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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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An Overview of Deep Reinforcement Learning 深度强化学习概述
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351989
LiChun Cao, ZhiMin
{"title":"An Overview of Deep Reinforcement Learning","authors":"LiChun Cao, ZhiMin","doi":"10.1145/3351917.3351989","DOIUrl":"https://doi.org/10.1145/3351917.3351989","url":null,"abstract":"As a new machine learning method, deep reinforcement learning has made important progress in various fields of people's production and life since it was proposed. However, there are still many difficulties in function design and other aspects. Therefore, further research on deep reinforcement learning is of great significance for promoting the progress of the whole science and society. Based on the basic theory of deep learning, this paper introduces the basic theory, research method, main network model and successful application in various fields of deep reinforcement learning.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"20 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":"129748210","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: 16
Research on collision avoidance of fixed-wing UAV 固定翼无人机避碰研究
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351933
Zhiwen Zhang, Shulong Zhao, Xiangke Wang
{"title":"Research on collision avoidance of fixed-wing UAV","authors":"Zhiwen Zhang, Shulong Zhao, Xiangke Wang","doi":"10.1145/3351917.3351933","DOIUrl":"https://doi.org/10.1145/3351917.3351933","url":null,"abstract":"In this paper, a hybrid collision avoidance approach, outer planning control and inner emergency control, is designed to solve the problem of avoidance of the non-cooperative target and the cooperative UAVs in the formation. For non-cooperative target, a multi-layer obstacle avoidance model is employed to determine the current situation of the UAV, for which different layer corresponds to different methods. If the UAV is far away from the obstacle, the method of planning control is implemented. A collision cone with a transition domain is introduced to reduce response time and eliminate local minima. If the UAV is closer to the obstacle, an emergency avoidance method is needed to ensure safety. For the cooperative UAVs in the group, we set the avoidance strategy table in advance and select the best response method by optimizing the security value. The feasibility and effectiveness of the proposed strategies are verified by simulations.","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":"129995058","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
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
{"title":"Attitude Control of Quadrotor Aircraft Based on Internal Model Principle","authors":"Haibin Shi, Yuanbin Zou, Z. Xu, Menghao Guo","doi":"10.1145/3351917.3351919","DOIUrl":"https://doi.org/10.1145/3351917.3351919","url":null,"abstract":"This paper proposes an attitude regulation method for reduced-order control of four-rotor aircraft based on the principle of internal model. The servo compensating gain matrix feedforward controller is designed to obtain the control law and regulate the input signal to realize the zero steady error tracking of the input signal under the external disturbance signal. Through the design of state observer, the detection link is simplified and the use of the sensor is reduced. At the same time, the disturbance signal is obtained by an external disturbance observer, and the disturbance signal is suppressed by a feedforward control design compensation channel. The simulation results show that the system has good steady-state characteristics and can realize the zero steady error tracking of the servo system when the external disturbance model is unmeasurable, and has strong robustness and engineering application value.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"16 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":"128818096","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
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
{"title":"Double Inverted Pendulum System Control Based on Servo Compensator","authors":"Haibin Shi, Z. Xu, Yuanbin Zou, Menghao Guo","doi":"10.1145/3351917.3351952","DOIUrl":"https://doi.org/10.1145/3351917.3351952","url":null,"abstract":"Control of rotary double inverted pendulum system is studied with the internal model principle. Based on the dynamic characteristics of the given signal variable and the internal model principle, the servo compensator is established. The servo compensator not only can make the angle of the rotary arm follow the given signal variable change, but also can make the rotary double inverted pendulum system asymptotically stable. Then the reduced-order state observer reduces the use of detection devices in the system by estimating other state variables in the system. Finally, the simulation results are used to validate that the designed controller can realize the tracking control with zero steady error.","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":"128911814","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
