A new single-phase II-type 5-level inverter for robot motor drive is presented in this paper. The topology with a reverse coupled inductor applies only four active power switches to achieve 5-level output, which is suitable for multilevel power inversion. Compared with traditional inverters used in motor servo drive system, the power loss and cost of the output filter inductor are reduced, and the conversion efficiency is enhanced, and the basic multi-level inverter topology are improved. The operation scenario with sinusoidal pulse width modulation (SPWM) is described in details. A simulation model and a prototype were built to verify the multilevel output under the SPWM modulation strategy.
{"title":"Operation Analysis of a new II-Type 5-Level Inverter for Robot Motor Drive","authors":"Li Cheng, Lixue Zhu, Yanshen Hu","doi":"10.1145/3366194.3366329","DOIUrl":"https://doi.org/10.1145/3366194.3366329","url":null,"abstract":"A new single-phase II-type 5-level inverter for robot motor drive is presented in this paper. The topology with a reverse coupled inductor applies only four active power switches to achieve 5-level output, which is suitable for multilevel power inversion. Compared with traditional inverters used in motor servo drive system, the power loss and cost of the output filter inductor are reduced, and the conversion efficiency is enhanced, and the basic multi-level inverter topology are improved. The operation scenario with sinusoidal pulse width modulation (SPWM) is described in details. A simulation model and a prototype were built to verify the multilevel output under the SPWM modulation strategy.","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":"115119292","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}
Wenlong Zhao, Tao He, Abdou Yahouza M. Sani, Tingting Yao
Simultaneous Localization and Mapping (SLAM) is an important method for autonomous positioning and navigation of robots. SLAM application in underwater area has become an active field of research. Firstly, this paper presents the research status of SLAM technology follow by its application on underwater vehicles. Then, the implementation methods and main difficulties of underwater SLAM are explained. Finally, the research trend of underwater SLAM in the future is discussed.
{"title":"Review of SLAM Techniques For Autonomous Underwater Vehicles","authors":"Wenlong Zhao, Tao He, Abdou Yahouza M. Sani, Tingting Yao","doi":"10.1145/3366194.3366262","DOIUrl":"https://doi.org/10.1145/3366194.3366262","url":null,"abstract":"Simultaneous Localization and Mapping (SLAM) is an important method for autonomous positioning and navigation of robots. SLAM application in underwater area has become an active field of research. Firstly, this paper presents the research status of SLAM technology follow by its application on underwater vehicles. Then, the implementation methods and main difficulties of underwater SLAM are explained. Finally, the research trend of underwater SLAM in the future is discussed.","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":"116630717","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}
Xue Chen, Zhenlong Liu, Ming Zhong, Xin Liu, Peng Song
In the loan business, the bank needs to conduct credit assessment on customers to reduce the loan risk. How to assess personal credit has become a problem which is worth studying. In the traditional credit assessment methods, logistic regression, decision tree, random forest, and other methods were often used to conduct credit assessment for individuals. In recent years, a new machine learning method, LightGBM [1] has also been used in credit assessment and achieved good results. In the models mentioned above, the problem of sparse categorical features and dense numerical features of the credit assessment data set is not solved yet. DeepGBM[2] proposed by Guolin Ke, Zhenhui Xu* and Jia Zhang can solve the problem of credit assessment data set very well. Therefore, our research adopted the latest deep learning framework DeepGBM. The deep learning framework of DeepGBM consists of two parts, CatNN, and GBDT2NN, which are used to deal with sparse categorical features and dense numerical features, respectively. This paper used a data set from Kaggle: Home Credit Default Risk. We had conducted several different experimental methods on this data set. The final results of these experiments demonstrate that the performance of DeepGBM is better than other models.
