Yew Cheong Hou, K. Sahari, Tze How Dickson Neoh, Yeng Weng Leong
This work studies the problem of classification of a hung garment in the unfolding procedure by a home service robot. The sheer number of unpredictable configurations that the deformable object can end up in makes the visual identification of the object shape and size difficult. In this paper, we propose a hybrid dynamic model to recognize the pose of hung garment using a single manipulator. A dataset of hung garment is generated by capturing the depth images of real garments at the robotic platform (real images) and also the images of garment mesh model from offline simulation (synthetic images) respectively. Deep convolutional neural network is implemented to classify the category and estimate the pose of garment. Experiment results show that the proposed method performs well and is applicable to different garments in robotic manipulation.
{"title":"Category Classification of Deformable Object using Hybrid Dynamic Model for Robotic Grasping","authors":"Yew Cheong Hou, K. Sahari, Tze How Dickson Neoh, Yeng Weng Leong","doi":"10.1109/CRC.2019.00021","DOIUrl":"https://doi.org/10.1109/CRC.2019.00021","url":null,"abstract":"This work studies the problem of classification of a hung garment in the unfolding procedure by a home service robot. The sheer number of unpredictable configurations that the deformable object can end up in makes the visual identification of the object shape and size difficult. In this paper, we propose a hybrid dynamic model to recognize the pose of hung garment using a single manipulator. A dataset of hung garment is generated by capturing the depth images of real garments at the robotic platform (real images) and also the images of garment mesh model from offline simulation (synthetic images) respectively. Deep convolutional neural network is implemented to classify the category and estimate the pose of garment. Experiment results show that the proposed method performs well and is applicable to different garments in robotic manipulation.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131894077","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}
On the basis of traditional A* algorithm, considered the limitation of qualitative factors, the model of the cost function about the AGV path optimization is added veer times and forward direction, and the algorithm is applied to picking AGV path optimization in the E-commerce logistics. Experimental results show that the improved A* algorithm comparing with traditional A* algorithm has better optimization effect.
{"title":"The Research on E-Commerce Logistics Picking AGV Path Optimization Method Based on the Improved A* Algorithm","authors":"Bo Zhang, Linwei Li, Yinghao Zhao, Juntao Li","doi":"10.1109/CRC.2016.030","DOIUrl":"https://doi.org/10.1109/CRC.2016.030","url":null,"abstract":"On the basis of traditional A* algorithm, considered the limitation of qualitative factors, the model of the cost function about the AGV path optimization is added veer times and forward direction, and the algorithm is applied to picking AGV path optimization in the E-commerce logistics. Experimental results show that the improved A* algorithm comparing with traditional A* algorithm has better optimization effect.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115498839","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}
Indoor air pollution has received wide attention because it harms people's health. Advantages of exiting indoor environment monitoring is detecting and improving indoor air quality. However, many obstacles must be overcome before real-time monitoring and autonomous movable system can realize, like the high cost, which lead to a low practicability in most cases. Therefore this paper provides an intelligent movable indoor environment monitoring system based on Arduino's control using various sensors to detect air quality, which has been designed to simulate users' indoor route and detect air quality real-time to help acquire indoor air condition exactly. Analyses the main factors that affect accuracy and validity of the measurement results by orthogonal experimental design, whose results show that the data acquired by the system gets high positive correlation property with data of professional equipment. The system achieves autonomous movable with low cost and results of the tests illustrate its important practical application value.
{"title":"A Movable Indoor Air Quality Monitoring System","authors":"Peng Liu, Danni Fu, Shengqian Jiang, Mingjie Wang","doi":"10.1109/CRC.2017.24","DOIUrl":"https://doi.org/10.1109/CRC.2017.24","url":null,"abstract":"Indoor air pollution has received wide attention because it harms people's health. Advantages of exiting indoor environment monitoring is detecting and improving indoor air quality. However, many obstacles must be overcome before real-time monitoring and autonomous movable system can realize, like the high cost, which lead to a low practicability in most cases. Therefore this paper provides an intelligent movable indoor environment monitoring system based on Arduino's control using various sensors to detect air quality, which has been designed to simulate users' indoor route and detect air quality real-time to help acquire indoor air condition exactly. Analyses the main factors that affect accuracy and validity of the measurement results by orthogonal experimental design, whose results show that the data acquired by the system gets high positive correlation property with data of professional equipment. The system achieves autonomous movable with low cost and results of the tests illustrate its important practical application value.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124990433","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}
Chuanhua Wen, Wei Du, Jiang Zhu, Guoning Zhang, Shoulin Shen
In this paper, the CGF entity’s behaviors based on personality characteristics are analyzed. In Army Combat Complex System, the personality characteristics can affect the behaviors of CGF (Computer Generated Forces) entity obviously. And the behaviors of the entity including the intelligent or adaptive behaviors can decide the victory or defeat. In this paper, the experiments that the aggressive and the conservative personality how effect on the CGF Entity are done. The conclusion is that the aggressive characteristics may be choosing in the urgency task, and the conservative characteristics may be used in the other conditions.
