Aiming at the problem of water environmental garbage cleaning, this paper based on RRT* planning algorithm, combined with artificial potential field method to improve the path planning algorithm, to achieve the obstacle avoidance path planning of cleaning equipment. In the process of water area garbage cleaning, the cleaning equipment not only needs to avoid obstacles, but also is affected by current resistance in the process of moving. Therefore, the resistance during the moving process of the cleaning device is denoted as the potential field partial repulsion force, and the potential field function is introduced into the algorithm sampling process, so as to solve the problems of blind node expansion and slow convergence rate of RRT* algorithm itself. In addition, the fixed step size in the sampling process is changed to the dynamic step size, which makes the path obtained by RRT* algorithm smoother. Finally, the simulation based on MA TLAB verifies the feasibility and effectiveness of the improved algorithm.
{"title":"Improved RRT* path planning algorithm based on artificial potential field method","authors":"Huimin Chen, Peilin Dou, Zhen Wang, Huizhong Zhang","doi":"10.1109/WCMEIM56910.2022.10021548","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021548","url":null,"abstract":"Aiming at the problem of water environmental garbage cleaning, this paper based on RRT* planning algorithm, combined with artificial potential field method to improve the path planning algorithm, to achieve the obstacle avoidance path planning of cleaning equipment. In the process of water area garbage cleaning, the cleaning equipment not only needs to avoid obstacles, but also is affected by current resistance in the process of moving. Therefore, the resistance during the moving process of the cleaning device is denoted as the potential field partial repulsion force, and the potential field function is introduced into the algorithm sampling process, so as to solve the problems of blind node expansion and slow convergence rate of RRT* algorithm itself. In addition, the fixed step size in the sampling process is changed to the dynamic step size, which makes the path obtained by RRT* algorithm smoother. Finally, the simulation based on MA TLAB verifies the feasibility and effectiveness of the improved algorithm.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122411989","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 : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021545
Shilong Lv, Zenghui Liu
Stepping motor has the advantages of simple control, accurate positioning, no accumulated error and low rotor inertia. Stepping motor has a very bright performance in the field of automation, which has obvious propulsion effect on the formation of mechatronics system. After using the stepping motor, the error of the motor is reduced, and the positioning of the motor is more accurate. At the same time, combining the stepping motor with PLC can significantly enhance the advantages of the stepping motor. In this paper, the stepping motor based on PLC control is the main research topic. On the hardware design of the system, the design is made from the following aspects: the selection of PLC model, I/O points of input and output, the principle of automatic control and control circuit. In the software design of the system, the control program of the system is analyzed to ensure that the design requirements are met, and it has certain practical application value.
{"title":"Step Motor Control Based on PLC","authors":"Shilong Lv, Zenghui Liu","doi":"10.1109/WCMEIM56910.2022.10021545","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021545","url":null,"abstract":"Stepping motor has the advantages of simple control, accurate positioning, no accumulated error and low rotor inertia. Stepping motor has a very bright performance in the field of automation, which has obvious propulsion effect on the formation of mechatronics system. After using the stepping motor, the error of the motor is reduced, and the positioning of the motor is more accurate. At the same time, combining the stepping motor with PLC can significantly enhance the advantages of the stepping motor. In this paper, the stepping motor based on PLC control is the main research topic. On the hardware design of the system, the design is made from the following aspects: the selection of PLC model, I/O points of input and output, the principle of automatic control and control circuit. In the software design of the system, the control program of the system is analyzed to ensure that the design requirements are met, and it has certain practical application value.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122547563","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 : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021525
Wen-Zhong Liu, Lu Wang, S. Guo, Da-Rong Huang
In the process of observer designing of descriptor systems, some system transformations are usually used to transform the descriptor systems into standard normal ones. However, some originally observable systems are not observable after these system transformations. For some standard normal systems with unknown interference, descriptor system form is also often constructed to design observers by using an augmented state vector. And the observability is also not always keeping in the latter transformations. The loss of observability will lead to a wrong observer, and usually it is inapparent. An extra constraint is added into the transformation matrices, and the observability can be guaranteed. Furthermore, the calculate process of the matrices is given. Two examples are shown to illustrate the correctness and the effectiveness of the presented methods.
