task for security agencies all around the world, which is exacerbated by terrorism. Many infrastructures have network characteristics, such as transportation and communication systems. Therefore, it is necessary to study them from the perspective of network science. Game theory provides a suitable theoretical tool for the study of attack-defense confrontation between rational agents. Sequential game, which is more in line with the actual situation, can better analyze the confrontation in infrastructure protection. Previous models which combine network science with game theory only consider the attacker as a single type. However, in the real world, accurate information about the type of the attacker is not always available for the defender. In this paper, we apply Bayesian Stackelberg game to model the attack-defense confrontation in the case of uncertain attacker type.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126942741","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
Application of PSO on Electromagnetic Induction-Based Subsea Cable Detection PSO在电磁感应海底电缆检测中的应用
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351926
Jialei Zhang, Xianbo Xiang
{"title":"Application of PSO on Electromagnetic Induction-Based Subsea Cable Detection","authors":"Jialei Zhang, Xianbo Xiang","doi":"10.1145/3351917.3351926","DOIUrl":"https://doi.org/10.1145/3351917.3351926","url":null,"abstract":"Subsea cables face more and more challenges due to the increasing marine economic activities and frequent natural disasters, such as anchorage, fishing, widening, earthquake and tsunami, which greatly affect the life of subsea cables and pipelines. Firstly, this paper reviews the situation of subsea cables and the resulting difficulties for localization. The tradition subsea detection methods, such as hydroacoustic and visual methods, are excluded from the subsea cable detection and localization due to the applicability of detection for large-sized and exposed subsea pipelines. Based on the structural composition of different subsea cables, the active electromagnetic sensing method are selected as the optimal approach to combined with particle swarm optimization (PSO). Secondly, based on the extensive application of the swarm intelligent optimization algorithm in practical engineering, this paper proposes a novel subsea cable localization (discrete cable location and burial depth) method by using an underactuated autonomous underwater vehicle (AUV) carrying with a tri-axial electromagnetic sensor. The electromagnetic sensor is used to capture the magnetic signal which are radiated from the AC electrified subsea cable. Based on the framework of PSO and electromagnetic signal sequences, the PSO localization method is designed. Furthermore, the electromagnetic sensing based PSO localization method is compared with cable-following detection and tracking method from the practical view. Finally, a principle numerical simulation is design to test the effectiveness of the proposed subsea cable localization method. In order to meet the practical demands, the PSO should be modified to improve the stability and convergence speed, the online path planning and platform motion control method should be developed.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126034658","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 Modeling of Robot Fish Based on Experiment 基于实验的机器鱼动力学建模
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351951
Zhang Yu, DongXing Qin, Shen Yan
{"title":"Dynamic Modeling of Robot Fish Based on Experiment","authors":"Zhang Yu, DongXing Qin, Shen Yan","doi":"10.1145/3351917.3351951","DOIUrl":"https://doi.org/10.1145/3351917.3351951","url":null,"abstract":"Basis of the large-amplitude elongated body theory, the equations of motion and rigid body dynamics model of robotic fish was set up. Dynamic model of robot fish was established by using the method of Fluid Dynamics. The interaction force between tail fin and Fluid, the additional stress produced by tail vortices, and the lift and Obstruction of fish body are fully analysed. As used in this paper, the effects of Deflection, amplitude and frequency on the model are studied by three groups of experiments. The results proved that the experimental data and the calculated value of the theoretical model established in this paper, has a good consistency, can be used for the study of BCF progression pattern.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124679038","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
A Multi-mode Mobile Parallel Mechanism Based on Planar 6R 基于Planar 6R的多模移动并联机构
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351921
Zhi Chen, Chunyan Zhang, Mao-sheng Li
{"title":"A Multi-mode Mobile Parallel Mechanism Based on Planar 6R","authors":"Zhi Chen, Chunyan Zhang, Mao-sheng Li","doi":"10.1145/3351917.3351921","DOIUrl":"https://doi.org/10.1145/3351917.3351921","url":null,"abstract":"The planar 6R mechanism is applied to the design of the mechanism, and a novel type of parallel robot with two modes of rolling and walking is proposed. Then, the mechanism generation principle expounded by using the configuration synthesis method of single-loop kinematic chain; the kinematics of the mechanism is analyzed by using vector method. Finally, the mechanism simulated by ADAMS software. The simulation results show that the two motion modes of the mechanism are feasible, which provides a theoretical basis for the prototype manufacture.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130064198","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
Co-simulation of Dynamic Surface Sliding Mode Control for Elevation Equilibrator Electro-Hydraulic System of Truck-Mounted Howitzer 车载榴弹炮仰角平衡器电液系统动态表面滑模控制联合仿真
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351971
Shanping Yang, Q. Yin, Liu Yang
{"title":"Co-simulation of Dynamic Surface Sliding Mode Control for Elevation Equilibrator Electro-Hydraulic System of Truck-Mounted Howitzer","authors":"Shanping Yang, Q. Yin, Liu Yang","doi":"10.1145/3351917.3351971","DOIUrl":"https://doi.org/10.1145/3351917.3351971","url":null,"abstract":"This paper proposes a DSSMC (dynamic surface sliding mode control) strategy to track the desired angle for one elevation equilibrator of truck-mounted howitzer. Dynamic surface control is introduced to solve the problem of nonlinearity, unmatched external loads, parameters uncertainty and differential explosion caused by backstepping method. The stability is proved by Lyapunov method and the performance of this control strategy is verified by the method of co-simulation with AMESim and MATLAB. The co-simulation results show that, compared with PID control strategy, DSSMC strategy has better tracking accuracy and rapidity.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133762325","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
