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2020 Chinese Automation Congress (CAC)最新文献

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Robust Hierarchical Sliding Mode Control of Double-frame Mobile Robot with Suction Cups* 带吸盘的双框架移动机器人的鲁棒分层滑模控制
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9326550
Xingkai Feng, Congqing Wang
{"title":"Robust Hierarchical Sliding Mode Control of Double-frame Mobile Robot with Suction Cups*","authors":"Xingkai Feng, Congqing Wang","doi":"10.1109/CAC51589.2020.9326550","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9326550","url":null,"abstract":"In this paper, a novel double-frame mobile robot with suction cups for aircraft skin inspection is studied. A robust hierarchical sliding mode (RHSM) scheme is presented to ensure the state stabilization of the robot system. Initially, the double-frame robot moving on the curved surface is analyzed, the nonholonomic constraint equations are established, and the dynamic model of the mobile double-frame robot is derived through Lagrange method. Then, a RHSM controller is designed, including a hierarchical sliding mode controller for sliding motor, rotating motor and leg cylinder, and an observer for estimating the total uncertainty. It is shown that the system is closed-loop stable, and the system variables are asymptotically stable. Simulation section is given to illustrate the effectiveness of the RHSM method proposed in this paper.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115379924","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 keypoint-based object detection method with attention mechanism and feature fusion 基于注意机制和特征融合的基于关键点的目标检测方法
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9326802
Hui Wang, Tangwen Yang
{"title":"A keypoint-based object detection method with attention mechanism and feature fusion","authors":"Hui Wang, Tangwen Yang","doi":"10.1109/CAC51589.2020.9326802","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9326802","url":null,"abstract":"Recently, there is a new object detection framework that does not require anchor boxes, which refers to the realization of object detection tasks by detecting key points. CenterNet identifies an object with single keypoint, namely the center point of its bounding box. It finds other attributes at the same time through key point estimation, such as the size and the orientation of the object. In this work, a global attention module is introduced to the backbone called Hourglass to enhance feature extraction with the global context information. A multilevel fusion method is also added to the Hourglass to integrate the feature maps of different levels, and further improve the detection capability. Combining the two methods, the new network achieves 46.1% AP with multi-scale testing on MS COCO.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115395982","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 Research of Shoulder-arm Massage Chair System 肩臂式按摩椅系统的设计与研究
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9326632
Wangdi Du, Qingyong Zhang, Huangze Ai
{"title":"Design and Research of Shoulder-arm Massage Chair System","authors":"Wangdi Du, Qingyong Zhang, Huangze Ai","doi":"10.1109/CAC51589.2020.9326632","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9326632","url":null,"abstract":"With the development of science and technology, more and more office workers need to use computers. Nowadays, arm and shoulder pain has become a common occupational disease for office workers. At present, we urgently need a massage chair product that can cover shoulder and arm massage. Based on the basic analysis of the working principle of the massage manipulator, combined with the standard size of human body, this paper uses SolidWorks modeling software to design a massaging manipulator for the shoulder-arm and a shoulder-arm orbit seat, and completes the design of the shoulder-arm massage chair system by combining the two. After testing, the arm-shoulder massage chair designed in this paper can relieve muscle soreness and provide a quick and convenient massage way for office workers.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115709250","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
SFSSD: A Select Feature Single-shot Detector for Real-time Target detection SFSSD:一个选择功能的单镜头检测器实时目标检测
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9326960
Shengyang Wang, Zhi Li, Xinping Rao
{"title":"SFSSD: A Select Feature Single-shot Detector for Real-time Target detection","authors":"Shengyang Wang, Zhi Li, Xinping Rao","doi":"10.1109/CAC51589.2020.9326960","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9326960","url":null,"abstract":"We present Select Feature Single-shot Detection (SFSSD), a lightweight object detector framework that can optimize feature fusion. State-of-the-art extract features rely heavily on a very deep or large network structure, so it's difficult to apply to miniaturized embedded devices. Designing a good lightweight network instead of a large network can solve this problem. Lightweight networks using shallow features to detect small targets do not work well, so needs fuse deep semantic information to shallow layers, we design a feature fusion selector to determine the optimal network structure. In the case of guaranteed speed, compared with Tiny-SSD, the mean Average Precision (mAP) increases 3%, and the speed is 3 times faster than DSOD. At 512*512 inputs, mAP was achieved 67.4% without pre-training. After using the feature fusion selector improved the network structure, mAP rise 0.6%. Our code and models are available at: https://github.com/976912560/SFSSD.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"132 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124252433","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