{"title":"Observability Keeping in Observer Design of Descriptor System and Its Form","authors":"Wen-Zhong Liu, Lu Wang, S. Guo, Da-Rong Huang","doi":"10.1109/WCMEIM56910.2022.10021525","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021525","url":null,"abstract":"In the process of observer designing of descriptor systems, some system transformations are usually used to transform the descriptor systems into standard normal ones. However, some originally observable systems are not observable after these system transformations. For some standard normal systems with unknown interference, descriptor system form is also often constructed to design observers by using an augmented state vector. And the observability is also not always keeping in the latter transformations. The loss of observability will lead to a wrong observer, and usually it is inapparent. An extra constraint is added into the transformation matrices, and the observability can be guaranteed. Furthermore, the calculate process of the matrices is given. Two examples are shown to illustrate the correctness and the effectiveness of the presented methods.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122619860","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 : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021354
H. Wen
The application of construction machinery is an important technical condition to ensure the development of industrialization. The stability of its equipment operation is a necessary condition to maintain industrial production efficiency. In the application of construction machinery, the use of hydraulic system is more frequent, because the hydraulic system in the long-term use often appear various problems, which needs to strengthen the fault diagnosis and maintenance technology of the hydraulic system of construction machinery, in order to make it in a good working state. This paper introduces the working characteristics and fault types of hydraulic system of construction machinery, lists the diagnosis methods of hydraulic system fault, and puts forward the specific application of hydraulic system fault maintenance technology.
{"title":"Fault Diagnosis and Maintenance Techniques for Hydraulic System of Common Construction Machinery","authors":"H. Wen","doi":"10.1109/WCMEIM56910.2022.10021354","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021354","url":null,"abstract":"The application of construction machinery is an important technical condition to ensure the development of industrialization. The stability of its equipment operation is a necessary condition to maintain industrial production efficiency. In the application of construction machinery, the use of hydraulic system is more frequent, because the hydraulic system in the long-term use often appear various problems, which needs to strengthen the fault diagnosis and maintenance technology of the hydraulic system of construction machinery, in order to make it in a good working state. This paper introduces the working characteristics and fault types of hydraulic system of construction machinery, lists the diagnosis methods of hydraulic system fault, and puts forward the specific application of hydraulic system fault maintenance technology.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133300424","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 : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021357
Li Zhaobo, Wang Xinzui
Tinnitus is a global challenge with high prevalence and low cure rates, and its clinical examination process is complex and extremely difficult, and there is a lack of a quick and easy way to diagnose objectively. In this study, we found the difference in the mean power spectral density (mPSD) of electroencephalography (EEG) signals between tinnitus patients and healthy people, and realized the classification of tinnitus locations by extracting the connectivity features of the brain. The feature factor with the best classification accuracy was the connectivity feature the Pearson correlation coefficient (PCC), with an accuracy of 99.42%, and the Phase locking value (PLV) also performed well. The experimental conclusions demonstrate that EEG signals can be used as biomarkers to identify the location of tinnitus, and can provide clinicians with a new objective diagnostic strategy.
{"title":"Intelligent diagnosis of tinnitus using electroencephalography","authors":"Li Zhaobo, Wang Xinzui","doi":"10.1109/WCMEIM56910.2022.10021357","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021357","url":null,"abstract":"Tinnitus is a global challenge with high prevalence and low cure rates, and its clinical examination process is complex and extremely difficult, and there is a lack of a quick and easy way to diagnose objectively. In this study, we found the difference in the mean power spectral density (mPSD) of electroencephalography (EEG) signals between tinnitus patients and healthy people, and realized the classification of tinnitus locations by extracting the connectivity features of the brain. The feature factor with the best classification accuracy was the connectivity feature the Pearson correlation coefficient (PCC), with an accuracy of 99.42%, and the Phase locking value (PLV) also performed well. The experimental conclusions demonstrate that EEG signals can be used as biomarkers to identify the location of tinnitus, and can provide clinicians with a new objective diagnostic strategy.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133447650","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 plans to develop MSP430, using low-power wake-up technology, carrying sensors for real-time underwater temperature profile measurement and CT hydrological data collection, and develop an environmental monitoring buoy suitable for polar ice area. It has the capability of low power consumption and long endurance, and has the redundancy to choose to carry a variety of sensors. Relying on China's polar scientific investigation, the buoy successfully completed the field test, which is a beneficial attempt to innovate the polar ice area observation technology in China.
