Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164528
Yang Li, N. Wang, N. Lu, Xiuli Wang, Bin Jiang
To avoid the insulation-based fault problem caused by the large slip loss of the brushless doubly-fed machine (BDFM), this paper proposes a dual electrical port slip vector control method that can effectively reduce the slip loss. Firstly, this paper introduces the mathematical model of the BDFM, then introduces the working principle of dual electrical port operation, then designs the slip frequency vector controller according to the rotor field orientation, and at the same time gives the realization of the control system necessary condition. Finally, the control algorithm in this paper is compared with the control algorithm under single electrical port. The results show the advantage of the dual electrical port control method and its robustness when there are deviations in parameters.
{"title":"Research on a Novel Control Method for Effectively Reducing Slip Loss Applied to Brushless Doubly-fed Machine","authors":"Yang Li, N. Wang, N. Lu, Xiuli Wang, Bin Jiang","doi":"10.1109/ISAS59543.2023.10164528","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164528","url":null,"abstract":"To avoid the insulation-based fault problem caused by the large slip loss of the brushless doubly-fed machine (BDFM), this paper proposes a dual electrical port slip vector control method that can effectively reduce the slip loss. Firstly, this paper introduces the mathematical model of the BDFM, then introduces the working principle of dual electrical port operation, then designs the slip frequency vector controller according to the rotor field orientation, and at the same time gives the realization of the control system necessary condition. Finally, the control algorithm in this paper is compared with the control algorithm under single electrical port. The results show the advantage of the dual electrical port control method and its robustness when there are deviations in parameters.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134211885","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}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164522
Cheng Fei, Jun Shen
Real-time and accurate fault diagnosis for permanent magnet synchronous motor (PMSM) is crucial because interturn short fault (ISF) can disrupt its normal operation. This paper establishes different levels of ISF in Maxwell software to obtain PMSM’s operation data under various working conditions. Wavelet packet transform (WPT) is employed to denoise the original signal, and the preprocessed data is trained using a probabilistic neural network (PNN). By optimizing the PNN with grey wolf optimizer (GWO), a GWO-PNN model is obtained. The experiment shows that the GWO-PNN has higher diagnostic accuracy than PNN.
{"title":"PMSM Interturn Short Fault Diagnosis Based on WPT and GWO-PNN","authors":"Cheng Fei, Jun Shen","doi":"10.1109/ISAS59543.2023.10164522","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164522","url":null,"abstract":"Real-time and accurate fault diagnosis for permanent magnet synchronous motor (PMSM) is crucial because interturn short fault (ISF) can disrupt its normal operation. This paper establishes different levels of ISF in Maxwell software to obtain PMSM’s operation data under various working conditions. Wavelet packet transform (WPT) is employed to denoise the original signal, and the preprocessed data is trained using a probabilistic neural network (PNN). By optimizing the PNN with grey wolf optimizer (GWO), a GWO-PNN model is obtained. The experiment shows that the GWO-PNN has higher diagnostic accuracy than PNN.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"173 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133832533","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}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164424
Y. Zhang, Daxin Xin, Ming-yuan Yang, Shaohua Xu, Chuhan Wang
To address the problem that the artificial potential field method (APF) is easy to fall into local minima in the path planning of dual robotic arms, a path planning method combining the improved APF and the advanced Rapidly expanding random trees (RRT) algorithm is proposed. method. First, the sewing machine device is used as the research object to model the robotic arm as well as analyze its positive kinematics; second, the workspace of the double robotic arm is analyzed, the enclosing box model is used to simplify the robotic arm as well as the obstacles, and the collision detection of the linkage of the double robotic arm is performed; then, the improved APF is used to plan the path of the main robotic arm and the dynamic obstacles of the sub-robotic arm are used to plan the path of the slave The improved APF algorithm is then used to plan the path of the main robot arm, and it is used as the dynamic obstacle of the sub-robot arm to plan the path of the sub-robot arm, and the advanced RRT algorithm is used to escape from the point when the sub-robot arm enters the local minimal point, and after that, the improved APF algorithm is continued to plan the remaining path; finally, the improved algorithm is simulated in MATLAB, and the simulation results show that the improved algorithm can complete the path planning of the double robot arm more quickly and stably compared with the traditional algorithm.