Polarized skylight/MIMU/geomagnetic orientation algorithm based on adaptive Kalman filter 基于自适应卡尔曼滤波的极化天窗/MIMU/地磁定向算法
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9326476
Mingyao Yuan, Xiaofeng He, Xiaoping Hu, Lilian Zhang, Hang Shang
{"title":"Polarized skylight/MIMU/geomagnetic orientation algorithm based on adaptive Kalman filter","authors":"Mingyao Yuan, Xiaofeng He, Xiaoping Hu, Lilian Zhang, Hang Shang","doi":"10.1109/CAC51589.2020.9326476","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9326476","url":null,"abstract":"This paper presents an adaptive Kalman filter algorithm for polarized skylight/geomagnetic/GNSS/MIMU bionic integrated navigation system. In the bionic navigation system, the magnetometer, polarized light camera, and satellite antenna are susceptible to environmental interference, which affects the accuracy of the navigation solution. In this paper, a algorithm based on Sage-Husa Kalman filter is given for navigation. The algorithm uses a polarized light camera and a magnetometer to obtain the heading angles information, a satellite receiver to collect speed and position information, and use these messages to estimate and adjust the filter parameters to get an optimal estimate of the system heading angle. In this paper, two land vehicle tests were conducted, and the heading angles were increased by 20.49% and 9.59%, respectively, which proved the effectiveness and availability of the given method.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"390 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116663564","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
Autocorrelation Sequence Prediction Model Based On Reference Function Transformation: Taking Epidemic Prediction As An Example 基于参考函数变换的自相关序列预测模型——以流行病预测为例
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9327602
Tingzhen Liu, Tong Zhou, Jin Gao, Wei Li, Yimin Ma
{"title":"Autocorrelation Sequence Prediction Model Based On Reference Function Transformation: Taking Epidemic Prediction As An Example","authors":"Tingzhen Liu, Tong Zhou, Jin Gao, Wei Li, Yimin Ma","doi":"10.1109/CAC51589.2020.9327602","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9327602","url":null,"abstract":"Autocorrelation sequence prediction is one of the hotspots in machine learning and statistics. At present, the problem of epidemic prediction is concerned by the whole world in this field. In this paper, a prediction algorithm of autocorrelation sequence based on transformation is proposed. It construct a reference function based on the time series of regions that have experienced the whole process of epidemic situation. The reference function coordinates are transformed with the incomplete observation data of other regions as the supervision. Under the condition that the cost of transformation is kept as small as possible, the transformed function can effectively predict the series values that are not observed in other regions. This algorithm needs a little data and has good training stability. On this basis, we study how to use the information provided by other exogenous variables on the basis of autocorrelation prediction to make the model achieve better results. We use the covid-19 epidemic data set provided by Baidu to test our model, and the results show that it has good fitting metrics. It also has better effect in comparison with LSTM epidemic prediction model baseline.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116717791","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
Evaluation of New-type Medium-speed Maglev Train by Riding Comfort and Running Stability 新型中速磁悬浮列车乘坐舒适性与运行稳定性评价
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9326852
Minglei Xu, Shengquan Zhao, Yaozong Liu
{"title":"Evaluation of New-type Medium-speed Maglev Train by Riding Comfort and Running Stability","authors":"Minglei Xu, Shengquan Zhao, Yaozong Liu","doi":"10.1109/CAC51589.2020.9326852","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9326852","url":null,"abstract":"Based on LMS Virtual. Lab, the dynamics simulation analysis of a medium-speed maglev train with mid-mounted linear motor was carried out to evaluate passenger riding comfort and running stability. Firstly the dynamics simulation model of medium-speed maglev train with mid-mounted linear motor was established, then two kinds of methods for assessing passenger riding comfort in relation to vibration in railway vehicles were introduced. The result shows that medium-speed maglev train meets the needs of passenger riding comfort and running stability.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116925666","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
