In order to make the multi-joint robotic robot trajectory tracking control system resource-saving and reliable, an event-triggered control scheme based on feedback linearized sliding mode controller (FLSMC) is proposed. To improve the system robustness to unknown disturbances, the FLSMC is presented by adding sliding mode surface to the feedback linearization algorithm. And to avoiding the redundancy in control signal generation, the event-triggering condition is developed by introducing the event-triggered control frame, the control signal is updated only when the condition is satisfied, It is no longer necessary to generate fixed periodic signal frequently at each sampling time. The stability of the event-triggered FLSMC trajectory tracking control system and no Zeno behaviours in the system are proved. The event triggered scheme guarantees the trajectory hits the sliding manifold and remains ultimately bounded; the theoretical results are verified by simulation tests, the frequency of the communication and computation are reduced observably.
{"title":"Event Triggered Feedback Linearization Sliding Mode Control for Trajectory Tracking by Multi-joint Robotic Manipulator","authors":"Jie Zhang, Aihua Zhang, Qian Qian","doi":"10.1145/3366194.3366201","DOIUrl":"https://doi.org/10.1145/3366194.3366201","url":null,"abstract":"In order to make the multi-joint robotic robot trajectory tracking control system resource-saving and reliable, an event-triggered control scheme based on feedback linearized sliding mode controller (FLSMC) is proposed. To improve the system robustness to unknown disturbances, the FLSMC is presented by adding sliding mode surface to the feedback linearization algorithm. And to avoiding the redundancy in control signal generation, the event-triggering condition is developed by introducing the event-triggered control frame, the control signal is updated only when the condition is satisfied, It is no longer necessary to generate fixed periodic signal frequently at each sampling time. The stability of the event-triggered FLSMC trajectory tracking control system and no Zeno behaviours in the system are proved. The event triggered scheme guarantees the trajectory hits the sliding manifold and remains ultimately bounded; the theoretical results are verified by simulation tests, the frequency of the communication and computation are reduced observably.","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":"134455336","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 designs a novel and practical 3D reconstruction system for large scale objects, where we make use of one 3D scanner, two guide rails, and one high precise motion control system based on PLC (Programmable Logic Controller) module. Two guide rails are parallel. The 3D scanner, used to reconstruct partial sections, is installed on the guide rails and uniformly moved by motion control system. The partial reconstructions are aligned according to uniform motion. The performance and effectiveness are evaluated by experiments. Compared with similar methods, our method has its advantages.
{"title":"Scanning-based 3D reconstruction of large-scale objects","authors":"Suqin Bai, Jinlong Shi, Qijie Ge, Zhaohui Tian","doi":"10.1145/3366194.3366298","DOIUrl":"https://doi.org/10.1145/3366194.3366298","url":null,"abstract":"This paper designs a novel and practical 3D reconstruction system for large scale objects, where we make use of one 3D scanner, two guide rails, and one high precise motion control system based on PLC (Programmable Logic Controller) module. Two guide rails are parallel. The 3D scanner, used to reconstruct partial sections, is installed on the guide rails and uniformly moved by motion control system. The partial reconstructions are aligned according to uniform motion. The performance and effectiveness are evaluated by experiments. Compared with similar methods, our method has its advantages.","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":"115758138","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, drones are rapidly developing in the aviation industry and are applied to all aspects of life. However, letting drones autonomously avoid obstacles is still the focus of research by aviation scholars at this stage. However, the current automation is mostly based on human experience to determine the obstacle avoidance strategy of UAV. And the method only rely on the machine to avoid obstacle is very few. In this paper, the UAV collect visual and distance sensor information to make autonomous obstacle avoidance decision through the deep reinforcement learning algorithm, and the algorithm is tested in the v-rep simulation environment.