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
{"title":"Vibration Analysis of the Bogie of Medium-speed Maglev Trains with Mid-mounted Linear Motor","authors":"Shaoyi Wang, Yaozong Liu, Hongping Xu","doi":"10.1145/3351917.3351955","DOIUrl":"https://doi.org/10.1145/3351917.3351955","url":null,"abstract":"In this paper, the LMS Virtual. Lab Motion was used to analyze the dynamics of the bogie of Medium-speed maglev trains with a mid-mounted linear motor. Firstly, the multi-rigid-body model of the single bogie, the decentralized levitation control scheme and the magnet-rail relationship model were built in LMS Virtual. Lab Motion. The modal frequencies and modal shapes were obtained by using the linearization analysis function of the software. The modal analysis results were verified with the vibration response of the frequency sweeping analysis while applying a vertical force on the mid-mounted linear motor.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"14 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":"115106561","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
Objects Grasping of Robotic Arm with Compliant Grasper Based on Vision 基于视觉的柔性抓取器机械臂抓取物体
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351958
Gang Yu, Yifan Liu, Xikai Han, Chang Zhang
{"title":"Objects Grasping of Robotic Arm with Compliant Grasper Based on Vision","authors":"Gang Yu, Yifan Liu, Xikai Han, Chang Zhang","doi":"10.1145/3351917.3351958","DOIUrl":"https://doi.org/10.1145/3351917.3351958","url":null,"abstract":"To deal with the problem of slow recognition and poor adaptability in grasping for home service robots. In this paper, a robust robotic arm system based on vision is proposed. The system uses an OpenMV machine vision module to recognize and output the measured pose information of the AprilTag, which is attached on the corresponding object. Then a 4-DOF robotic arm with two-fingers compliant grasper is designed to grasp different objects with various shapes and sizes according to the certain trajectory planning from compliant grasper to the target. Moreover, the experiments are performed to validate the whole system. Results show that the system can recognize and locate the target objects quickly and accurately, as well as grasp and drop the objects in the expected position reliably.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"5 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":"126457651","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
Robust sliding mode control of offshore parallel platform 海上并联平台鲁棒滑模控制
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351962
Tuan Hua, He Zhang, Kefeng Xie
{"title":"Robust sliding mode control of offshore parallel platform","authors":"Tuan Hua, He Zhang, Kefeng Xie","doi":"10.1145/3351917.3351962","DOIUrl":"https://doi.org/10.1145/3351917.3351962","url":null,"abstract":"Aiming at the posture stability requirement of parallel platform under wave disturbance, an integral sliding mode control strategy based on nonlinear disturbance observer is proposed. The nonlinear interference observer is used to observe the external disturbance and is equivalent to the control input to compensate. The introduction of the integral term in the sliding surface design is a robust sliding mode controller, which uses the saturation function instead of the symbol function in the controller. The Lyapunov stability theory is used to prove the stability of the closed - loop system. Finally, the simulation and experiment show that the nonlinear disturbance observer can effectively observe the external slow time-varying interference. The robust sliding mode controller can effectively reduce the static error and realize the fast and precise control of parallel platform under the premise of guaranteeing the robustness of the system.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"42 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":"128068763","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
Digital Twin for NC Machining Using Complete Process Information Expressed by STEP-NC Standard STEP-NC标准中全工序信息数控加工的数字孪生
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351979
Gang Zhao, Xian Cao, W. Xiao, Yakui Zhu, K. Cheng