{"title":"Polar Environment Monitoring Buoy Based on MSP430 MCU","authors":"Feng Zhang, Musheng Lan, Yinke Dou, Jianfeng He, Zhirui Xing","doi":"10.1109/WCMEIM56910.2022.10021565","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021565","url":null,"abstract":"This paper plans to develop MSP430, using low-power wake-up technology, carrying sensors for real-time underwater temperature profile measurement and CT hydrological data collection, and develop an environmental monitoring buoy suitable for polar ice area. It has the capability of low power consumption and long endurance, and has the redundancy to choose to carry a variety of sensors. Relying on China's polar scientific investigation, the buoy successfully completed the field test, which is a beneficial attempt to innovate the polar ice area observation technology in China.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131996158","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 : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021361
Chun-Hsu Chen, Zhaopeng Qiu
In a specific scene, a robot is needed, which can complete the obstacle pile layout task in the fastest time. This paper proposes a software and hardware system design scheme based on the research status at home and abroad. It is verified by practice that it can not only complete the obstacle placement task accurately, but also complete it with high efficiency and accuracy in a short time. The robot design in this paper needs efficient algorithm of line patrol and precise debugging of sensors.
{"title":"Design and Implementation of an Autonomous Line Patrol and Obstacle Distribution Robot","authors":"Chun-Hsu Chen, Zhaopeng Qiu","doi":"10.1109/WCMEIM56910.2022.10021361","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021361","url":null,"abstract":"In a specific scene, a robot is needed, which can complete the obstacle pile layout task in the fastest time. This paper proposes a software and hardware system design scheme based on the research status at home and abroad. It is verified by practice that it can not only complete the obstacle placement task accurately, but also complete it with high efficiency and accuracy in a short time. The robot design in this paper needs efficient algorithm of line patrol and precise debugging of sensors.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134195237","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 : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021348
Wei Mo, Xueming Du, Shun Liu, Sun Jin
Numerical control(NC) rotary table is the core part of the machining center. Due to the existence of multi-source deviation and multi-point assembly of the same part in the assembly of the rotary table, the tolerance chains are more complex, and the assembly result depends on workers to correct during installation at site, resulting in low efficiency and low assembly accuracy. A three-dimensional tolerance modeling method was established based on the Jacobian-Torsor theory. A parallel assembly model was established under multi-point assembly, and the relationship between various deviation sources and assembly deviations is obtained. The contribution of each dimension chain error to the total error is obtained by Monte Carlo analysis, which provides a basis for the designer to allocate tolerance. After several times of iteration procedure, the calculated FR meets the threshold required for product assembly. This method can effectively improve the efficiency of assembly.