{"title":"Real-time obstacle avoidance with deep reinforcement learning Three-Dimensional Autonomous Obstacle Avoidance for UAV","authors":"Songyue Yang, Z. Meng, Xuzhi Chen, Ronglei Xie","doi":"10.1145/3366194.3366251","DOIUrl":"https://doi.org/10.1145/3366194.3366251","url":null,"abstract":"At present, drones are rapidly developing in the aviation industry and are applied to all aspects of life. However, letting drones autonomously avoid obstacles is still the focus of research by aviation scholars at this stage. However, the current automation is mostly based on human experience to determine the obstacle avoidance strategy of UAV. And the method only rely on the machine to avoid obstacle is very few. In this paper, the UAV collect visual and distance sensor information to make autonomous obstacle avoidance decision through the deep reinforcement learning algorithm, and the algorithm is tested in the v-rep simulation environment.","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":"123299914","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 multi-axis motion system(MMS) includes optoelectronic packaging system and CNC machine tools, the quality of which mainly rely on the precision of its controlling system. The distribution and influential ability of errors in this system needs high consideration to address the precision improvement problem. This issue has become more complex due to their strict high-accuracy requirements. It is therefore increasingly important to characterize the interaction between the precision and configuration setting of MMS. In this paper, the methodology of the analytical procedures for configuration order is raised and the configuration order is highly concerned, by the proposal of the definitions of single chain and double chain, the configuration setting is analyzed systematically. By using control variate method, each motion unit and the ground unit has been developed. The tables describe the relationship between geometric errors and configuration order has been partially listed. These tables can be utilized in configuration selection and precision improvement on MMS.
{"title":"Geometric error based Configuration order selection for precision improvement in multi-axis motion system","authors":"Hao Tang, Ziling Zhang","doi":"10.1145/3366194.3366272","DOIUrl":"https://doi.org/10.1145/3366194.3366272","url":null,"abstract":"The multi-axis motion system(MMS) includes optoelectronic packaging system and CNC machine tools, the quality of which mainly rely on the precision of its controlling system. The distribution and influential ability of errors in this system needs high consideration to address the precision improvement problem. This issue has become more complex due to their strict high-accuracy requirements. It is therefore increasingly important to characterize the interaction between the precision and configuration setting of MMS. In this paper, the methodology of the analytical procedures for configuration order is raised and the configuration order is highly concerned, by the proposal of the definitions of single chain and double chain, the configuration setting is analyzed systematically. By using control variate method, each motion unit and the ground unit has been developed. The tables describe the relationship between geometric errors and configuration order has been partially listed. These tables can be utilized in configuration selection and precision improvement on MMS.","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":"127116621","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 effect of friction stir process (FSP) parameters on the microstructure and mechanical properties of AM60B magnesium alloy was investigated in this paper. The alloy was friction stir processed with rotation speed of 1600 rpm and three traverse speeds of 100 mm/min, 200 mm/min and 300mm/min. FSP results in remarkable homogeneous microstructure and grain refinement of the AM60B magnesium alloy. With the traverse speed increasing, the average grain size decreases in the stir zone (SZ). The Vikers hardness of SZs in all FSPed samples is higher than that of the base material (BM). Higher FSP traverse speed resulted in coefficient of friction of 0.012 and wear rate of 0.008 mg/m, and in the load 80 N and sliding velocity 0.2 m/s, the wear mechanism is mainly abrasion wear in all samples.
{"title":"The microstructure, hardness and friction and wear behavior of AM60B magnesium alloy by friction stir processing","authors":"Nannan Wang, Lijie Cao, Kai Yin","doi":"10.1145/3366194.3366207","DOIUrl":"https://doi.org/10.1145/3366194.3366207","url":null,"abstract":"The effect of friction stir process (FSP) parameters on the microstructure and mechanical properties of AM60B magnesium alloy was investigated in this paper. The alloy was friction stir processed with rotation speed of 1600 rpm and three traverse speeds of 100 mm/min, 200 mm/min and 300mm/min. FSP results in remarkable homogeneous microstructure and grain refinement of the AM60B magnesium alloy. With the traverse speed increasing, the average grain size decreases in the stir zone (SZ). The Vikers hardness of SZs in all FSPed samples is higher than that of the base material (BM). Higher FSP traverse speed resulted in coefficient of friction of 0.012 and wear rate of 0.008 mg/m, and in the load 80 N and sliding velocity 0.2 m/s, the wear mechanism is mainly abrasion wear in all samples.","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":"126330186","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}
Due to the advantages of soft material actuators, the soft material actuators become the important elements in automatic robots in recent years. The bending stiffness in the driving direction is an important parameter for pneumatic soft actuator, which directly affects the mechanical properties, like bending angle and deformation ability. In this study, a composite filament rectangular soft actuator (FRSA) is designed. The bending stiffness in the driving direction is variable as the actuator parameters are changed and such FRSA actuator can be used to adjust bending stiffness. The influences on bending stiffness from the material parameters and charged compressed air are studied experimentally. Experiments are carried out at variable filament diameters, cover ratios, inner wall thicknesses and compressed air pressures. The experimental data show that the bending stiffness increases with the increment of filament cover ratio. However, when the cover ratio is larger than 85%, the bending stiffness tends to be stable. At the same cover ratio, the bending stiffness of FRSA increases firstly and then decreases with the increment of the filament diameter. The composite filament actuator with larger cover ratio is more sensitive to the compressed air pressure, and its bending stiffness increases rapidly with the increment of the air pressure. Particularly, the actuator with 100% cover ratio gets the bending stiffness of 26.4 N/m at 120 kPa, which is 21% higher than that without compressed air.