{"title":"Digital Twin for NC Machining Using Complete Process Information Expressed by STEP-NC Standard","authors":"Gang Zhao, Xian Cao, W. Xiao, Yakui Zhu, K. Cheng","doi":"10.1145/3351917.3351979","DOIUrl":"https://doi.org/10.1145/3351917.3351979","url":null,"abstract":"The concept of Digital Twin has been accepted by more and more researchers and enterprises. Many applications of Digital Twin systems are reported such as airplane state monitor and smart factory. In addition, the digital twin is an important measure to achieve intelligent manufacturing and industry 4.0. The advancement of DT system in manufacturing environment is evident. However, current researches in manufacturing domain concentrated on the discussion of architecture optimization of digital twin system combining with existing cyber-physics researches. There are little research works reported practical DT system and discussed the technologies in implementation. Different from current works, this paper proposed an advanced Digital Twin system for CNC machine tool and discussed the critical enablers to make the DT system more practicality. First, data stream from CAD/CAM to CNC is improved with the STEP-NC standard which containing more structured process data to enhance the information in virtual environment to reflect the real machining process. Second, hardware connection method with CNC system is summarized and a uniform interface for data accessing is proposed to simplify the development of DT system. At last, a virtual machining environment (software named \"GrapeSim\") is presented which contains three functions: estimating the machining state according to the accessed data from CNC; material removing simulation that synchronous with the real machining process to illustrate the geometry shape of machined workpiece; a web server that allowing other devices to obtain the data in virtual environment as a data source of cloud manufacturing. The whole Digital Twin system is tested in COMAC, the manufacturer of ARJ21 and C919 jetliner, and all functions are proved stable and useful.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"65 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":"133289129","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: 14
Research on 2D-SLAM of Indoor Mobile Robot based on Laser Radar 基于激光雷达的室内移动机器人二维slam研究
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351966
D. Shen, Yuhang Xu, Yakun Huang
{"title":"Research on 2D-SLAM of Indoor Mobile Robot based on Laser Radar","authors":"D. Shen, Yuhang Xu, Yakun Huang","doi":"10.1145/3351917.3351966","DOIUrl":"https://doi.org/10.1145/3351917.3351966","url":null,"abstract":"Nowadays simultaneous localization and mapping (SLAM) of indoor mobile robots in unknown environment is very popular in robot research. Laser radar is widely used in SLAM research. In this paper, three 2D-SLAM algorithms based on laser radar in the robot operating system (ROS) were compared and evaluated, namely Gmapping, Hector-SLAM and Cartographer. It firstly built a mobile robot experimental platform based on ROS in the real environment. In order to reflect the ability of building maps by three SLAM algorithms, experiments were carried out in simple corridor and laboratory with many obstacles respectively. Meanwhile, ten points in the real environment were selected to measure the distance on maps and the real distance obtained by laser range finder for comparison and error analysis. Finally, according to the experimental results, strengths and weaknesses of each SLAM algorithm were discussed. It is concluded that Gmapping has the highest mapping accuracy in simple small scene environment while Hector-slam is more suitable for a long corridor environment, and Cartographer has more advantages in complex environment.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"208 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":"121632604","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
Leader-Follower Formation Control of Unmanned Aerial Vehicles Based on Active Disturbances Rejection Control 基于自抗扰控制的无人机Leader-Follower编队控制
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351930
Mengge Zhang, Zhihong Liu, Huiming Li, Huaping Huang, Xiangke Wang
{"title":"Leader-Follower Formation Control of Unmanned Aerial Vehicles Based on Active Disturbances Rejection Control","authors":"Mengge Zhang, Zhihong Liu, Huiming Li, Huaping Huang, Xiangke Wang","doi":"10.1145/3351917.3351930","DOIUrl":"https://doi.org/10.1145/3351917.3351930","url":null,"abstract":"Cooperative flight of multiple unmanned aerial vehicles (UAVs) has many advantages, but there are also some problems to be solved. This paper investigates the formation keeping and transformation problem by using the virtual leader-follower method. Firstly, for the multi-UAV system composed of particle models, the active disturbance rejection control (ADRC) method is adopted to design the formation keeping controller. Secondly, in order to prevent UAVs from crashing into each other during formation switching, the concept of virtual repulsion is introduced for collision avoidance. Then, to test the proposed formation keeping and transformation control method, a multi-quadrotor coordination simulation platform is constructed. The simulation results show the proposed method is effective.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"875 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":"116158732","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
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