{"title":"Research on Dual Robotic Arm Path Planning Based on Steering Wheel Sewing Device","authors":"Y. Zhang, Daxin Xin, Ming-yuan Yang, Shaohua Xu, Chuhan Wang","doi":"10.1109/ISAS59543.2023.10164424","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164424","url":null,"abstract":"To address the problem that the artificial potential field method (APF) is easy to fall into local minima in the path planning of dual robotic arms, a path planning method combining the improved APF and the advanced Rapidly expanding random trees (RRT) algorithm is proposed. method. First, the sewing machine device is used as the research object to model the robotic arm as well as analyze its positive kinematics; second, the workspace of the double robotic arm is analyzed, the enclosing box model is used to simplify the robotic arm as well as the obstacles, and the collision detection of the linkage of the double robotic arm is performed; then, the improved APF is used to plan the path of the main robotic arm and the dynamic obstacles of the sub-robotic arm are used to plan the path of the slave The improved APF algorithm is then used to plan the path of the main robot arm, and it is used as the dynamic obstacle of the sub-robot arm to plan the path of the sub-robot arm, and the advanced RRT algorithm is used to escape from the point when the sub-robot arm enters the local minimal point, and after that, the improved APF algorithm is continued to plan the remaining path; finally, the improved algorithm is simulated in MATLAB, and the simulation results show that the improved algorithm can complete the path planning of the double robot arm more quickly and stably compared with the traditional algorithm.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"720 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133464213","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}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164495
Chuanrui Wang, Zhenchong Liu, Fengxue Cao
This note considers the distributed fuzzy consensus control of a kind of uncertain second-order nonlinear multiagent systems (MASs). By combining the fuzzy approximation approach with variable separation method, an adaptive distributed control scheme is proposed according to the relative local state message. The proposed adaptive distributed fuzzy protocol guarantees that the closed system is uniformly ultimte bounded, and consensus error can be constructed arbitrarily small. The effectiveness of this protocol is verified by applying it to the problem of ship heading-keeping control problem.
{"title":"Distributed fuzzy consensus control of second-order nonlinear systems with application to ship heading-keeping control","authors":"Chuanrui Wang, Zhenchong Liu, Fengxue Cao","doi":"10.1109/ISAS59543.2023.10164495","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164495","url":null,"abstract":"This note considers the distributed fuzzy consensus control of a kind of uncertain second-order nonlinear multiagent systems (MASs). By combining the fuzzy approximation approach with variable separation method, an adaptive distributed control scheme is proposed according to the relative local state message. The proposed adaptive distributed fuzzy protocol guarantees that the closed system is uniformly ultimte bounded, and consensus error can be constructed arbitrarily small. The effectiveness of this protocol is verified by applying it to the problem of ship heading-keeping control problem.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126976066","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}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164405
Xiaoyu Li, Yongrong Sun, Zhenshu Yang
Smart agriculture is the inevitable way for the development of modern agriculture. The current smart agricultural system has many problems such as multiple links, a huge amount of data information, low transmission efficiency, and poor system integrity. To solve the issues above, in this paper, we build a smart agriculture Internet of Things (IoT) System based on Unmanned Aerial Vehicles (UAVs), which attempts to complete the selection of agricultural plant protection UAVs and mapping UAVs. Meanwhile, the intelligent sensing layer, transmission layer, application layer and execution layer are designed to achieve the acquisition, processing, and analysis of soil moisture data, meteorological data, photosynthetically active radiation data, total solar radiation data, and insect data. The construction of the UAVs-based smart agricultural IoT system is thus completed. Finally, the experimental data results illustrate that the data accuracy error of this system is quite small and can fulfill the usage requirements.
