Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering最新文献_第5页

Motion Control of Wheeled Mobile Robot Based on Data Driven 基于数据驱动的轮式移动机器人运动控制

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351941

Yian Shui, T. Zhao, S. Dian

引用次数: 0

Underactuated AUV Three-Dimensional Path Tracking Control Based on Interference Observer and Backstepping Sliding Mode 基于干涉观测器和反步滑模的欠驱动AUV三维路径跟踪控制

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351934

Yu-shan Sun, Chenming Zhang, Hao Xu, Guo-cheng Zhang, Yuanqing Wang

{"title":"Underactuated AUV Three-Dimensional Path Tracking Control Based on Interference Observer and Backstepping Sliding Mode","authors":"Yu-shan Sun, Chenming Zhang, Hao Xu, Guo-cheng Zhang, Yuanqing Wang","doi":"10.1145/3351917.3351934","DOIUrl":"https://doi.org/10.1145/3351917.3351934","url":null,"abstract":"Based on the improved backstepping method and sliding mode control principle, this paper studies the path tracking control problem of underactuated AUV considering the environmental position interference. The Serret-Frenet curve coordinate system is introduced, and the approach angle is designed, which decreases the path-following error. In order to reduce the shaking, avoid differential explosion and optimize the tracking effect, a filter-based backstepping sliding mode controller is designed. A low-pass filter is used to approximate the virtual control signal to reduce chattering, and a second-order filter is used to avoid differential explosion. An interference observer is added to the tracking controller to improve the robustness and anti-interference ability of the controller. Finally, the numerical simulation results are shown to verify the control effect of the filtered backstepping sliding mode controller combined with the interference observer. The controller with interference observer has smaller static error and stronger anti-interference ability, which improves the robustness and stability.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"30 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":"124613176","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

Enabling Robot Selective Trained Deep Neural Networks for Object Detection Through Intelligent Infrastructure 通过智能基础设施实现机器人选择性训练深度神经网络的目标检测

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351982

Christian Poss, T. Irrenhauser, Marco Prueglmeier, Dan Goehring, Firas Zoghlami, Vahid Salehi, Olimjon Ibragimov

{"title":"Enabling Robot Selective Trained Deep Neural Networks for Object Detection Through Intelligent Infrastructure","authors":"Christian Poss, T. Irrenhauser, Marco Prueglmeier, Dan Goehring, Firas Zoghlami, Vahid Salehi, Olimjon Ibragimov","doi":"10.1145/3351917.3351982","DOIUrl":"https://doi.org/10.1145/3351917.3351982","url":null,"abstract":"To save costs in logistics, handling steps are going to be automated by robots in the future. Due to the complex industrial conditions prevailing there, this is only possible with a sufficient degree of intelligence in the respective systems. Despite advances in artificially intelligent algorithms, the latest neural networks reveal significant weaknesses in performance and transferability to other applications. In order to enable a holistic autonomous material flow, the paper presents an infrastructure concept, which makes it possible to identify and train the most suitable networks robot-selectively with very limited effort. Using two practical examples, the functionality of the designed algorithms for the industrial implementation of a new use case as well as the updating and improvement of an existing system is finally outlined. It will be shown that with measures such as the automated collection of training data, the AI-supported labeling process, the intuitive validation of the trained networks via a mobile application and the automated retraining of robots already integrated, a further step can be taken towards holistically automated logistics process chains.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"297 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":"133373398","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

Adaptive Sliding Mode Control of Projectile Transfer Manipulator Based on Double Power Approach Law 基于双功率逼近律的抛射搬运机械臂自适应滑模控制

