The resonant frequency drift can be widely found in the application of ultrasonic transducer, which would reduce the work efficiency and destroy circuit components. In order to solve this problem, an automatic frequency tracking system based on FPGA is developed. The system makes use of fast Fourier transform (FFT) combined with fuzzy proportional-integral-derivative (PID) algorithm. Then, a frequency-tracking strategy is proposed to catch the optimal working frequency. The upper computer software is used to control and monitor the whole system, which is more convenient for various application scenarios. It is proven that the tracking of resonant frequency of the ultrasonic transducer can be achieved quickly and accurately. Furthermore, the main advantage of the design system is miniature, versatility and high stability. Finally, the effectiveness of proposed system is validated by an experimental example.
{"title":"Designed of Automatic Frequency Tracking System for Ultrasound Based on FPGA","authors":"Guiqing Liu, Jianru Liang, K. Yuan","doi":"10.1145/3366194.3366212","DOIUrl":"https://doi.org/10.1145/3366194.3366212","url":null,"abstract":"The resonant frequency drift can be widely found in the application of ultrasonic transducer, which would reduce the work efficiency and destroy circuit components. In order to solve this problem, an automatic frequency tracking system based on FPGA is developed. The system makes use of fast Fourier transform (FFT) combined with fuzzy proportional-integral-derivative (PID) algorithm. Then, a frequency-tracking strategy is proposed to catch the optimal working frequency. The upper computer software is used to control and monitor the whole system, which is more convenient for various application scenarios. It is proven that the tracking of resonant frequency of the ultrasonic transducer can be achieved quickly and accurately. Furthermore, the main advantage of the design system is miniature, versatility and high stability. Finally, the effectiveness of proposed system is validated by an experimental example.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129636584","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}
Xin Yuan, Jiakang Zou, Lining Sun, Huicong Liu, Guoqing Jin
Soft robots are designed to interact safely with their environment and move through narrow place in a way a rigid robot cannot. In order for the soft robot to be completely soft, it should consist of as more as soft component. In this paper, a PneuNet soft robot imitating bionic caterpillar are fabricated. In addition, the soft tactile sensor and curvature sensor consisted of silicon rubber and liquid metal are made and characterized. The soft robot combine with the sensors to realize the external environment perception and motion detection. The soft robot can adaptively crawl across different height channel without complex control and can measure the height of the channel.
{"title":"Soft tactile sensor and curvature sensor for caterpillar-like soft robot's adaptive motion","authors":"Xin Yuan, Jiakang Zou, Lining Sun, Huicong Liu, Guoqing Jin","doi":"10.1145/3366194.3366318","DOIUrl":"https://doi.org/10.1145/3366194.3366318","url":null,"abstract":"Soft robots are designed to interact safely with their environment and move through narrow place in a way a rigid robot cannot. In order for the soft robot to be completely soft, it should consist of as more as soft component. In this paper, a PneuNet soft robot imitating bionic caterpillar are fabricated. In addition, the soft tactile sensor and curvature sensor consisted of silicon rubber and liquid metal are made and characterized. The soft robot combine with the sensors to realize the external environment perception and motion detection. The soft robot can adaptively crawl across different height channel without complex control and can measure the height of the channel.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122002781","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}
At present, carbon fiber composites (CFRP) are increasingly used in aerospace and automotive applications. Compared with traditional aluminum alloy, high strength steel and glass fiber composite materials, carbon fiber composite (CFRP) reduce weight and strength advantage is more obvious. In the domestic market, although some industrial robots have realized the application of carbon fiber composite materials in some parts, they are still in the stage of prototypes and developed products. This paper introduces the technical status of carbon fiber composites (CFRP) and the methods of composite processing and connection processes, as well as recommendations for application on industrial robots.