{"title":"Experimental Study on Bending Stiffness of a Soft Pneumatic Filament-polymer Actuator","authors":"Shoucheng Zhu, Zhonghua Guo, Chen Ji","doi":"10.1145/3366194.3366304","DOIUrl":"https://doi.org/10.1145/3366194.3366304","url":null,"abstract":"Due to the advantages of soft material actuators, the soft material actuators become the important elements in automatic robots in recent years. The bending stiffness in the driving direction is an important parameter for pneumatic soft actuator, which directly affects the mechanical properties, like bending angle and deformation ability. In this study, a composite filament rectangular soft actuator (FRSA) is designed. The bending stiffness in the driving direction is variable as the actuator parameters are changed and such FRSA actuator can be used to adjust bending stiffness. The influences on bending stiffness from the material parameters and charged compressed air are studied experimentally. Experiments are carried out at variable filament diameters, cover ratios, inner wall thicknesses and compressed air pressures. The experimental data show that the bending stiffness increases with the increment of filament cover ratio. However, when the cover ratio is larger than 85%, the bending stiffness tends to be stable. At the same cover ratio, the bending stiffness of FRSA increases firstly and then decreases with the increment of the filament diameter. The composite filament actuator with larger cover ratio is more sensitive to the compressed air pressure, and its bending stiffness increases rapidly with the increment of the air pressure. Particularly, the actuator with 100% cover ratio gets the bending stiffness of 26.4 N/m at 120 kPa, which is 21% higher than that without compressed air.","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":"122113958","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 studies the workspace of a 2-PUR-PRPR parallel mechanism with 3 degrees of freedom. According to the design, the SolidWorks three-dimensional modeling software is used to model the workspace. The three-dimensional model is calculated by screw theory. The relative fixed platform of the mechanism has two degrees of freedom of movement and one degree of freedom of rotation. According to this mechanism, the moving platform has two degrees of freedom and one degree of freedom of rotation. The closed-loop vector equation is established to obtain the inverse analytical solution of the mechanism. On the basis of the inverse analytical solution, the working space of the mechanism is obtained by the spatial geometric analytical method. The analysis results show that the mechanism has the advantages of large travel range, large turning angle range of the moving platform and simple control. The research and development of large stroke and large rotation mechanism lays a certain theoretical foundation.
{"title":"Workspace Analysis of a Three-Degree-of-Freedom 2-PUR-PRPR Parallel Mechanism","authors":"Fei Dong, Yong-xiu Xu, Yan Wang","doi":"10.1145/3366194.3366231","DOIUrl":"https://doi.org/10.1145/3366194.3366231","url":null,"abstract":"This paper studies the workspace of a 2-PUR-PRPR parallel mechanism with 3 degrees of freedom. According to the design, the SolidWorks three-dimensional modeling software is used to model the workspace. The three-dimensional model is calculated by screw theory. The relative fixed platform of the mechanism has two degrees of freedom of movement and one degree of freedom of rotation. According to this mechanism, the moving platform has two degrees of freedom and one degree of freedom of rotation. The closed-loop vector equation is established to obtain the inverse analytical solution of the mechanism. On the basis of the inverse analytical solution, the working space of the mechanism is obtained by the spatial geometric analytical method. The analysis results show that the mechanism has the advantages of large travel range, large turning angle range of the moving platform and simple control. The research and development of large stroke and large rotation mechanism lays a certain theoretical foundation.","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":"122169595","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}
Based on ABAQUS, a 3D finite element analysis model of damage of composite laminates under low-speed impact was established. By writing VUMAT subroutine, this paper uses strain-based 3d Hashin failure criterion to judge fiber failure. The bilinear stiffness degradation scheme based on fracture toughness of fiber constitutive model is adopted for stiffness reduction. This paper uses cohesive element to simulate the area between the layers. Traditional stress failure criterion and strain energy release rate was used to analyze the initiation and evolution of delamination damage. The effects of different stiffness degradation schemes on the response of laminated plates under low velocity impact are analyzed in this paper.
