Pub Date : 2018-05-01DOI: 10.1109/YAC.2018.8406398
Keyi Yu, Ting Zhu, Jilong Zhuang, Shaoyan Gai
Camera calibration is a significant process of image processing in computer vision. It is also an important approach for computers to reconstruct the three-dimensional world by 2D-images. Many factors are directly related to the accuracy of binocular camera calibration. We conduct a simulation experiment to study them. 3ds Max is used to produce images and Matlab Toolbox is for calibration. The results are analyzed to find the range of factors that minimizes the calibration error. Compared with classical method such as using real checkerboard, it does not require complex experimental instruments and can be repeated conveniently. Conclusion drawn from this experiment can help study in camera calibration when trying to set an initial value.
{"title":"Research on the factors affecting the accuracy of binocular camera calibration","authors":"Keyi Yu, Ting Zhu, Jilong Zhuang, Shaoyan Gai","doi":"10.1109/YAC.2018.8406398","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406398","url":null,"abstract":"Camera calibration is a significant process of image processing in computer vision. It is also an important approach for computers to reconstruct the three-dimensional world by 2D-images. Many factors are directly related to the accuracy of binocular camera calibration. We conduct a simulation experiment to study them. 3ds Max is used to produce images and Matlab Toolbox is for calibration. The results are analyzed to find the range of factors that minimizes the calibration error. Compared with classical method such as using real checkerboard, it does not require complex experimental instruments and can be repeated conveniently. Conclusion drawn from this experiment can help study in camera calibration when trying to set an initial value.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134584138","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 : 2018-05-01DOI: 10.1109/YAC.2018.8406404
Yajun Meng, Hao Yang, B. Jiang
This paper proposes a distributed nominal control methodology and an idea about the fault accommodation scheme for the planar robot manipulator with pseudoholonomic behavior. Because of the nonholonomic constraint of motion, planar robot manipulators are nonholonomic systems. The key novelty of our proposed method is that the control can be achieved by a continuous control law with pseudoholonomic behavior. Moreover, the proposed control method in this paper is a distributed law under which each subsystem only shares information with neighboring subsystems. An example for a planar multibody with 3 rigid bodies is taken to illustrate the effectiveness of the proposed method.
{"title":"Distributed control for robot manipulators with pseudoholonomic behavior","authors":"Yajun Meng, Hao Yang, B. Jiang","doi":"10.1109/YAC.2018.8406404","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406404","url":null,"abstract":"This paper proposes a distributed nominal control methodology and an idea about the fault accommodation scheme for the planar robot manipulator with pseudoholonomic behavior. Because of the nonholonomic constraint of motion, planar robot manipulators are nonholonomic systems. The key novelty of our proposed method is that the control can be achieved by a continuous control law with pseudoholonomic behavior. Moreover, the proposed control method in this paper is a distributed law under which each subsystem only shares information with neighboring subsystems. An example for a planar multibody with 3 rigid bodies is taken to illustrate the effectiveness of the proposed method.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133811391","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 : 2018-05-01DOI: 10.1109/YAC.2018.8406370
Bo Zhao, D. Yue
This paper proposes a novel nonlinear robust controller for a hexarotor unmanned aerial vehicle (UAV). The aircraft's attitude dynamic model is subject to system parametric uncertainties and unknown time-varying external disturbances. By utilizing the Lyapunov based stability theorem, the closed-loop attitude system is proved to be exponentially stable in tracking time-varying reference trajectories. Detailed numerical simulation results are provided to validate the control performance and effectiveness of the control strategy.