{"title":"Application of carbon fiber composite materials in the field of industrial robots","authors":"Xiang Lan, Xiaoyu Zhao","doi":"10.1145/3366194.3366249","DOIUrl":"https://doi.org/10.1145/3366194.3366249","url":null,"abstract":"At present, carbon fiber composites (CFRP) are increasingly used in aerospace and automotive applications. Compared with traditional aluminum alloy, high strength steel and glass fiber composite materials, carbon fiber composite (CFRP) reduce weight and strength advantage is more obvious. In the domestic market, although some industrial robots have realized the application of carbon fiber composite materials in some parts, they are still in the stage of prototypes and developed products. This paper introduces the technical status of carbon fiber composites (CFRP) and the methods of composite processing and connection processes, as well as recommendations for application on industrial robots.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122023764","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}
A mobile parallel mechanism with multiple motion modes is proposed which is to adapt to unstructured terrain environment. Firstly, the degree of freedom is analyzed based on screw theory. Secondly, kinematic analysis is conducted for the varied-width straight-line mode to obtain the velocity Jacobian matrix. Stiffness analysis is conducted based on the velocity Jacobian matrix to obtain the stiffness performance under different widths of straight-line mode. Finally, the ratio of the instantaneous motion power at the output of the mechanism to the instantaneous input power at the input is used as the evaluation index of the mechanism motion/force transmission efficiency. The motion/force transmission efficiency is analyzed in the variable width mode, and the transmission efficiency in the straight line mode with different widths is obtained. By comparing the stiffness performance and the motion/force transfer efficiency of the straight mode with different widths, it can be concluded that the mechanism has the best performance in mode d, with high bearing capacity and moving capacity.
{"title":"A performance analysis of a mobile parallel mechanism with multi-motion mode","authors":"Xinxing Jiang, Chunyan Zhang, Xiangyu Liu, Mingjuan Xie","doi":"10.1145/3366194.3366263","DOIUrl":"https://doi.org/10.1145/3366194.3366263","url":null,"abstract":"A mobile parallel mechanism with multiple motion modes is proposed which is to adapt to unstructured terrain environment. Firstly, the degree of freedom is analyzed based on screw theory. Secondly, kinematic analysis is conducted for the varied-width straight-line mode to obtain the velocity Jacobian matrix. Stiffness analysis is conducted based on the velocity Jacobian matrix to obtain the stiffness performance under different widths of straight-line mode. Finally, the ratio of the instantaneous motion power at the output of the mechanism to the instantaneous input power at the input is used as the evaluation index of the mechanism motion/force transmission efficiency. The motion/force transmission efficiency is analyzed in the variable width mode, and the transmission efficiency in the straight line mode with different widths is obtained. By comparing the stiffness performance and the motion/force transfer efficiency of the straight mode with different widths, it can be concluded that the mechanism has the best performance in mode d, with high bearing capacity and moving capacity.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116185415","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}
The Optical Character Recognition (OCR) technology is widely used in intelligent identification of bank cards, since it can improve the work efficiency and user experience in mobile payment. Conventional methods have the problems of low recognition rate and location accuracy. Therefore, an automatic location and recognition method for bank card number is proposed. Firstly, novel Connected Text Proposal Network (CTPN) algorithm is improved to locate the bank card number. Then, the Convolutional Recurrent Neural Networks (CRNN) algorithm is optimized to identify the card number. Some experimental results show that the method has a high positioning accuracy and recognition rate.
{"title":"An Automatic Location and Recognition Method for Bank Card Number","authors":"Yuanxue Xin, P. Shi, Song Han","doi":"10.1145/3366194.3366325","DOIUrl":"https://doi.org/10.1145/3366194.3366325","url":null,"abstract":"The Optical Character Recognition (OCR) technology is widely used in intelligent identification of bank cards, since it can improve the work efficiency and user experience in mobile payment. Conventional methods have the problems of low recognition rate and location accuracy. Therefore, an automatic location and recognition method for bank card number is proposed. Firstly, novel Connected Text Proposal Network (CTPN) algorithm is improved to locate the bank card number. Then, the Convolutional Recurrent Neural Networks (CRNN) algorithm is optimized to identify the card number. Some experimental results show that the method has a high positioning accuracy and recognition rate.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122335348","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}
In this paper, a three-dimensional orthogonal cutting model of Abaqus thermal stress coupling is established for TC4 titanium alloy. Displacement excitation is applied to X-axis and Y-axis to form ultrasonic elliptical vibration cutting (UEVC). The influence of tool parameters such as rake angle and clearance angle on cutting force and cutting temperature is studied by single factor method in this process. The results show that when the rake angle of the tool exceeds 32°, the cutting force and temperature of the tool increase sharply, which has a essential impact on the service life of the tool. Therefore, it is vital to control the rake angle of the tool less than 32° for prolonging the service life of the tool when turning titanium alloy. The cutting force and the cutting temperature increase with the increase of tool rake angle and decrease with the increase of tool clearance angle. The results provide a reference for choosing the geometric angles of the tool for ultrasonic elliptical vibration turning of titanium alloy.
