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2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)最新文献

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A Multi-robot Control System based on ROS for Exploring Disaster Environment 基于ROS的多机器人灾害环境探测控制系统
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988650
Kyon-Mo Yang, Jong-Boo Han, Kap-Ho Seo
{"title":"A Multi-robot Control System based on ROS for Exploring Disaster Environment","authors":"Kyon-Mo Yang, Jong-Boo Han, Kap-Ho Seo","doi":"10.1109/ICCMA46720.2019.8988650","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988650","url":null,"abstract":"This control system is implemented to coordinate multiple robots in cooperative exploration tasks, in which a task assignment algorithm is used for calculating the expectation cost to achieve the required tasks and then allocate necessary tasks to specific robots. Robot control systems are used to gather crucial information about a disaster environment, such as a victim’s position or changes in an indoor environment before a human is able to enter that environment. There are practical problems in using previous systems because these systems need professionals to operate these multi-robots. The proposed system automatically distributes tasks to each robot based on target positions that are selected by the person who does not possess any prior knowledge about robot operation. Therefore, the operator needs only to determine the target position of interest and not be concerned about controlling the robot. Moreover, the system is implemented using ROS in order to add functions and apply this system to various types of robots. This system has been verified and evaluated by Turtlebot 3 in the Gazebo simulator, as well as in a real setting by conducting the system usability scale (SUS) with 23 firefighters.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114948972","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: 3
Fractional-, variable-order PID controller implementation based on two discrete-time fractional order operators 基于两个离散时间分数阶算子的分数阶、变阶PID控制器的实现
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988684
D. Mozyrska, Piotr Oziablo, M. Wyrwas
{"title":"Fractional-, variable-order PID controller implementation based on two discrete-time fractional order operators","authors":"D. Mozyrska, Piotr Oziablo, M. Wyrwas","doi":"10.1109/ICCMA46720.2019.8988684","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988684","url":null,"abstract":"In the paper we discuss two kinds of fractional-, variable-order PID controllers, which are based on two different Grünwald-Letnikov fractional-order backward difference definitions. Additionally, the algorithms of finding Kp, Ki, Kd parameters and order values of controllers are described. The algorithms use Nelder-Mead method to find parameters by minimazing given error criteria. The results of unit step-response of both implementations are presented in a graphical form and evaluated using overshoot levels, rise time and two error criteria which are integral squared time weighted error (SSTE) and integral squared time-squared weighted error (SST2E).","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"312 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116806800","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
A fractional model of the friction-temperature behavior in robot joints 机器人关节摩擦-温度行为的分数阶模型
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988638
R. Pagani, F. Padula, G. Legnani, R. Loxton, A. Visioli
{"title":"A fractional model of the friction-temperature behavior in robot joints","authors":"R. Pagani, F. Padula, G. Legnani, R. Loxton, A. Visioli","doi":"10.1109/ICCMA46720.2019.8988638","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988638","url":null,"abstract":"It is well-known that friction changes with the temperature in robotic joints, and the temperature depends on the action being performed. In this paper we present a fractional model that describes the relationship between power generation/loss and temperature in the joints of industrial robots. The proposed mathematical model is used to predict friction variation during the robot working cycle without using temperature sensors. Several experimental tests have been performed on a commercial 6 degree-of-freedom anthropomorphic manipulator. Results confirm that the proposed model is able to estimate the behavior of the friction in the joints during robot working cycles. This can be used to compensate for friction, thus improving the control performance, and to predict energy consumption.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117262164","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
Design Optimization of Pneumatically Actuated Three Jaw Gripper Using Genetic Algorithm 基于遗传算法的气动三爪爪设计优化
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988736
D. Saravanakumar, S. M. Srivatsn, G. Sakthivel, T. Muthuramalingam
{"title":"Design Optimization of Pneumatically Actuated Three Jaw Gripper Using Genetic Algorithm","authors":"D. Saravanakumar, S. M. Srivatsn, G. Sakthivel, T. Muthuramalingam","doi":"10.1109/ICCMA46720.2019.8988736","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988736","url":null,"abstract":"Design optimization of grippers should be decisive for felicitous applications, definitive results, and for the implementation to be efficacious. This paper concentrates on mathematical modelling of a three-jaw gripper, to procure the fundamental design parameters that are crucial for design constraints. Multi-objective design optimization formulation is adapted to calibrate multi-constraint design variables, to optimally obtain the dimensions of the links and dimensions of the actuating cylinder. The Gripper is analyzed for dynamic modelling, to compute gripping-force and gripping-width with precision. Compromised solution based on objective function formulation is applied, where the population is generated with genetic algorithm. This would deduce the optimal solution set among the generated population and the control variables are regulated by establishing a relation between decision variables and objective functions, such that we acquire better gripper ratio, gripper force analysis as wells design sensitivity analysis.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128609706","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
Implementation of PSO Based Fictitious Reference Iterative Tuning to Embedded System 基于粒子群算法的虚拟参考迭代调优在嵌入式系统中的实现
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988608
Piyanun Ruangurai, C. Silawatchananai