Automatic Basketball Detection in Sport Video Based on R-FCN and Soft-NMS 基于R-FCN和Soft-NMS的运动视频篮球自动检测
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351970
Q. Liang, Li Mei, Wanneng Wu, Wei Sun, Yaonan Wang, Dan Zhang
{"title":"Automatic Basketball Detection in Sport Video Based on R-FCN and Soft-NMS","authors":"Q. Liang, Li Mei, Wanneng Wu, Wei Sun, Yaonan Wang, Dan Zhang","doi":"10.1145/3351917.3351970","DOIUrl":"https://doi.org/10.1145/3351917.3351970","url":null,"abstract":"In basketball videos, the ball is always so small in the camera that its appearance feature is hard to be extracted. In this paper, we introduce a deep-learning technology to detect the basketball. Specifically, we train our basketball detection model based on the Region-based Fully Convolutional Networks (R-FCN) which uses the fully convolutional Residual Network (ResNet) as the backbone network. What's more, we apply some new techniques including Online Hard Example Mining (OHEM), Soft-NMS and multi-scale training strategy to achieve higher detection accuracy. In detail, the OHEM method can reduce the cost of fine-tuning during training by calculating the loss of the RoIs. Soft-NMS can reduce the false positive rate by decreasing the object detection score between the overlap object. And the multi-scale training can improve the detection performance by receiving the good feature from the object with different scale. Finally, we achieve a mean average precision (mAP) value of 89.7% on a public basketball dataset. It proves that applying the deep-learning approach to basketball detection is effective.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"480 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134522829","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: 8
Design of Fuze Speed Correction System Based on Projectile Rotating Environment Data 基于弹丸旋转环境数据的引信速度校正系统设计
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351964
Hang Yu, Haojie Li, Shaojie Ma
{"title":"Design of Fuze Speed Correction System Based on Projectile Rotating Environment Data","authors":"Hang Yu, Haojie Li, Shaojie Ma","doi":"10.1145/3351917.3351964","DOIUrl":"https://doi.org/10.1145/3351917.3351964","url":null,"abstract":"In order to improve the accuracy of the fixed-distance air-bomb fuze, combined with the fuze's self speed-correcting process, the MATLAB GUI was used to design the host computer human-computer interaction software to simulate the fuze speed correction system. The influence of the amplitude interval parameters and the velocity interval parameters of the ballistic rotating environment data on the measured initial velocity and the fuze action time is studied by using the simulation system. On the surface of the test results, the selection of the velocity range has a great influence on the measured initial velocity and the fuze action time, and the influence of the amplitude interval is small. The design of the analog fuze speed correction system provides convenience and data reference for laboratory fuze debugging.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128697603","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 Lithium-ion Batteries State of Charge Estimation based on Interactive Multiple-model Cubature Filter 基于交互式多模型Cubature滤波的锂离子电池充电状态估计研究
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351938
X. Xia, Shangrong Li, Zhengzheng Meng
{"title":"Research on Lithium-ion Batteries State of Charge Estimation based on Interactive Multiple-model Cubature Filter","authors":"X. Xia, Shangrong Li, Zhengzheng Meng","doi":"10.1145/3351917.3351938","DOIUrl":"https://doi.org/10.1145/3351917.3351938","url":null,"abstract":"In this paper, an estimator Interactive multi-model cubature kalman filter (IMM- CKF) based on the combination of interactive multi-model algorithm (IMM) and cubature kalman filter (CKF) is applied to estimate the state of charge of lithium-ion battery. Firstly, two multiple models are set up to represent the different degree of parameter shift in the Lithium ion battery. Equivalent circuit methodology is used to construct the non-linear battery models. Secondly, the Interactive Multiple-Model Cubature Kalman Filter (IMM-CKF) and conventional Cubature Kalman Filter is used to estimate SOC of the battery. the numerical simulations and experiments have been done and the results show the effectiveness of interactive multi-model cubature kalman filter and its advantages over conventional methods with respect to estimation errors and variance. Compared with the traditional EKF, UKF and CKF algorithms, the IMM- CKF algorithm is found to yield better SOC estimation accuracy. The added computational cost of new estimator is acceptable.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124292312","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
Traffic Sign Detection based on SSD 基于SSD的交通标志检测
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351988
Benhe Gao, Zhongjun Jiang, Jiaman zhang
{"title":"Traffic Sign Detection based on SSD","authors":"Benhe Gao, Zhongjun Jiang, Jiaman zhang","doi":"10.1145/3351917.3351988","DOIUrl":"https://doi.org/10.1145/3351917.3351988","url":null,"abstract":"The traffic sign recognition process includes two parts: detection and classification. In this paper, we use an object detection algorithm called SSD to detect the traffic signs. This convolutional neural network uses multiple feature maps to detect objects. For the traffic sign is very small to the whole picture, the SSD model has been improved to have a better detection result of traffic signs. In the experiments, the model has been simplified and the size of the prior box has been modified. The improved network has a good detection effect on small targets. The results on the test data set show that the proposed algorithm performs well for single-target, multi-target and dark-light images. The precision and recall on the test data set are 91.09%, and 88.06%.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116763652","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: 10
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