{"title":"Nonlinear robust attitude control development for a hexarotor unmanned aerial vehicle","authors":"Bo Zhao, D. Yue","doi":"10.1109/YAC.2018.8406370","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406370","url":null,"abstract":"This paper proposes a novel nonlinear robust controller for a hexarotor unmanned aerial vehicle (UAV). The aircraft's attitude dynamic model is subject to system parametric uncertainties and unknown time-varying external disturbances. By utilizing the Lyapunov based stability theorem, the closed-loop attitude system is proved to be exponentially stable in tracking time-varying reference trajectories. Detailed numerical simulation results are provided to validate the control performance and effectiveness of the control strategy.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125627409","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 : 2018-05-01DOI: 10.1109/YAC.2018.8406428
Fang Liu, Chen Niu, Yuxinag Yuan
High Frequencies (HF) is widely used in navigation wireless communication system. In this paper, we research the energy loss of HF propagating on clam sea. We divided it into three parts, namely, Loss by sea surface reflection, ionospheric losses and losses in free space. As for Loss by sea surface reflection, firstly, We ignore the effects of earth curvature on the transmission to simplify the model, then we add the earth curvature and obtain the energy loss of transmission of over the horizon; in the second part, we take the refraction and reflection in ionosphere into account; In the third part, with the basic theory, we draw the conclusion that the energy loss of radio waves transmitted in the free space is proportional to the distance and the radio frequency. we give the energy loss formula of the three parts.
{"title":"Radio waves propagate on the clam ocean surface","authors":"Fang Liu, Chen Niu, Yuxinag Yuan","doi":"10.1109/YAC.2018.8406428","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406428","url":null,"abstract":"High Frequencies (HF) is widely used in navigation wireless communication system. In this paper, we research the energy loss of HF propagating on clam sea. We divided it into three parts, namely, Loss by sea surface reflection, ionospheric losses and losses in free space. As for Loss by sea surface reflection, firstly, We ignore the effects of earth curvature on the transmission to simplify the model, then we add the earth curvature and obtain the energy loss of transmission of over the horizon; in the second part, we take the refraction and reflection in ionosphere into account; In the third part, with the basic theory, we draw the conclusion that the energy loss of radio waves transmitted in the free space is proportional to the distance and the radio frequency. we give the energy loss formula of the three parts.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134435381","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 : 2018-05-01DOI: 10.1109/YAC.2018.8406425
X. Huang, Yunzhi Huang
The planar electromagnetic sensor has been used to detecting the defects of metallic material in the near-surface. The sensor performance is typically described based on intensity, sensitivity and spatial resolution. These factors all depend on sensor structural parameters. This study is to find optimum structural parameters of the planar electromagnetic sensor using Response Surface Method (RSM) and the Genetic Algorithm (GA). The width of the driving winding, the width of the sensing winding, the space between the driving and sensing winding, the self-spacing of the sensing winding and the winding length are chosen as structural design parameters. The second-order response surface model of the relationship among the structural parameters and the sensor performance indexes is established based on the finite element model simulation. By utilizing the satisfaction function, the multi-objective optimization design problem can be converted into a single-objective problem. The optimal solution of the model is achieved by utilizing the genetic algorithm and the optimal parameters of the sensor are determined. The planar electromagnetic sensor is fabricated by Flexible Printed Circuit (FPC) technology. The results show that the sensor can measure the metal effectively.
{"title":"Structural optimization of planar electromagnetic sensor based on response surface","authors":"X. Huang, Yunzhi Huang","doi":"10.1109/YAC.2018.8406425","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406425","url":null,"abstract":"The planar electromagnetic sensor has been used to detecting the defects of metallic material in the near-surface. The sensor performance is typically described based on intensity, sensitivity and spatial resolution. These factors all depend on sensor structural parameters. This study is to find optimum structural parameters of the planar electromagnetic sensor using Response Surface Method (RSM) and the Genetic Algorithm (GA). The width of the driving winding, the width of the sensing winding, the space between the driving and sensing winding, the self-spacing of the sensing winding and the winding length are chosen as structural design parameters. The second-order response surface model of the relationship among the structural parameters and the sensor performance indexes is established based on the finite element model simulation. By utilizing the satisfaction function, the multi-objective optimization design problem can be converted into a single-objective problem. The optimal solution of the model is achieved by utilizing the genetic algorithm and the optimal parameters of the sensor are determined. The planar electromagnetic sensor is fabricated by Flexible Printed Circuit (FPC) technology. The results show that the sensor can measure the metal effectively.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132634665","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 : 2018-05-01DOI: 10.1109/YAC.2018.8406440
Xiangzhong Guan, Chenxiao Cai
Aiming at the problem that the reliability of data fusion in the unmanned aerial vehicle navigation system will be drastically reduced when the environmental characteristic changes, this paper proposes a new algorithm to address the problem based on the prediction and compensation of neural network. First, the Extended Kalman Filter and particle filter are used for the data fusion of laser and optical flow sensor. And then a Radial Basis Function (RBF) Neural Network is used to estimate the error of the particle filter. When the laser data is reliable, RBF Neural Network converts into the learning mode to train the model, and when the laser data is interrupted or unreliable, the system is compensated by using the trained model. The experimental results show that the RBF neural network model can effectively improve the reliability of the UAV navigation information when the environment characteristic changes, which prove the validity of the algorithm, proposed in this paper.