Evolution of the External Owned Account Trading Network on Ethereum 以太坊外部自有账户交易网络的演进
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9327434
Yunjie Chen, Zhihai Rong
{"title":"Evolution of the External Owned Account Trading Network on Ethereum","authors":"Yunjie Chen, Zhihai Rong","doi":"10.1109/CAC51589.2020.9327434","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9327434","url":null,"abstract":"In this paper, we investigated the evolution of the External owned account Trading Network(ETN) on Ethereum from August 10th, 2015 to June 9th, 2017 through the perspective of network science. It is showed that the evolution of the topological properties of the ETN and important events are closely related. The average degree of the ETN is not constant but fluctuates within a small range of (2.1, 3.2). And there exists the extremely strongly positive correlation between the number of nodes and the number of edges in the ETN. Moreover, following the events happening, the degree distribution of ETN changes obviously. Moreover, the ETN has smaller values of degree correlation coefficient and clustering coefficient than that of the randomized graph with the same degree sequence, which implies that ETN shows the disassortative mixing pattern by degree and owns few triangles. Through the method of k-shell decomposition, our investigation shows the core of the ETN grows stepwise.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116986399","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
Distributed Shortest-Distance Formation for Multi-agent Systems 多智能体系统的分布式最短距离形成
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9327768
Ruiwen Liao, Liang Han, Fei Liu, Xiwang Dong, Qingdong Li, Z. Ren
{"title":"Distributed Shortest-Distance Formation for Multi-agent Systems","authors":"Ruiwen Liao, Liang Han, Fei Liu, Xiwang Dong, Qingdong Li, Z. Ren","doi":"10.1109/CAC51589.2020.9327768","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9327768","url":null,"abstract":"This paper studies distributed shortest distance formation optimization problems for multi-agent systems, where the agents cooperatively minimize the total quadratic distance functions to the given convex regions while realizing the predefined formation. Each agent only has knowledge on its associated convex region and its local objective function. First, a time-invariant shortest-distance formation problem is introduced and a distributed protocol is proposed. Then, sufficient conditions are given, under which the multi-agent system converge to the optimal solution. Furthermore, a time-varying distributed shortest-distance formation optimization problem is studied and a dynamic protocol is provided. Moreover, a numerical simulation example is given to demonstrate the effectiveness of the theoretical results.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117163739","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
MFFSSD: An Enhanced SSD for Underwater Object Detection MFFSSD:用于水下目标检测的增强型SSD
2020 Chinese Automation Congress (CAC) Pub Date : 2020-11-06 DOI: 10.1109/CAC51589.2020.9327508
Jiashuo Zhang, Linlin Zhu, Liheng Xu, Qian Xie
{"title":"MFFSSD: An Enhanced SSD for Underwater Object Detection","authors":"Jiashuo Zhang, Linlin Zhu, Liheng Xu, Qian Xie","doi":"10.1109/CAC51589.2020.9327508","DOIUrl":"https://doi.org/10.1109/CAC51589.2020.9327508","url":null,"abstract":"The performance of deep neural networks in object detection is impressive, however, direct use of existingalgorithms may not obtain satisfactory resultsdue to the characteristics of underwater images. In this paper, a multi-scale feature fusion Single Shot Multibox Detector (MFFSSD) based on the SSD algorithm is proposed to improve the accuracy of underwater object detection. There are two main improvements: introducing attention module and perform multiscale feature fusion. By introducing attention module, the features of the input image obtained through convolution are weighted in both channel and space aspect, so as to highlight the useful informationto overcomes the problem of small and blur objects which are common in underwater images. By extracting a lower level feature map forward, more details of the lower level image can be obtained to adapt to the underwater object with simple shape, so that low-level features have a higher contribution to the recognition object; at the same time, the high-level feature map is enlarged by using deconvolution, and then fused with the low-level feature map to introduce more contextual information. The fusion of the features extracted from the shallow and high level networks ensures the efficiency of the features to the greatest extent. Experiments on URPC show that MFFSSD significantly improved the underwater object recognitionaccuracy compared to the original algorithm.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117337948","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
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