{"title":"A Deep Learning Approach Using DeepGBM for Credit Assessment","authors":"Xue Chen, Zhenlong Liu, Ming Zhong, Xin Liu, Peng Song","doi":"10.1145/3366194.3366333","DOIUrl":"https://doi.org/10.1145/3366194.3366333","url":null,"abstract":"In the loan business, the bank needs to conduct credit assessment on customers to reduce the loan risk. How to assess personal credit has become a problem which is worth studying. In the traditional credit assessment methods, logistic regression, decision tree, random forest, and other methods were often used to conduct credit assessment for individuals. In recent years, a new machine learning method, LightGBM [1] has also been used in credit assessment and achieved good results. In the models mentioned above, the problem of sparse categorical features and dense numerical features of the credit assessment data set is not solved yet. DeepGBM[2] proposed by Guolin Ke, Zhenhui Xu* and Jia Zhang can solve the problem of credit assessment data set very well. Therefore, our research adopted the latest deep learning framework DeepGBM. The deep learning framework of DeepGBM consists of two parts, CatNN, and GBDT2NN, which are used to deal with sparse categorical features and dense numerical features, respectively. This paper used a data set from Kaggle: Home Credit Default Risk. We had conducted several different experimental methods on this data set. The final results of these experiments demonstrate that the performance of DeepGBM is better than other models.","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":"116786637","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 IGBT drive circuit using the optocoupler has a simple structure and low cost, and is very suitable for driving medium and low power IGBT modules. However, a common problem in the optocoupler drive circuit is the Miller effect problem in the process of the bridge arm being turned off. If the Miller effect is too large, high current will cause damage to the IGBT module caused by the second turn-on, and the protection capability of the circuit is weak. When a fault such as a short circuit occurs, the fault signal cannot be fed back in time to stop the operation. In order to solve this problem, a drive circuit based on ACPL-T350 optocoupler driver chip and its unipolar power supply power supply circuit and protection circuit are designed to effectively suppress the Miller effect and can be quickly protected in the event of a short circuit. The experimental results demonstrate the feasibility and correctness of the method.
{"title":"Design of IGBT Drive Protection Circuit Based on ACPL-T350","authors":"Xi Chen, Zhiping Wang","doi":"10.1145/3366194.3366299","DOIUrl":"https://doi.org/10.1145/3366194.3366299","url":null,"abstract":"The IGBT drive circuit using the optocoupler has a simple structure and low cost, and is very suitable for driving medium and low power IGBT modules. However, a common problem in the optocoupler drive circuit is the Miller effect problem in the process of the bridge arm being turned off. If the Miller effect is too large, high current will cause damage to the IGBT module caused by the second turn-on, and the protection capability of the circuit is weak. When a fault such as a short circuit occurs, the fault signal cannot be fed back in time to stop the operation. In order to solve this problem, a drive circuit based on ACPL-T350 optocoupler driver chip and its unipolar power supply power supply circuit and protection circuit are designed to effectively suppress the Miller effect and can be quickly protected in the event of a short circuit. The experimental results demonstrate the feasibility and correctness of the method.","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":"125702976","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 dynamic surface asymptotic tracking control problem is investigated for a class of uncertain nonlinear systems preceded by unknown backlash-like hysteresis. By introducing the new modified nonlinear filters, a novel adaptive control algorithm via dynamic surface approach is therefore proposed. Moreover, the compensating term is considered to compensate the boundary layer errors in the filters, which can improve the control performance. Then, the positive time-varying integral function of hysteresis and external disturbance is utilized to design a smooth adaptive controller. It is proved that the constructed controller can guarantee semi-global stability of the closed-loop system and makes the convergence of the tracking error to origin theoretically. Finally, simulation results for a second-order controlled system are conducted to illustrate the effectiveness of the proposed the scheme.
{"title":"Dynamic surface asymptotic tracking of uncertain nonlinear systems with backlash-like hysteresis","authors":"Lulu Liu, Y. Liu","doi":"10.1145/3366194.3366205","DOIUrl":"https://doi.org/10.1145/3366194.3366205","url":null,"abstract":"In this paper, a dynamic surface asymptotic tracking control problem is investigated for a class of uncertain nonlinear systems preceded by unknown backlash-like hysteresis. By introducing the new modified nonlinear filters, a novel adaptive control algorithm via dynamic surface approach is therefore proposed. Moreover, the compensating term is considered to compensate the boundary layer errors in the filters, which can improve the control performance. Then, the positive time-varying integral function of hysteresis and external disturbance is utilized to design a smooth adaptive controller. It is proved that the constructed controller can guarantee semi-global stability of the closed-loop system and makes the convergence of the tracking error to origin theoretically. Finally, simulation results for a second-order controlled system are conducted to illustrate the effectiveness of the proposed the scheme.","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":"127667377","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}
With the development of automation, Unmanned Vehicle will play a more and more important role in the future industrial production field, and omnidirectional wheeled robots will be widely used in mobile platforms. The omnidirectional AGV trolley has the unique characteristics that the ordinary wheeled mobile robot is irreplaceable, and has great significance and effect for exploring the free walking of the moving mechanism. This paper mainly describes the layout and principle of the omnidirectional moving mechanism based on the Mecanum wheel.
