2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)最新文献_第4页

Swarm Motion of Underwater Robots Based on Local Visual Perception 基于局部视觉感知的水下机器人群体运动

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208385

Qiaoqiao Zhao, Lichuan Zhang, Lu Liu, Shuchang Bai, Cao Yong, Li Han

{"title":"Swarm Motion of Underwater Robots Based on Local Visual Perception","authors":"Qiaoqiao Zhao, Lichuan Zhang, Lu Liu, Shuchang Bai, Cao Yong, Li Han","doi":"10.1109/CACRE58689.2023.10208385","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208385","url":null,"abstract":"Many large schools of fish exhibit collective behaviors, such as large-scale migration and the formation of cylindrical arrays to evade predators. Previous studies have shown that these collective behaviors do not rely on global explicit information exchange but are achieved through visual observation of neighboring individuals. Given the unique characteristics of the underwater environment, a global positioning system similar to that on land has not yet been developed. Therefore, it is meaningful to investigate swarm motion based on local information exchange for underwater robots. Drawing inspiration from the swarm motion of fish, this study focuses on the swarm motion of underwater manta ray-like robots based on local visual perception information interaction. Firstly, a deep convolutional neural network method is employed to design a neighbor detection algorithm. This algorithm enables real-time acquisition of relative distance, orientation, and tracking ID information of neighboring robots. The proposed method is deployed on underwater manta ray-like robots, and a series of underwater experiments are conducted. The experimental results demonstrate improved detection accuracy and processing speed. Subsequently, a swarm motion model based on local visual perception is proposed. The neighbor detection information obtained in the experiments is utilized as constraint information for the simulation-based swarm motion model. The results indicate that swarm motion of the robot can be achieved through the acquisition of neighbor robot information. The research is based on local visual perception of group movement, which can make up for the inability to achieve global positioning in the underwater environment. And this research provides a framework for underwater swarm motion in the context of manta ray-like robots.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131496881","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

Research on Intelligent Monitoring and Irrigation System for Farmland Based on IoT and 5GTechnology 基于物联网和5g技术的农田智能监控灌溉系统研究

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10209060

Guangda Lu, Jianyi Dai, Zhuanping Qin, Tinghang Guo, Yu Han, Mingzhi Wei

引用次数: 0

Cooperative Deployment Planning of Underwater Unmanned Clusters Based on Hybrid Heuristic Algorithms 基于混合启发式算法的水下无人集群协同部署规划

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208954

Ranzhen Ren, Lichuan Zhang, Lu Liu, Guang-xu Pan, Qiaogao Huang, Yi Chen

引用次数: 0

Dynamic Differential Flatness of Cable Elasticity of a Cable-driven Parallel Manipulator 缆索驱动并联机械臂缆索弹性的动态差分平面度

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208769

Qianqian Li, Haoling Ren, Tianliang Lin, Zhibo Tan, Qichen Huang, Yihong Peng

{"title":"Dynamic Differential Flatness of Cable Elasticity of a Cable-driven Parallel Manipulator","authors":"Qianqian Li, Haoling Ren, Tianliang Lin, Zhibo Tan, Qichen Huang, Yihong Peng","doi":"10.1109/CACRE58689.2023.10208769","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208769","url":null,"abstract":"Cable manipulator can play a lifting role in the dock stacking, mineral mining, marine fishing and other fields, which has a wide range of applications. However, the cable elasticity itself will affect the accuracy of the cable force control, which in turn affects the positional control accuracy of the end-effector. To solve the problem of control accuracy caused by simplifying the cable to a linear model without considering the cable elasticity, this paper adopts the model of simplifying the cable to a linear spring plus a lightweight connecting rod. The elasticity of the linear spring, i.e., the cable tension is derived through the static equilibrium equation. And a dynamics simulation analysis of the three-cable three-degree-of-freedom parallel manipulator is conducted. The end position and its derivative as the flat output of the system is selected and the linear process of nonlinear control theory is used to prove the differential flatness of the system. Through theoretical analysis and example simulation, the difference of the requested tension force when the cable elasticity is considered or not is compared and analyzed. It is shown that the proposed dynamics analysis of the cable parallel manipulator with cable elasticity has influence on the moment control of the whole manipulator. It is verified that the magnitude of the cable elasticity is ultimately affected by the change of the cable acceleration. And this dynamics analysis can improve the control process caused by the high speed change of the end-effector to analyze the effect of imprecise force control brought by the high speed change of cable elasticity of the cable, It provides a more accurate theoretical basis for establishing a more accurate theoretical model of dynamics","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"441 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115419460","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

Reducing Emissions through AdBlue Tank Temperature Control in Diesel Engines with SCR System 通过AdBlue控制SCR柴油机油箱温度降低排放

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208933

Jojan Valle-De La Cruz, Luis Crisostomo-Soto, Gonzalo Sulca-Ramos, Kener Velasquez-Colorado, Hector Valcarcel-Castillo, Deyby Huamanchahua