{"title":"Implementation of PSO Based Fictitious Reference Iterative Tuning to Embedded System","authors":"Piyanun Ruangurai, C. Silawatchananai","doi":"10.1109/ICCMA46720.2019.8988608","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988608","url":null,"abstract":"This paper proposes the use of online fictitious reference iterative tuning (FRIT) method which is implemented in embedded system. This tuning method has been developed for finding the optimal gains by using one shot experiment. Input-output data collection and offline tuning process lead to time consumption, online FRIT for tuning controller gain are developed in STM32F4 Discovery board which PSO searching algorithm is chosen. The velocity control of various DC motor is one of application and its effectiveness is verified through experiments.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129348034","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: 3
A Robust Calibration Method for the Underwater Transponder Position Based on Gauss-Newton Iteration Algorithm 基于高斯-牛顿迭代算法的水下应答器位置鲁棒标定方法
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988740
Liang Zhang, Tao Zhang
{"title":"A Robust Calibration Method for the Underwater Transponder Position Based on Gauss-Newton Iteration Algorithm","authors":"Liang Zhang, Tao Zhang","doi":"10.1109/ICCMA46720.2019.8988740","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988740","url":null,"abstract":"The ultra-short baseline(USBL) is widely used in ships and underwater navigation and positioning. An accurate transponder position is critical for the ultra-short baseline positioning systems. However, in a complex underwater environment, the performance of the traditional calibration method is poor in the presence of outliers. Thus, a robust Gauss-Newton iteration algorithm is proposed for the calibration of the transponder position by the paper. The outliers can be detected by the improved Badar data snooping. The simulation and field experiment verified that the calibration accuracy of the transponder position is higher with the proposed method in the presence of outliers. Because of the more accurate transponder position, the positioning accuracy of the USBL can be further improved compared to the traditional methods.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126984207","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
Electrical circuits to mimic respiratory diseases: an interdisciplinary bachelor project 模拟呼吸系统疾病的电路:一个跨学科的学士项目
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988705
M. Ghita, Jasper Juchem, M. Ghita, I. Birs, Ricardo Cajo, D. Copot, C. Ionescu
{"title":"Electrical circuits to mimic respiratory diseases: an interdisciplinary bachelor project","authors":"M. Ghita, Jasper Juchem, M. Ghita, I. Birs, Ricardo Cajo, D. Copot, C. Ionescu","doi":"10.1109/ICCMA46720.2019.8988705","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988705","url":null,"abstract":"This paper introduces a multidisciplinary project that is given in the last year of bachelor studies in civil engineering at Ghent University, Belgium. In this project, concepts learned during the first three years of study (bachelor program) are applied on a real system. Electrical circuits are build to mimic changes occurring at specific locations in the respiratory tree. The hypothesis tested using this cross-disciplinary project was that if a link exist to a real functionality provide a better understanding and leads to better outcomes in terms of learning process. In this project the students need to build an analogy between the lung airways properties and use equivalence to electrical circuits to evaluate and mimic changes from disease. During this project the students learned to work in a team and to allocate tasks among the team members. Another important competence that they have gained is time management. They have also developed skills for poster design and presentation, developed a critical thinking. All these have lead to a successful implementation of the project and they were able to critically asses changes to mimic diseases.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126327892","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
Linear programming under p-box uncertainty model p盒不确定性模型下的线性规划
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988632
Keivan K1 Shariatmadar, M. Versteyhe
{"title":"Linear programming under p-box uncertainty model","authors":"Keivan K1 Shariatmadar, M. Versteyhe","doi":"10.1109/ICCMA46720.2019.8988632","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988632","url":null,"abstract":"This paper considers a constrained optimisation problem under uncertainty with at least one element modelled as a probability box uncertainty. The uncertainty is expressed in the coefficient matrices of constraints and/or coefficients of goal function. In our previous work, such problems were studied under interval, fuzzy sets, and ε-contamination uncertainty models. Our aim here is to give theoretical solutions to the problem under more advanced and informative (p-box) uncertainty model and generalise the approach to calculate the theoretical solutions for linear programming problems. The approach is to convert the optimisation problem under uncertainty to a decision problem using imprecise decision theory where the uncertainty is eliminated. We investigate what theoretical results can be obtained for probability box type of uncertainty model and compare them to classical cases for two different optimality criteria: maximinity and maximality.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133579272","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
Identification in the Frequency Domain of Mechanically Coupled Axes on Servo-Screw Presses 伺服螺旋压力机机械耦合轴频域辨识
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988668
Henry Kirchner, J. Quellmalz, H. Schlegel, P. Müller
{"title":"Identification in the Frequency Domain of Mechanically Coupled Axes on Servo-Screw Presses","authors":"Henry Kirchner, J. Quellmalz, H. Schlegel, P. Müller","doi":"10.1109/ICCMA46720.2019.8988668","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988668","url":null,"abstract":"The article deals with the system identification of drive trains on forming machines. The aim is to analyze the mechanical properties in the frequency domain. A comparison of uncoupled single axes with several axes in a coupling system should provide information on whether different controller parameters or controller structures have to be adapted for both cases. This will be investigated using the example of an electromechanical die cushion on a servo screw press.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133653399","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
ICCMA 2019 Cover Page ICCMA 2019封面
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/iccma46720.2019.8988769
{"title":"ICCMA 2019 Cover Page","authors":"","doi":"10.1109/iccma46720.2019.8988769","DOIUrl":"https://doi.org/10.1109/iccma46720.2019.8988769","url":null,"abstract":"","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131870750","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
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