{"title":"A new integrated navigation system for the indoor unmanned aerial vehicles (UAVs) based on the neural network predictive compensation","authors":"Xiangzhong Guan, Chenxiao Cai","doi":"10.1109/YAC.2018.8406440","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406440","url":null,"abstract":"Aiming at the problem that the reliability of data fusion in the unmanned aerial vehicle navigation system will be drastically reduced when the environmental characteristic changes, this paper proposes a new algorithm to address the problem based on the prediction and compensation of neural network. First, the Extended Kalman Filter and particle filter are used for the data fusion of laser and optical flow sensor. And then a Radial Basis Function (RBF) Neural Network is used to estimate the error of the particle filter. When the laser data is reliable, RBF Neural Network converts into the learning mode to train the model, and when the laser data is interrupted or unreliable, the system is compensated by using the trained model. The experimental results show that the RBF neural network model can effectively improve the reliability of the UAV navigation information when the environment characteristic changes, which prove the validity of the algorithm, proposed in this paper.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133187192","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}
According to the requirements of monocular vision positioning of mobile robots in structured environment, a method of artificial landmark design, detection and recognition is proposed to adapt to the large field angle and invariance of rotation. An extensible artificial landmark based on arc-angle information coding is designed, the landmark detection and extraction are realized by structure contour detection, the extracted landmark image is corrected by Hough transform and inverse perspective transformation, After the image filtering and enhancement, the improved circle fitting algorithm is proposed to complete the ring detection and segmentation, and finally the arc angle is calculated by the vector method to identify the landmark and realize the decoding. The experimental results show that compared with the classical QR code method, when using the same imaging system, the landmark design and detection and recognition method proposed in this paper can realize the detection and recognition at longer distances and realize the accurate identification within the range of 0–60 degrees, and has strong anti-noise ability.
{"title":"Design and recognition of monocular visual artificial landmark based on arc angle information coding","authors":"Yiming Xu, Chengcheng Liu, Juping Gu, Juan Zhang, Liang Hua, Qiuxia Dai, Haifeng Gu, Zhenkun Xu, Yiming Xu, Juping Gu, Liang Hua","doi":"10.1109/YAC.2018.8406466","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406466","url":null,"abstract":"According to the requirements of monocular vision positioning of mobile robots in structured environment, a method of artificial landmark design, detection and recognition is proposed to adapt to the large field angle and invariance of rotation. An extensible artificial landmark based on arc-angle information coding is designed, the landmark detection and extraction are realized by structure contour detection, the extracted landmark image is corrected by Hough transform and inverse perspective transformation, After the image filtering and enhancement, the improved circle fitting algorithm is proposed to complete the ring detection and segmentation, and finally the arc angle is calculated by the vector method to identify the landmark and realize the decoding. The experimental results show that compared with the classical QR code method, when using the same imaging system, the landmark design and detection and recognition method proposed in this paper can realize the detection and recognition at longer distances and realize the accurate identification within the range of 0–60 degrees, and has strong anti-noise ability.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114955081","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 : 2018-05-01DOI: 10.1109/YAC.2018.8406373
Yuhua Song, Xiuyu He, Guang Li, Wei He, Changyin Sun
A floating ocean thermal energy conversion (FOTEC) is investigated with considering the mooring dynamics and the effect of the external disturbances In this paper. The main contributions of this paper are to analyze and describe the dynamics of the flexible string-beam-coupled system where the flexible pipe is with free motion, and to design boundary cooperative controls to position the vessel and reduce the deformation of the flexible pipe. The theoretic analysis and experimental experiments are made to present the effectiveness of the proposed cooperative control laws.