{"title":"Omnidirectional Mobile Robot Structure Design","authors":"Dawei Dong, Yu Fang, Zhifeng Zhou","doi":"10.1145/3366194.3366228","DOIUrl":"https://doi.org/10.1145/3366194.3366228","url":null,"abstract":"With the development of automation, Unmanned Vehicle will play a more and more important role in the future industrial production field, and omnidirectional wheeled robots will be widely used in mobile platforms. The omnidirectional AGV trolley has the unique characteristics that the ordinary wheeled mobile robot is irreplaceable, and has great significance and effect for exploring the free walking of the moving mechanism. This paper mainly describes the layout and principle of the omnidirectional moving mechanism based on the Mecanum wheel.","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":"128910639","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}
Aiming at the problems of traditional tracking, such as difficulty in deployment, low flexibility and high cost, this paper proposes and designs an automatic cruising car based on UWB positioning technology. The car adopts the Raspberry Pi 3B module as the core control unit, obtains the position through the UWB module, acquires the azimuth of the vehicle through the MPU9250 module, detects the obstacles in front through the ultrasonic sensor, and uses the incremental PID control algorithm to track the specified path. Different from the traditional way of laying magnetic needles and printing guide lines, position coordinate information is introduced in this design, and a series of coordinate points are used as the guiding path of the trolley. Tests show that the designed car can complete the function of automatic cruising according to the specified path, which has certain practical application value.
{"title":"Design of Automatic Cruise Car Based on UWB Positioning","authors":"Pengcheng Xu, Yuanming Gong, Jinyu Pan","doi":"10.1145/3366194.3366297","DOIUrl":"https://doi.org/10.1145/3366194.3366297","url":null,"abstract":"Aiming at the problems of traditional tracking, such as difficulty in deployment, low flexibility and high cost, this paper proposes and designs an automatic cruising car based on UWB positioning technology. The car adopts the Raspberry Pi 3B module as the core control unit, obtains the position through the UWB module, acquires the azimuth of the vehicle through the MPU9250 module, detects the obstacles in front through the ultrasonic sensor, and uses the incremental PID control algorithm to track the specified path. Different from the traditional way of laying magnetic needles and printing guide lines, position coordinate information is introduced in this design, and a series of coordinate points are used as the guiding path of the trolley. Tests show that the designed car can complete the function of automatic cruising according to the specified path, which has certain practical application value.","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":"124299360","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 order to develop a new knowledge discovery method with higher generalization ability, this paper proposes the generalized model of partial-ordered structure diagrams. This model is based on two philosophical methodologies: the concept driven methodology and the data driven methodology. In essence, the concept driven methodology is top-down principle, that is, the attributes representing object universality are put at the top of the structural partial-ordered diagram. While the data driven methodology is bottom-up principle in which the attributes representing object specificity are put at the top of the diagram. The method is described by the mathematical partial order theory and formal concept analysis theory. Finally, three concrete data sets are used as examples to generate diagrams. The generated diagrams can clearly reveal the knowledge implied in the complex data. It is proven that the proposed generation theory and the model constructed with partial-ordered diagrams have a good ability of generalization, and they are original methods which can be used in different domains for knowledge discovery.