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351972

Zhong-le Xiao, Zhigang Li, Shanping Yang

引用次数: 0

Study on Differentially Expressed Genes in Breast Tissue 乳腺组织差异表达基因的研究

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351983

Mengzhen Jiang, Chao Wei, Guannan Chen

{"title":"Study on Differentially Expressed Genes in Breast Tissue","authors":"Mengzhen Jiang, Chao Wei, Guannan Chen","doi":"10.1145/3351917.3351983","DOIUrl":"https://doi.org/10.1145/3351917.3351983","url":null,"abstract":"Nowadays, breast cancer has been considered as one of the most common malignant tumors among female diseases, and its incidence is increasing year by year. Genomic and transcriptome changes that affect cellular processes, such as cell proliferation, differentiation, apoptosis, and invasion, are commonly associated with the development of breast cancer. Epidemiological evidence has shown that the risk of breast cancer susceptibility varies among ethnic groups. In this paper, differentially expressed genes between human breast tumors and normal tissues are identified by studying Chinese, Malay and Indian ethnic groups and their paired tissues. The GO and KEGG methods were used for annotation and analysis of genes, and protein interaction networks were used to analyze protein interactions. The results of the study showed that there were 33 genes with significant differences in expression. The differentially expressed genes were CD36, LEP, LPL, ADIPOQ, PCK1, ACASL1, PPARG, PLIN1, ACACB and PPARG. In the protein interaction network, the interaction between AKR1C3 and AKR1C1 is the strongest. The study of differentially expressed genes and the search for proteins with the strongest interactions will contribute to the study of the molecular mechanism of the disease and the discovery of new drug targets, so as to improve the future treatment of breast cancer patients.","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":"131538534","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

Attitude Control of Quadrotor Aircraft Based on Internal Model Principle 基于内模原理的四旋翼飞行器姿态控制

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351919

Haibin Shi, Yuanbin Zou, Z. Xu, Menghao Guo

引用次数: 0

Double Inverted Pendulum System Control Based on Servo Compensator 基于伺服补偿器的双倒立摆系统控制

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351952

Haibin Shi, Z. Xu, Yuanbin Zou, Menghao Guo

引用次数: 0

Research on Virtual Reality 3D Display and Teleoperation Technologies for an Inspection Robot in a Steam Generator 蒸汽发生器巡检机器人的虚拟现实三维显示及遥操作技术研究

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351942

Zhenyang Li, S. Dian, Chao Li

{"title":"Research on Virtual Reality 3D Display and Teleoperation Technologies for an Inspection Robot in a Steam Generator","authors":"Zhenyang Li, S. Dian, Chao Li","doi":"10.1145/3351917.3351942","DOIUrl":"https://doi.org/10.1145/3351917.3351942","url":null,"abstract":"The steam generator is the key device of nuclear power station. In the strong radiation environment of the steam generator, inspection robots are usually used to perform inspection tasks instead of manual work. In this paper, to create a more realistic virtual reality environment for operators, we propose a virtual reality 3D display and teleoperation system for the inspection robot in the steam generator. With Unity3D as the development environment, the host computer of the system can visually present the model of the steam generator and inspection robot. Moreover, the pose information of the actual robot is presented in Unity3D. On the slave computer, with Linux/ROS as the development environment, we use Intel RealSense D435 camera to perceive the surrounding environment of the robot and obtain the pose information of the robot through RTAB-MAP SLAM. Through ROS-Sharp, an open-source code library, the communication between Linux/ROS and Unity3D is realized. The performance of the system is verified by experiments based on datasets, semi-physical simulation, and physical camera.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"1 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":"125151639","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

Type Synthesis of Multi-mode Mobile Parallel Mechanism Based on Planar 4R Single-loop Kinematic Chains 基于平面4R单环运动链的多模移动并联机构类型综合

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351920

Xiangyu Liu, Chunyan Zhang, Cong Ni

引用次数: 1

Vibration Analysis of the Bogie of Medium-speed Maglev Trains with Mid-mounted Linear Motor 中置直线电机中速磁悬浮列车转向架振动分析

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351955

Shaoyi Wang, Yaozong Liu, Hongping Xu

引用次数: 0