{"title":"Three-dimensional simulation of tool parameters for ultrasonic elliptical vibration turning of titanium alloy","authors":"Jiaxin Chen, Minliang Zhang","doi":"10.1145/3366194.3366253","DOIUrl":"https://doi.org/10.1145/3366194.3366253","url":null,"abstract":"In this paper, a three-dimensional orthogonal cutting model of Abaqus thermal stress coupling is established for TC4 titanium alloy. Displacement excitation is applied to X-axis and Y-axis to form ultrasonic elliptical vibration cutting (UEVC). The influence of tool parameters such as rake angle and clearance angle on cutting force and cutting temperature is studied by single factor method in this process. The results show that when the rake angle of the tool exceeds 32°, the cutting force and temperature of the tool increase sharply, which has a essential impact on the service life of the tool. Therefore, it is vital to control the rake angle of the tool less than 32° for prolonging the service life of the tool when turning titanium alloy. The cutting force and the cutting temperature increase with the increase of tool rake angle and decrease with the increase of tool clearance angle. The results provide a reference for choosing the geometric angles of the tool for ultrasonic elliptical vibration turning of titanium alloy.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123818737","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}
In this paper, we focus on a bicycle robot, and discussed the topic how to keep the robot's lateral balance by steering. Firstly, we proposed a dynamical model for the robot by Chaplygin Equation. The proposed model suggests that there should be 3 independent general velocities and 2 driving torques in the system. With the model, we presents a controller for regulating the lateral rolling angle of the bicycle robot by using Global Terminal Sliding Mode Control methodology. As a summary, by taking into account the disturbance of the leaning angle of the frame and the driving velocity of the actuated front-wheel, numerical simulations were seriously performed in Matlab/Simulink, and the results validate the correctness of our dynamical model and the effectiveness of our control algorithm.
{"title":"Research on the Lateral Balance Control of a Bicycle Robot","authors":"W. Zhuang, Ruixin Zhang, X. Su, Yonghua Huang","doi":"10.1145/3366194.3366328","DOIUrl":"https://doi.org/10.1145/3366194.3366328","url":null,"abstract":"In this paper, we focus on a bicycle robot, and discussed the topic how to keep the robot's lateral balance by steering. Firstly, we proposed a dynamical model for the robot by Chaplygin Equation. The proposed model suggests that there should be 3 independent general velocities and 2 driving torques in the system. With the model, we presents a controller for regulating the lateral rolling angle of the bicycle robot by using Global Terminal Sliding Mode Control methodology. As a summary, by taking into account the disturbance of the leaning angle of the frame and the driving velocity of the actuated front-wheel, numerical simulations were seriously performed in Matlab/Simulink, and the results validate the correctness of our dynamical model and the effectiveness of our control algorithm.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126718031","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}
The spacing strategy is the basis of the adaptive cruise control strategy, it plays an important role in the design of the ACC system. It requires us to allocate the car spacing according to the environment in which the vehicle is traveling, and improve the utilization of the road under the premise of ensuring driving safety. The fixed-pitch spacing strategy is not suitable for complex driving environments, while the variable spacing strategy has certain disadvantages in terms of stability and security. This paper combines the advantages of nonlinear spacing strategy, improves the VTH strategy based on the previous studies, and verifies the convergence of the improved model through mathematical analysis. Finally, the simulation models were built in matlab environment, and the five classics folowing-control states of ACC were simulated. The simulated results have verified the effectiveness of the improved model.