{"title":"A New Method for Knowledge Discovery of Complex Data Based on Structural Partial-Ordered Theory","authors":"Shaoxiong Li, Xiaolei Zhang, Wenxue Hong","doi":"10.1145/3366194.3366203","DOIUrl":"https://doi.org/10.1145/3366194.3366203","url":null,"abstract":"In order to develop a new knowledge discovery method with higher generalization ability, this paper proposes the generalized model of partial-ordered structure diagrams. This model is based on two philosophical methodologies: the concept driven methodology and the data driven methodology. In essence, the concept driven methodology is top-down principle, that is, the attributes representing object universality are put at the top of the structural partial-ordered diagram. While the data driven methodology is bottom-up principle in which the attributes representing object specificity are put at the top of the diagram. The method is described by the mathematical partial order theory and formal concept analysis theory. Finally, three concrete data sets are used as examples to generate diagrams. The generated diagrams can clearly reveal the knowledge implied in the complex data. It is proven that the proposed generation theory and the model constructed with partial-ordered diagrams have a good ability of generalization, and they are original methods which can be used in different domains for knowledge discovery.","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":"121653652","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}
This paper takes the SCARA robot arm as the research object and establishes the three-dimensional model of the SCARA robot arm. The modal analysis is performed by ANSYS software to obtain the vibration characteristics of the SCARA robot arm. This paper analyzes the vibration characteristics of the arm to obtain the weakest part of the arm vibration. In addition, the validity of the modeling results is verified by comparing the experimental results with the modeling results. That is, the base of the SCARA robot arm has the largest deformation in vibration and the maximum amplitude of acceleration changes. Finally, the vibration passive control scheme is proposed for the weakest part of the vibration. We can slightly improve the deformation and amplitude by optimizing the cross-sectional shape of the SCARA robot arm. This study provides more effective theoretical and technical support for the design of the high-precision SCARA manipulator and the dynamic design, vibration and life extension and performance improvement of the SCARA manipulator under variable operating conditions.
{"title":"Vibration analysis and passive control of SCARA robot arm","authors":"Zhi Tang, Yingxuan Pan, Zhi Cheng","doi":"10.1145/3366194.3366210","DOIUrl":"https://doi.org/10.1145/3366194.3366210","url":null,"abstract":"This paper takes the SCARA robot arm as the research object and establishes the three-dimensional model of the SCARA robot arm. The modal analysis is performed by ANSYS software to obtain the vibration characteristics of the SCARA robot arm. This paper analyzes the vibration characteristics of the arm to obtain the weakest part of the arm vibration. In addition, the validity of the modeling results is verified by comparing the experimental results with the modeling results. That is, the base of the SCARA robot arm has the largest deformation in vibration and the maximum amplitude of acceleration changes. Finally, the vibration passive control scheme is proposed for the weakest part of the vibration. We can slightly improve the deformation and amplitude by optimizing the cross-sectional shape of the SCARA robot arm. This study provides more effective theoretical and technical support for the design of the high-precision SCARA manipulator and the dynamic design, vibration and life extension and performance improvement of the SCARA manipulator under variable operating conditions.","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":"130784256","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}
Air switch lights is a need to provide various types of light signals and issues alerts, and at the same time be able to provide products circuit ON/OFF function operation, the factory must be rigorous product testing; at present, domestic manufacturers still widely use artificial products in the test, there are problems of low degree of automation, which directly affects the test efficiency and accuracy; this paper describes the aviation switch lights factory test requirements basis and principle, designed a set based on PLC of test equipment for this conduct product testing, combined with prototype testing verification, has a good application prospects.
{"title":"Design and Implementation of Aviation Switch Signal Lamp Test Equipment","authors":"Q. Tao, Zhifeng Zhou","doi":"10.1145/3366194.3366314","DOIUrl":"https://doi.org/10.1145/3366194.3366314","url":null,"abstract":"Air switch lights is a need to provide various types of light signals and issues alerts, and at the same time be able to provide products circuit ON/OFF function operation, the factory must be rigorous product testing; at present, domestic manufacturers still widely use artificial products in the test, there are problems of low degree of automation, which directly affects the test efficiency and accuracy; this paper describes the aviation switch lights factory test requirements basis and principle, designed a set based on PLC of test equipment for this conduct product testing, combined with prototype testing verification, has a good application prospects.","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":"128717741","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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