{"title":"Reducing Emissions through AdBlue Tank Temperature Control in Diesel Engines with SCR System","authors":"Jojan Valle-De La Cruz, Luis Crisostomo-Soto, Gonzalo Sulca-Ramos, Kener Velasquez-Colorado, Hector Valcarcel-Castillo, Deyby Huamanchahua","doi":"10.1109/CACRE58689.2023.10208933","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208933","url":null,"abstract":"The AdBlue system consists of inserting the urea-water mixture into the exhaust pipe to reduce the emission of polluting gases. Hence, the liquid and exhaust pipe temperatures are essential factors. This research aims to implement a temperature control and monitoring system for AdBlue deposits when they are affected by environmental temperature and climate change. To carry out the design of the control system, the VDI 2206 methodology was used based on four stages until the modeling and analysis of the model in the LabView software. The design of the controller was obtained before the change in temperature of the environment, which affects the urea deposits, so suitable and selected components are used through a morphological matrix. Finally, this research allows controlling the state of the AdBlue deposits, since to have a good performance of emission reduction, there is a temperature range ranging from -10 to 25 ° C, for this control system is created that allows to increase the temperature or decrease it, to obtain a good performance.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129089575","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 of an Automatic Locking Nut Tightening Control System for a Vision Guided Robot 视觉引导机器人锁紧螺母自动拧紧控制系统设计

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208422

Kai Chang, B. Lu, Jian Yin, Guangchao Tan

引用次数: 0

Weakly Illumination Image Enhancement Algorithm in GIS Cavity GIS空腔弱光照图像增强算法

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208889

Yang Yu, Heng Qiao, Zhi Fan, Fei Li, Ningyi Geng, Long Wang, J. Sun, Xuke Zhong

引用次数: 0

A Distributed Task Allocation Method Based on Improved Contract Network Protocol for Air-Ground Collaboration 基于改进契约网络协议的地空协同分布式任务分配方法

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10209055

Jianhua Wang, Nan Wang, Y. Miao

{"title":"A Distributed Task Allocation Method Based on Improved Contract Network Protocol for Air-Ground Collaboration","authors":"Jianhua Wang, Nan Wang, Y. Miao","doi":"10.1109/CACRE58689.2023.10209055","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10209055","url":null,"abstract":"This paper proposes a novel distributed task allocation method based on improved contract network protocol for collaborative task allocation of reconnaissance and strike tasks on heterogeneous unmanned aerial platforms. Firstly, considering the heterogeneity and endurance of unmanned aerial platforms, as well as the time-sensitive characteristics of tasks, a task allocation model was established with the goal of maximizing global benefits. In the proposed method, a single unmanned platform satisfies the constraints of the task allocation model by designing the encoding and decoding methods of the existing sparrow search algorithm, and achieves the selection of its local optimal task execution path (similar to the single traveling salesman problem); By sequentially auctioning a single task, conflicts between different unmanned platforms are resolved and global benefits are improved. The bidding method for bidders, task award rules for auctioneers to select winning bidders, and judgment mechanisms for auction termination are designed. The numerical simulation results validate the feasibility of the proposed method and its superiority in global benefits compared to the contract network protocol.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115982528","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

Cover 封面

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/cacre58689.2023.10208917

引用次数: 0

Positioning Obstacle Avoidance Control of AGV with no Local Minimum Problem via Safety LOS Guidance 基于安全LOS制导的无局部最小问题AGV定位避障控制

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10209021

Yuanpei Ding, Pengfei Zhang, Ye Chen, Qiyuan Chen

{"title":"Positioning Obstacle Avoidance Control of AGV with no Local Minimum Problem via Safety LOS Guidance","authors":"Yuanpei Ding, Pengfei Zhang, Ye Chen, Qiyuan Chen","doi":"10.1109/CACRE58689.2023.10209021","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10209021","url":null,"abstract":"This paper studies the positioning and obstacle avoidance control of automated guided vehicles (AGV). First, we have established the kinematics model for AGV by equivalent the obstacle to a circle. Different from the conventional obstacle avoidance methods, we use the polar coordinate method to express the obstacle position. Second, for the presented AGV system, we propose a safety heading angle base on the Line of sight (LOS) method. Unlike the traditional LOS method, this paper introduces the tangent angle of the circle formed by AGV and obstacles as the guidance of LOS. Therefore, AGV's heading will not be toward obstacles to achieve obstacle avoidance control. Then, to ensure that AGVs reach the target point, we propose a positioning heading angle that can achieve obstacle avoidance based on the above safety guidance algorithm. Compared with the traditional artificial potential field (APF) obstacle avoidance method, the proposed method has no misalignment of the balance point. Finally, experiments are conducted using a ROS-based AGV experimental platform to demonstrate the algorithm's feasibility. The experimental results show that the algorithm can effectively solve the problem of misalignment of target points in the traditional artificial potential field algorithm.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131227846","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