{"title":"An Improved Variable Time Headway Strategy For ACC","authors":"Zhongshun Jiang, Huanhuan Zhang, Bo Yang","doi":"10.1145/3366194.3366246","DOIUrl":"https://doi.org/10.1145/3366194.3366246","url":null,"abstract":"The spacing strategy is the basis of the adaptive cruise control strategy, it plays an important role in the design of the ACC system. It requires us to allocate the car spacing according to the environment in which the vehicle is traveling, and improve the utilization of the road under the premise of ensuring driving safety. The fixed-pitch spacing strategy is not suitable for complex driving environments, while the variable spacing strategy has certain disadvantages in terms of stability and security. This paper combines the advantages of nonlinear spacing strategy, improves the VTH strategy based on the previous studies, and verifies the convergence of the improved model through mathematical analysis. Finally, the simulation models were built in matlab environment, and the five classics folowing-control states of ACC were simulated. The simulated results have verified the effectiveness of the improved model.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126769414","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}
Automatic parking technology is the research trend in auto area in recent years. The parking algorithm is usually decomposed into two parts: path planning with geometrical method and path following. Actually, many papers have contributed on improving the performance of automatic parking algorithm. Among the existing algorithms, the jerks of curvature at some reference path points are hard to be avoided. The problem increases the difficulty of tracking. In path tracking, the simple proportion-integration-differential(PID) controller can not meet the requirements on high precision and stability. Therefore, this paper aims at generating smooth trajectories and tracking them precisely and stably. Firstly, the proposed algorithm utilizes circular arcs to obtain initial reference parking paths in view of passable constraints like slots' boundaries and road boundaries. Secondly, the algorithm chooses appropriate Bezier curves to ease the jerks at path joints. Finally, the controller based on model predictive control(MPC) is designed for path tracking. The automatic parking algorithm is verified in MATLAB and vehicle dynamics simulation software PreScan. Simulation results show that the proposed algorithm is feasible and efficient.
{"title":"A Feasible Parking Algorithm in Form of Path Planning and Following","authors":"Yuwen Qin, Fuqiang Liu, Ping Wang","doi":"10.1145/3366194.3366196","DOIUrl":"https://doi.org/10.1145/3366194.3366196","url":null,"abstract":"Automatic parking technology is the research trend in auto area in recent years. The parking algorithm is usually decomposed into two parts: path planning with geometrical method and path following. Actually, many papers have contributed on improving the performance of automatic parking algorithm. Among the existing algorithms, the jerks of curvature at some reference path points are hard to be avoided. The problem increases the difficulty of tracking. In path tracking, the simple proportion-integration-differential(PID) controller can not meet the requirements on high precision and stability. Therefore, this paper aims at generating smooth trajectories and tracking them precisely and stably. Firstly, the proposed algorithm utilizes circular arcs to obtain initial reference parking paths in view of passable constraints like slots' boundaries and road boundaries. Secondly, the algorithm chooses appropriate Bezier curves to ease the jerks at path joints. Finally, the controller based on model predictive control(MPC) is designed for path tracking. The automatic parking algorithm is verified in MATLAB and vehicle dynamics simulation software PreScan. Simulation results show that the proposed algorithm is feasible and efficient.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127614582","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}
The paper takes the vehicle side door latch as the research background. Based on the mechanism schematic diagram of the lock/unlock branch mechanism, the installation method of the torsion spring with variable axis is analyzed. The linkage with torsion spring is abstracted as a four-bar linkage with torque in the revolute joint and its kinematic singularity is analyzed. The dynamics model of the mechanism is established and simulated, and the kinematic property of the mechanism under three different operating modes is analyzed. The results show that the deformation and torque of the torsion spring at the singular configuration are the largest when the mechanism moves between the left and right limit blocks, and the fast switching phenomenon occurs when the mechanism reaches the singular configuration. It only takes the mechanism 0.33s to move from the singular configuration to one limit position. This study provides some reference value for the analysis and application of the revolute joint with torsion spring.
{"title":"Research on Four-bar Linkage with Variable Axis Torsion Spring for Vehicle Latch Lock/Unlock","authors":"Sulong Li, Lubin Hang, Mingyuan Wang, Lele Bai, Xiaobo Huang, Huiyu Deng, Zhe Liu, Yong Chen, Yong Hua, Jinliang Du","doi":"10.1145/3366194.3366221","DOIUrl":"https://doi.org/10.1145/3366194.3366221","url":null,"abstract":"The paper takes the vehicle side door latch as the research background. Based on the mechanism schematic diagram of the lock/unlock branch mechanism, the installation method of the torsion spring with variable axis is analyzed. The linkage with torsion spring is abstracted as a four-bar linkage with torque in the revolute joint and its kinematic singularity is analyzed. The dynamics model of the mechanism is established and simulated, and the kinematic property of the mechanism under three different operating modes is analyzed. The results show that the deformation and torque of the torsion spring at the singular configuration are the largest when the mechanism moves between the left and right limit blocks, and the fast switching phenomenon occurs when the mechanism reaches the singular configuration. It only takes the mechanism 0.33s to move from the singular configuration to one limit position. This study provides some reference value for the analysis and application of the revolute joint with torsion spring.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130464763","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}
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