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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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Design and Test of Multi-Information Storage Testing System in Complex Physical Environment 复杂物理环境下多信息存储测试系统的设计与测试
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351963
Da Yu, He Zhang, Changsheng Li
{"title":"Design and Test of Multi-Information Storage Testing System in Complex Physical Environment","authors":"Da Yu, He Zhang, Changsheng Li","doi":"10.1145/3351917.3351963","DOIUrl":"https://doi.org/10.1145/3351917.3351963","url":null,"abstract":"Aiming at fuze information acquisition in complex physical environment, a test system with high impact, miniaturization and multi-physical field is designed, which can identify and record various physical environments including overload, electromagnetic intensity and temperature. The three-axis acceleration test module takes the MCU as the core processing chip, and realizes the functions of high impact three-dimensional acceleration signal conditioning, data sampling, storage and data readback through the design of hardware circuit and software program. The three-axis magnetic induction intensity test module takes the single-chip computer as the processing core and the signal op-amp processing to realize the magnetic signal conditioning. In order to ensure the normal operation of the testing system under high impact and strong magnetic environment, the mechanical shell of the testing system is strengthened by adjusting and processing, and the anti-high impact is realized by strengthening the filling and adding mechanical filter pad. The electromagnetic shielding shell is designed to make the whole testing system closed, so as to avoid the interference of the magnetic field flowing into the hole slot to the testing system. The static magnetic field test in laboratory and the penetration test of hard target in shooting range are carried out by using the test system. The test results show that the test system can accurately record the three-dimensional magnetic induction signal and the whole trajectory three-dimensional acceleration curve of the penetration process, and can work normally under high impact load to meet the needs of the test.","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":"114995793","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
Design and Characteristic Analysis of Variable Buoyancy System for Long Range Autonomous Underwater Vehicle 远程自主水下航行器变浮力系统设计与特性分析
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351973
Zhaoyang Sun, Jiancheng Yu, Aiqun Zhang, Y. Huang, Zhenyu Wang
{"title":"Design and Characteristic Analysis of Variable Buoyancy System for Long Range Autonomous Underwater Vehicle","authors":"Zhaoyang Sun, Jiancheng Yu, Aiqun Zhang, Y. Huang, Zhenyu Wang","doi":"10.1145/3351917.3351973","DOIUrl":"https://doi.org/10.1145/3351917.3351973","url":null,"abstract":"Variable buoyancy system (VBS) is important for long-range autonomous underwater vehicles (AUVs) to adjust the buoyancy change caused by environmental density changes dynamically, and it is the core component of AUV to realize near-neutral buoyancy navigation and unpowered submerging and floating. Accuracy of AUV's pitching angle change model caused by buoyancy adjustment and the flow uniformity of hydraulic oil are the key factors to achieve efficient and high-precision buoyancy control and reduce the power consumption of buoyancy adjustment. Variable buoyancy system with the functions of quantitative oil exhaust, deep-sea passive oil entry and shallow-sea active oil entry was developed. The dynamic effects of buoyancy adjustment on AUV center of gravity, center of buoyancy and pitch angle were analyzed, and a correction model of moving amount of AUV center of gravity caused by buoyancy adjustment was established. With the help of designed pressure simulation system and hydraulic station, the oil exhaust flow rate and passive oil entry flow rate under different pressure were tested. Results shown that, when the oil from internal bladder to external bladder, the displacement flow rate decreases slightly but it is approximately uniform with the increase of external pressure (depth) and the flow rate in passive oil entry process is uniform and controllable. Finally, the depth-fixed navigation experiments were carried out in Thousand-island Lake, and the VBS performance is stable and reliable.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"13 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":"115589566","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
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
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
Assembly Defect Detection of Atomizers Based on Machine Vision 基于机器视觉的雾化器装配缺陷检测
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351925
Jiankun Wang, Hong Hu, Long Chen, Caiying He
{"title":"Assembly Defect Detection of Atomizers Based on Machine Vision","authors":"Jiankun Wang, Hong Hu, Long Chen, Caiying He","doi":"10.1145/3351917.3351925","DOIUrl":"https://doi.org/10.1145/3351917.3351925","url":null,"abstract":"Atomizers are assembled in an automated assembly line, which inevitably creates assembly defects. In this paper, we use machine vision technology to detect assembly defects in atomizers. We propose two algorithms: an image processing algorithm, and a deep learning algorithm based on convolutional neural network. For design of the image processing algorithm, we set the region of interest for detection according to the position of different assembly defects. For the deep learning algorithm, we adopt the MobileNet model and propose a new training program to improve detection accuracy. The paper also includes an evaluation of the performance of the two algorithms and analyzes their advantages and disadvantages.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"35 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":"130817570","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: 5
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
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
System Design of Ultrasonic 2D Hand Gesture Trajectory Capture Using Variable Gain 可变增益超声二维手势轨迹捕获系统设计
Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI: 10.1145/3351917.3351978
Ronghua He, Zhili Long, Xiaobing Zhang, Yuyang Yuan
{"title":"System Design of Ultrasonic 2D Hand Gesture Trajectory Capture Using Variable Gain","authors":"Ronghua He, Zhili Long, Xiaobing Zhang, Yuyang Yuan","doi":"10.1145/3351917.3351978","DOIUrl":"https://doi.org/10.1145/3351917.3351978","url":null,"abstract":"This paper presents a technique for two dimensional (2D) hand gesture trajectory capture system which can be applied to the interaction of intelligent equipment. Firstly, the sensing principle and hardware are described. In the processing of gesture trajectory, an automatic calibration algorithm based on cross correlation operation is proposed to resolve the interference from environment; the dynamic threshold and variable gain methods are developed to extract distance and the finger positioning model is established basing on the geometric relation. Finally, we obtain the hand gesture trajectory with our hardware in real time and demonstrate the effectiveness of the system.","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":"130001137","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
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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