{"title":"The impact response of composite laminates based on fracture toughness stiffness degradation","authors":"Hao Yuan, Xiaoyu Zhao","doi":"10.1145/3366194.3366250","DOIUrl":"https://doi.org/10.1145/3366194.3366250","url":null,"abstract":"Based on ABAQUS, a 3D finite element analysis model of damage of composite laminates under low-speed impact was established. By writing VUMAT subroutine, this paper uses strain-based 3d Hashin failure criterion to judge fiber failure. The bilinear stiffness degradation scheme based on fracture toughness of fiber constitutive model is adopted for stiffness reduction. This paper uses cohesive element to simulate the area between the layers. Traditional stress failure criterion and strain energy release rate was used to analyze the initiation and evolution of delamination damage. The effects of different stiffness degradation schemes on the response of laminated plates under low velocity impact are analyzed in this paper.","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":"114487419","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}
For achieving accurate detection of greenhouse planting environment and obtaining agricultural information such as illumination and air conditions, a multi-node greenhouse environment information collection system was designed combining environment information integrated sensor fusion technology and Internet of Thing technology. The experimental results show that the system is stable in operation, and the collected environmental information data has high precision, which can better detect greenhouse plantations and provide reliable environmental information data.
{"title":"Design and Implementation of Multi-node Environmental Information Acquisition System","authors":"Tianci Chen, Lixue Zhu, Genping Fu, Weifeng Huang, Chenyu Yang, Chao Li","doi":"10.1145/3366194.3366312","DOIUrl":"https://doi.org/10.1145/3366194.3366312","url":null,"abstract":"For achieving accurate detection of greenhouse planting environment and obtaining agricultural information such as illumination and air conditions, a multi-node greenhouse environment information collection system was designed combining environment information integrated sensor fusion technology and Internet of Thing technology. The experimental results show that the system is stable in operation, and the collected environmental information data has high precision, which can better detect greenhouse plantations and provide reliable environmental information data.","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":"126771714","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}
Mechanical equipment has become the main force of social production and its exist makes production and engineering increasingly efficient. However, behind these advantages, there are hidden dangers. Once mechanical equipment goes wrong, the fault will affect production progress or the life safety of the people. It seems that the fault diagnosis of mechanical equipment is particularly important. In many rotating machinery, rolling bearings are widely used. If the early fault diagnosis can be offered to rolling bearing, then a lot of economic loss and personnel casualties will be avoided. Advocating the efficient security is an integral part to the modernization of engineering work. To define the fault type as soon as possible, this paper denoises the fault signal of rolling bearing by the KSVD dictionary learning algorithm, then the signal will be diagnosised by the BP neural network..
{"title":"Fault diagnosis of rolling bearing based on k-svd dictionary learning algorithm and BP Neural Network","authors":"Ruxiao Zhang, Yu Fang, Zhifeng Zhou","doi":"10.1145/3366194.3366254","DOIUrl":"https://doi.org/10.1145/3366194.3366254","url":null,"abstract":"Mechanical equipment has become the main force of social production and its exist makes production and engineering increasingly efficient. However, behind these advantages, there are hidden dangers. Once mechanical equipment goes wrong, the fault will affect production progress or the life safety of the people. It seems that the fault diagnosis of mechanical equipment is particularly important. In many rotating machinery, rolling bearings are widely used. If the early fault diagnosis can be offered to rolling bearing, then a lot of economic loss and personnel casualties will be avoided. Advocating the efficient security is an integral part to the modernization of engineering work. To define the fault type as soon as possible, this paper denoises the fault signal of rolling bearing by the KSVD dictionary learning algorithm, then the signal will be diagnosised by the BP neural network..","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":"129016060","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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