{"title":"Vibration control for a floating ocean thermal energy conversion system","authors":"Yuhua Song, Xiuyu He, Guang Li, Wei He, Changyin Sun","doi":"10.1109/YAC.2018.8406373","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406373","url":null,"abstract":"A floating ocean thermal energy conversion (FOTEC) is investigated with considering the mooring dynamics and the effect of the external disturbances In this paper. The main contributions of this paper are to analyze and describe the dynamics of the flexible string-beam-coupled system where the flexible pipe is with free motion, and to design boundary cooperative controls to position the vessel and reduce the deformation of the flexible pipe. The theoretic analysis and experimental experiments are made to present the effectiveness of the proposed cooperative control laws.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117025542","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 : 2018-05-01DOI: 10.1109/YAC.2018.8406493
Wang Pu, Ding Sheng, Xuejin Gao, Huihui Gao
In order to reduce the energy consumption of train operation, an optimization method based on genetic algorithm of golden section is proposed. Firstly, the Multi-particle train model is established. Secondly, the optimal operation strategy of subway trains is analyzed according to different ramps. Then, a golden section genetic algorithm (GR-GA) is proposed to solve the problem that genetic algorithm is easy to fall into local optimum. A golden section genetic algorithm (GR-GA) is proposed to search for the optimal transfer position of train and the best adaptive point of searching crossover and mutation operator with golden ratio is introduced, which improves the local optimization ability and convergence performance. Taking Yizhuang line as a simulation case, the results show that the proposed algorithm has a better optimization effect.
{"title":"Optimization of train energy saving based on golden ratio genetic algorithm","authors":"Wang Pu, Ding Sheng, Xuejin Gao, Huihui Gao","doi":"10.1109/YAC.2018.8406493","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406493","url":null,"abstract":"In order to reduce the energy consumption of train operation, an optimization method based on genetic algorithm of golden section is proposed. Firstly, the Multi-particle train model is established. Secondly, the optimal operation strategy of subway trains is analyzed according to different ramps. Then, a golden section genetic algorithm (GR-GA) is proposed to solve the problem that genetic algorithm is easy to fall into local optimum. A golden section genetic algorithm (GR-GA) is proposed to search for the optimal transfer position of train and the best adaptive point of searching crossover and mutation operator with golden ratio is introduced, which improves the local optimization ability and convergence performance. Taking Yizhuang line as a simulation case, the results show that the proposed algorithm has a better optimization effect.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124497237","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 : 2018-05-01DOI: 10.1109/YAC.2018.8406463
Dongyang Wang, Yong-ming Li, Shaocheng Tong
In this paper, the problem of active fault-tolerant control (FTC) is investigated for multi-agent systems with unknown control direction and actuator faults. The communication topology among the agents is directed and exist one leader that has a directed path to each follower at least. The system considered in this paper is consist of unstructured uncertainties, unknown control direction, and actuator faults. The fuzzy logic system is used for approach unknown nonlinear function, the problem of unknown control direction can be solved by using Nussbaum gain function. Based on backstepping design principle and the dynamic surface control technique, a fault-tolerant containment control scheme is developed. By using Lyapunov function stability theory, the proposed FTC controller can guarantee that all signals in all subsystems are bounded, and the tracking errors for each subsystem converge to a small neighborhood of zero.
{"title":"Adaptive fuzzy fault-tolerant control for nonlinear multi-agent systems with unknown control direction","authors":"Dongyang Wang, Yong-ming Li, Shaocheng Tong","doi":"10.1109/YAC.2018.8406463","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406463","url":null,"abstract":"In this paper, the problem of active fault-tolerant control (FTC) is investigated for multi-agent systems with unknown control direction and actuator faults. The communication topology among the agents is directed and exist one leader that has a directed path to each follower at least. The system considered in this paper is consist of unstructured uncertainties, unknown control direction, and actuator faults. The fuzzy logic system is used for approach unknown nonlinear function, the problem of unknown control direction can be solved by using Nussbaum gain function. Based on backstepping design principle and the dynamic surface control technique, a fault-tolerant containment control scheme is developed. By using Lyapunov function stability theory, the proposed FTC controller can guarantee that all signals in all subsystems are bounded, and the tracking errors for each subsystem converge to a small neighborhood of zero.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130668024","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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