{"title":"UAVs-Based Smart Agriculture IoT Systems: An Application-Oriented Design","authors":"Xiaoyu Li, Yongrong Sun, Zhenshu Yang","doi":"10.1109/ISAS59543.2023.10164405","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164405","url":null,"abstract":"Smart agriculture is the inevitable way for the development of modern agriculture. The current smart agricultural system has many problems such as multiple links, a huge amount of data information, low transmission efficiency, and poor system integrity. To solve the issues above, in this paper, we build a smart agriculture Internet of Things (IoT) System based on Unmanned Aerial Vehicles (UAVs), which attempts to complete the selection of agricultural plant protection UAVs and mapping UAVs. Meanwhile, the intelligent sensing layer, transmission layer, application layer and execution layer are designed to achieve the acquisition, processing, and analysis of soil moisture data, meteorological data, photosynthetically active radiation data, total solar radiation data, and insect data. The construction of the UAVs-based smart agricultural IoT system is thus completed. Finally, the experimental data results illustrate that the data accuracy error of this system is quite small and can fulfill the usage requirements.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123019017","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}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164595
Tianjian Hou, Jun Zhou
An improved remodeling and feedback control approach for nonlinear systems with single input (SI) based on equilibrium manifold expansion (EME) is re-visited. More precisely, the modeling mismatch of the EME model with respect to the nonlinear system is derived and examined carefully, while selection of gain scheduling parameters is explained and validated. In particular, parametrization of the nonlinear feedback controller based on EME is derived in details. Finally, feasibility and accuracy of the remodeling approach and the suggested feedback controller are illustrated by numerical simulations.
{"title":"Feedback Control Based on Equilibrium Manifold Expansion Remodeling of SI Nonlinear Systems","authors":"Tianjian Hou, Jun Zhou","doi":"10.1109/ISAS59543.2023.10164595","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164595","url":null,"abstract":"An improved remodeling and feedback control approach for nonlinear systems with single input (SI) based on equilibrium manifold expansion (EME) is re-visited. More precisely, the modeling mismatch of the EME model with respect to the nonlinear system is derived and examined carefully, while selection of gain scheduling parameters is explained and validated. In particular, parametrization of the nonlinear feedback controller based on EME is derived in details. Finally, feasibility and accuracy of the remodeling approach and the suggested feedback controller are illustrated by numerical simulations.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123117354","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}
Pub Date : 2023-06-23DOI: 10.1109/isas59543.2023.10164413
{"title":"ISAS 2023 Cover Page","authors":"","doi":"10.1109/isas59543.2023.10164413","DOIUrl":"https://doi.org/10.1109/isas59543.2023.10164413","url":null,"abstract":"","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132504798","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}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164604
Yuan Zhao, Xuegang Yan, Shixi Wen, Mengchao Li, Huazhi Sun
New technologies about connected and automated vehicles (CAVs) and the rapid development of wireless communication technologies promote research on unsignalized intersection coordination. Through vehicle-to-vehicle and vehicle-to-infrastructure communication, CAVs can cooperatively pass through the signal-free intersection safely and efficiently. But previous studies focus more on avoiding collisions and improving intersection throughput, ignoring the experience of drivers. In this paper, we consider from the driver’s point of view, and give priority to the following three evaluation indices: driving comfort, fuel economy and travel time, which are calculated quantificationally in the simulation part. In addition, to ensure safety and passing through synchronously, we divide the collision-free constraints into two parts: rear-end collision avoidance and lateral collision avoidance, which are satisfied by using this plain way. On this basis, we propose a new driver-friendly cooperative control method to handle the signal-free intersection coordination problem. Finally, we conduct comprehensive experiments, and the simulation results demonstrate the effect and the superiority of the proposed method.