{"title":"Analysis of CGF Entity's Behavior Based on Personality Characteristics","authors":"Chuanhua Wen, Wei Du, Jiang Zhu, Guoning Zhang, Shoulin Shen","doi":"10.1109/CRC.2017.26","DOIUrl":"https://doi.org/10.1109/CRC.2017.26","url":null,"abstract":"In this paper, the CGF entity’s behaviors based on personality characteristics are analyzed. In Army Combat Complex System, the personality characteristics can affect the behaviors of CGF (Computer Generated Forces) entity obviously. And the behaviors of the entity including the intelligent or adaptive behaviors can decide the victory or defeat. In this paper, the experiments that the aggressive and the conservative personality how effect on the CGF Entity are done. The conclusion is that the aggressive characteristics may be choosing in the urgency task, and the conservative characteristics may be used in the other conditions.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114935911","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 proposed a novel trajectory tracking control method for the wheeled mobile robot with unknown skidding, slipping and uncertainty of dynamics system. The method is based on sliding mode control and disturbance observer by using back-stepping design technology. The WMR system uncertainties of parameters and non-parameters are compensated fast through disturbance observer. In combina-tion with sliding mode control, the compensating error is eliminated further, such that the control precision is improved, the chattering of sliding mode control has also been eliminated. During the design process, the technique of Lyapunov is used, which has proved that the control system is asymptotically stable, and the simulation results verify the effectiveness of the methods.
{"title":"Trajectory Tracking Control of WMR Based on Sliding Mode Disturbance Observer with Unknown Skidding and Slipping","authors":"Jinhua Ye, Suzhen Yang, X. Jin","doi":"10.1109/CRC.2017.40","DOIUrl":"https://doi.org/10.1109/CRC.2017.40","url":null,"abstract":"This paper proposed a novel trajectory tracking control method for the wheeled mobile robot with unknown skidding, slipping and uncertainty of dynamics system. The method is based on sliding mode control and disturbance observer by using back-stepping design technology. The WMR system uncertainties of parameters and non-parameters are compensated fast through disturbance observer. In combina-tion with sliding mode control, the compensating error is eliminated further, such that the control precision is improved, the chattering of sliding mode control has also been eliminated. During the design process, the technique of Lyapunov is used, which has proved that the control system is asymptotically stable, and the simulation results verify the effectiveness of the methods.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116183637","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}
Because of the swell-and-shrink phenomena, the false water level of steam generator produces, and then it is difficult to control the water level of the steam generator. Presently the three-element controller in cascade configuration with two PID controllers is widely used. It is demonstrated that this method is effective and fast responsive. However, the major problem is that in dynamic condition the parameters of two PID controllers cannot be determined easily. An improved single neuron adaptive PID control strategy, which adopts the proportional coefficient K exponentially adaptively according to the error, is presented. The simulation results show that the feed-water control system based on improved single neuron adaptive PID controller has faster response speed, shorter regulate time and smaller oscillation and improves the dynamic performance distinctly.
{"title":"Adaptive Control of Steam Generator Feed-Water System Based on Improved Single Neuron Self-Adaptive Control","authors":"Li He, Fang Cheng, Dongqin Wang, Jiangtao Xu","doi":"10.1109/CRC.2016.014","DOIUrl":"https://doi.org/10.1109/CRC.2016.014","url":null,"abstract":"Because of the swell-and-shrink phenomena, the false water level of steam generator produces, and then it is difficult to control the water level of the steam generator. Presently the three-element controller in cascade configuration with two PID controllers is widely used. It is demonstrated that this method is effective and fast responsive. However, the major problem is that in dynamic condition the parameters of two PID controllers cannot be determined easily. An improved single neuron adaptive PID control strategy, which adopts the proportional coefficient K exponentially adaptively according to the error, is presented. The simulation results show that the feed-water control system based on improved single neuron adaptive PID controller has faster response speed, shorter regulate time and smaller oscillation and improves the dynamic performance distinctly.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114691693","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}
To reduce the overload magnitude on the terminal guidance stage with a large terminal impact angle constraint, this paper proposes an improved optimal terminal guidance (IOTG) law. A time-varying virtual expected terminal impact angle is introduced, which can solve the problem that the required overload is high especially in the initial stage. Meanwhile, by analyzing the relative motion model between the vehicle and the target with the proposed guidance law, the terminal impact angle will reach the expected state in finite-time. The proposed adaptive parameters adjustment rule is suitable for different initial relative distances between the vehicles and targets. Simulation results demonstrate that the vehicle can reach the target in a large terminal impact angle. Compared with the optimal terminal guidance (OTG) law, the maximum overload magnitude with IOTG is reduced by 41.22%, which increases the safety of the vehicle.