{"title":"Tolerance analysis and allocation of precision rotary table based on Jacobian-Torsor statistical model","authors":"Wei Mo, Xueming Du, Shun Liu, Sun Jin","doi":"10.1109/WCMEIM56910.2022.10021348","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021348","url":null,"abstract":"Numerical control(NC) rotary table is the core part of the machining center. Due to the existence of multi-source deviation and multi-point assembly of the same part in the assembly of the rotary table, the tolerance chains are more complex, and the assembly result depends on workers to correct during installation at site, resulting in low efficiency and low assembly accuracy. A three-dimensional tolerance modeling method was established based on the Jacobian-Torsor theory. A parallel assembly model was established under multi-point assembly, and the relationship between various deviation sources and assembly deviations is obtained. The contribution of each dimension chain error to the total error is obtained by Monte Carlo analysis, which provides a basis for the designer to allocate tolerance. After several times of iteration procedure, the calculated FR meets the threshold required for product assembly. This method can effectively improve the efficiency of assembly.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114879602","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 : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021374
Zaichao Sun, Hanliang Fang, Chaosheng Chou, Fufu Yang, Jun Zhang
Numerical control (NC) system is the core functional module of 5-axis machining devices. The paper presents a dispersing NC system for a novel hybrid machining robot. For this purpose., three issues are clarified., i.e. the architecture., the control strategy and the software of NC system. Firstly., by adopting a multi-axis motion control unit (MCU)., the architecture of a dispersing NC system is designed. Secondly., a control strategy is presented based on tool-path smooth algorithms., kinematics model and kinematic calibration method. By embedding above control strategy., a post-processing software and a human-machine interaction (HMI) software are developed. Finally., a NC system is developed to construct a hybrid machining robot system. A set of kinematic accuracy tests and machining tests are carried out to verify the feasibility of the developed NC system.
{"title":"Design and Development of a Numerical Control System for a Hybrid Machining Robot","authors":"Zaichao Sun, Hanliang Fang, Chaosheng Chou, Fufu Yang, Jun Zhang","doi":"10.1109/WCMEIM56910.2022.10021374","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021374","url":null,"abstract":"Numerical control (NC) system is the core functional module of 5-axis machining devices. The paper presents a dispersing NC system for a novel hybrid machining robot. For this purpose., three issues are clarified., i.e. the architecture., the control strategy and the software of NC system. Firstly., by adopting a multi-axis motion control unit (MCU)., the architecture of a dispersing NC system is designed. Secondly., a control strategy is presented based on tool-path smooth algorithms., kinematics model and kinematic calibration method. By embedding above control strategy., a post-processing software and a human-machine interaction (HMI) software are developed. Finally., a NC system is developed to construct a hybrid machining robot system. A set of kinematic accuracy tests and machining tests are carried out to verify the feasibility of the developed NC system.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125049982","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 : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021569
Shuo Wang, Ruihua Chen, Zhiming Huang, Han Jing, Xisen Wang
The normal operation of substation equipment requires higher ground settlement and differential settlement. This paper combines BeiDou high-precision positioning technology with InSAR technology, and proposes BeiDou+PS-InSAR technology to realize the monitoring of substation geological subsidence. This paper first uses BeiDou high-precision positioning technology to obtain the characteristic information of substation geological deformation displacement, and then analyzes the trend and law of substation geological deformation. Secondly, the phase of PS target is modeled and solved by using PS-INSAR technology, the nonlinear deformation, atmospheric delay and the phase of orbit error is separated by space-time filtering method. Finally, the deformation time series at each PS point can be obtained by superposing linear and nonlinear deformation. The BeiDou+PS-InSAR technology proposed in this paper can continuously monitor the high risk points of geological subsidence in substations in real time and give early warning when geological anomalies occur in substations.
{"title":"Beidou+PS-InSAR Technology for Substation Geological Subsidence Monitoring and Early Warning Research","authors":"Shuo Wang, Ruihua Chen, Zhiming Huang, Han Jing, Xisen Wang","doi":"10.1109/WCMEIM56910.2022.10021569","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021569","url":null,"abstract":"The normal operation of substation equipment requires higher ground settlement and differential settlement. This paper combines BeiDou high-precision positioning technology with InSAR technology, and proposes BeiDou+PS-InSAR technology to realize the monitoring of substation geological subsidence. This paper first uses BeiDou high-precision positioning technology to obtain the characteristic information of substation geological deformation displacement, and then analyzes the trend and law of substation geological deformation. Secondly, the phase of PS target is modeled and solved by using PS-INSAR technology, the nonlinear deformation, atmospheric delay and the phase of orbit error is separated by space-time filtering method. Finally, the deformation time series at each PS point can be obtained by superposing linear and nonlinear deformation. The BeiDou+PS-InSAR technology proposed in this paper can continuously monitor the high risk points of geological subsidence in substations in real time and give early warning when geological anomalies occur in substations.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123054434","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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