{"title":"A Driver-Friendly Cooperative Control Method for Connected and Automated Vehicles at An Unsignalized Intersection","authors":"Yuan Zhao, Xuegang Yan, Shixi Wen, Mengchao Li, Huazhi Sun","doi":"10.1109/ISAS59543.2023.10164604","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164604","url":null,"abstract":"New technologies about connected and automated vehicles (CAVs) and the rapid development of wireless communication technologies promote research on unsignalized intersection coordination. Through vehicle-to-vehicle and vehicle-to-infrastructure communication, CAVs can cooperatively pass through the signal-free intersection safely and efficiently. But previous studies focus more on avoiding collisions and improving intersection throughput, ignoring the experience of drivers. In this paper, we consider from the driver’s point of view, and give priority to the following three evaluation indices: driving comfort, fuel economy and travel time, which are calculated quantificationally in the simulation part. In addition, to ensure safety and passing through synchronously, we divide the collision-free constraints into two parts: rear-end collision avoidance and lateral collision avoidance, which are satisfied by using this plain way. On this basis, we propose a new driver-friendly cooperative control method to handle the signal-free intersection coordination problem. Finally, we conduct comprehensive experiments, and the simulation results demonstrate the effect and the superiority of the proposed method.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132564272","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}
Reflective material is one of the most popular materials in modern indoor and outdoor decoration because of its incredible light transmission performance, good sound insulation performance, pretty appearance and ease to clean. However, the laser sensor which is the mainstream senor used by robot to percept environment is incapable to detect transparent or reflective objects correctly. It leads that the robot can’t localize itself and generate map accurately, thus leads to serious consequence that the robot may have a collision in its working environment. There is a very real need for an approach to detect reflective material in robot working environment. This paper reviews most approaches to overcome drawback of detecting reflective material in SLAM and classifies them into three groups, namely, laser senor information only approaches, multi-sensor information-fusion approaches and artificial intelligence-based approaches. It can be a useful reference for researchers who will work in this field in the future.
{"title":"A Survey on Recent Reflective Detection Methods in Simultaneous Localization and Mapping for Robot Applications","authors":"Qian Mo, Yuhuai Zhou, Xiaolei Zhao, Xinglin Quan, Yihua Chen","doi":"10.1109/ISAS59543.2023.10164614","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164614","url":null,"abstract":"Reflective material is one of the most popular materials in modern indoor and outdoor decoration because of its incredible light transmission performance, good sound insulation performance, pretty appearance and ease to clean. However, the laser sensor which is the mainstream senor used by robot to percept environment is incapable to detect transparent or reflective objects correctly. It leads that the robot can’t localize itself and generate map accurately, thus leads to serious consequence that the robot may have a collision in its working environment. There is a very real need for an approach to detect reflective material in robot working environment. This paper reviews most approaches to overcome drawback of detecting reflective material in SLAM and classifies them into three groups, namely, laser senor information only approaches, multi-sensor information-fusion approaches and artificial intelligence-based approaches. It can be a useful reference for researchers who will work in this field in the future.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130776472","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}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164333
Chaohu Liu, Yunbo Zhao
Reinforcement learning algorithms have attained noteworthy accomplishments in the field of continuous control. One of the classic algorithms in continuous control, the DDPG algorithm, is widely used and has been shown to be susceptible to overestimation. Following this, the TD3 algorithm was introduced, which integrated the notion of double DQN. TD3 takes into account the minimum value between a pair of critics to restrict overestimation. Nevertheless, TD3 may lead to an underestimation bias. To mitigate the impact of errors, we present a novel approach by integrating Swap Softmax with TD3, which can counterbalance the extreme values. We assess the efficacy of our proposed technique on continuous control tasks that are simulated by MuJoCo and provided by OpenAI Gym. Our experimental findings demonstrate a significant enhancement in the performance and robustness.
{"title":"Swap Softmax Twin Delayed Deep Deterministic Policy Gradient","authors":"Chaohu Liu, Yunbo Zhao","doi":"10.1109/ISAS59543.2023.10164333","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164333","url":null,"abstract":"Reinforcement learning algorithms have attained noteworthy accomplishments in the field of continuous control. One of the classic algorithms in continuous control, the DDPG algorithm, is widely used and has been shown to be susceptible to overestimation. Following this, the TD3 algorithm was introduced, which integrated the notion of double DQN. TD3 takes into account the minimum value between a pair of critics to restrict overestimation. Nevertheless, TD3 may lead to an underestimation bias. To mitigate the impact of errors, we present a novel approach by integrating Swap Softmax with TD3, which can counterbalance the extreme values. We assess the efficacy of our proposed technique on continuous control tasks that are simulated by MuJoCo and provided by OpenAI Gym. Our experimental findings demonstrate a significant enhancement in the performance and robustness.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130875104","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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