{"title":"Improved Optimal Terminal Guidance Law Based on Virtual Expected Terminal Impact Angle","authors":"Shenming Quan, T. Chao, Song-yan Wang, Ming Yang","doi":"10.1109/CRC.2019.00012","DOIUrl":"https://doi.org/10.1109/CRC.2019.00012","url":null,"abstract":"To reduce the overload magnitude on the terminal guidance stage with a large terminal impact angle constraint, this paper proposes an improved optimal terminal guidance (IOTG) law. A time-varying virtual expected terminal impact angle is introduced, which can solve the problem that the required overload is high especially in the initial stage. Meanwhile, by analyzing the relative motion model between the vehicle and the target with the proposed guidance law, the terminal impact angle will reach the expected state in finite-time. The proposed adaptive parameters adjustment rule is suitable for different initial relative distances between the vehicles and targets. Simulation results demonstrate that the vehicle can reach the target in a large terminal impact angle. Compared with the optimal terminal guidance (OTG) law, the maximum overload magnitude with IOTG is reduced by 41.22%, which increases the safety of the vehicle.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116261733","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}
Hydraulic manipulator are widely used in underwater detection, anti-terrorism, industrial palletizing and other fields. The research object of this paper is the self-developed Hydraulic Rotary Vane Actuator (RVA) as the joint of the six-degree-of-freedom hydraulic manipulator. The kinematics error model of the joint flexible hydraulic manipulator is established by the improved D-H method. The optimal joint angle is determined, and the error distribution in the optimal joint angle and the general joint angle is compared and analyzed. Finally, the rajectory planning is used to reduce the error distribution of End-Effector(EE), vibration and shock.
{"title":"Research on Trajectory Planning of Flexible Hydraulic Manipulator Based on Rotary Vane Actuator","authors":"Jing-rong Liu, Liangxi Xie, Zhong-zheng Luo","doi":"10.1109/CRC.2019.00019","DOIUrl":"https://doi.org/10.1109/CRC.2019.00019","url":null,"abstract":"Hydraulic manipulator are widely used in underwater detection, anti-terrorism, industrial palletizing and other fields. The research object of this paper is the self-developed Hydraulic Rotary Vane Actuator (RVA) as the joint of the six-degree-of-freedom hydraulic manipulator. The kinematics error model of the joint flexible hydraulic manipulator is established by the improved D-H method. The optimal joint angle is determined, and the error distribution in the optimal joint angle and the general joint angle is compared and analyzed. Finally, the rajectory planning is used to reduce the error distribution of End-Effector(EE), vibration and shock.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126137314","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}
Traditional design method based on mechanics theory and empirical formula, it could not always achieve the best robust solution, this paper discusses multiresponse robust design method based on Response Surface Methodology and used it in valve spring optimization design. The performance of valve spring directly affects whole performance of pump, spring wire diameter, spring pitch diameter and number of active coils are deemed as design variables, the three objectives are valve spring stiffness, the inherent frequency and valve spring mass, response surface models of the three objective functions are built through Response Surface Methodology; through desirability function method, multiresponse optimization is converted into the problem of finding the maximum total desirability function. The approach described in this paper was applied and verified in a case study in the 3DT-25/1.5 reciprocating pump valve assembly.
{"title":"Research on Multiresponse Robust Optimization Based on RSM","authors":"Yang Wu","doi":"10.1109/CRC.2017.35","DOIUrl":"https://doi.org/10.1109/CRC.2017.35","url":null,"abstract":"Traditional design method based on mechanics theory and empirical formula, it could not always achieve the best robust solution, this paper discusses multiresponse robust design method based on Response Surface Methodology and used it in valve spring optimization design. The performance of valve spring directly affects whole performance of pump, spring wire diameter, spring pitch diameter and number of active coils are deemed as design variables, the three objectives are valve spring stiffness, the inherent frequency and valve spring mass, response surface models of the three objective functions are built through Response Surface Methodology; through desirability function method, multiresponse optimization is converted into the problem of finding the maximum total desirability function. The approach described in this paper was applied and verified in a case study in the 3DT-25/1.5 reciprocating pump valve assembly.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129352040","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 firstly introduces the cascaded controller structure of PMSM (permanent magnet synchronous motor) servo system, and then designs a fuzzy adaptive PID position controller. Then builds the simulation model of PMSM cascaded controller in MATLAB /Simulink environment, which position loop adopts fuzzy PID control. Finally, the comparison between the fuzzy PID and the traditional PID simulation results shows that the fuzzy PID is more superior than the traditional PID.
{"title":"PMSM Servo Control System Design Based on Fuzzy PID","authors":"Q. Guo, Junfeng Han, Wei Peng","doi":"10.1109/CRC.2017.28","DOIUrl":"https://doi.org/10.1109/CRC.2017.28","url":null,"abstract":"This paper firstly introduces the cascaded controller structure of PMSM (permanent magnet synchronous motor) servo system, and then designs a fuzzy adaptive PID position controller. Then builds the simulation model of PMSM cascaded controller in MATLAB /Simulink environment, which position loop adopts fuzzy PID control. Finally, the comparison between the fuzzy PID and the traditional PID simulation results shows that the fuzzy PID is more superior than the traditional PID.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127614552","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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